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KurtEKurtE
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boards: Support Teensy Micromod
The Sparkfun Teensy Micromod was designed by Paul of PJRC and manufactured and sold by Sparkfun.com The functionality of this board is very similar to the Teensy 4. It has the same basic pin definitions of the Teensy 4 but added 6 additional IO pins. Which added a lot of possibilities to use the flexio system in new ways, such as for camera input. It was unclear if the board should be added here or all of this duplicated under Sparkfun, but now Sparkfun is also now responsible for the manufacturing and sales of the Teensy 4 and Teensy 4.1, here feels like a good place. Note: I am mainly doing this as a learning experience on how to use zephyr directly, as most of my experiences with Zephyr is done through the current WIP Arduino Wrappers for some of their boards. So far I duplicated the Teensy 4.1 files, then modified, like removed the Ethernet and added the I2C2 object. I updated the flash information as these come with a 128mbit version versus the 64 on T4.1 or 16 on T4. So far I have only test blink. plus: cdc-acm example, plus adding gpio to it, plus logging, plus blinking. Signed-off-by: Kurt Eckhardt <[email protected]>
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‎boards/pjrc/teensy4/Kconfig.defconfig

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@@ -4,7 +4,7 @@
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# SPDX-License-Identifier: Apache-2.0
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#
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7-
if BOARD_TEENSY40 || BOARD_TEENSY41
7+
if BOARD_TEENSY40 || BOARD_TEENSY41 || BOARD_TEENSYMM
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config BUILD_OUTPUT_HEX
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bool

‎boards/pjrc/teensy4/Kconfig.teensymm

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@@ -0,0 +1,9 @@
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#
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# Copyright (c) 2020, Bernhard Kraemer
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# Copyright 2024 NXP
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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config BOARD_TEENSYMM
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select SOC_PART_NUMBER_MIMXRT1062DVL6A

‎boards/pjrc/teensy4/board.cmake

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Original file line numberDiff line numberDiff line change
@@ -4,6 +4,8 @@ board_set_flasher_ifnset(teensy)
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55
if(CONFIG_BOARD_TEENSY40)
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board_runner_args(teensy "--mcu=TEENSY40")
7+
elseif(CONFIG_BOARD_TEENSYMM)
8+
board_runner_args(teensy "--mcu=TEENSY_MICROMOD")
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else()
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board_runner_args(teensy "--mcu=TEENSY41")
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endif()

‎boards/pjrc/teensy4/board.yml

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@@ -9,3 +9,8 @@ boards:
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vendor: pjrc
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socs:
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- name: mimxrt1062
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- name: teensymm
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full_name: Teensy MicroMod
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vendor: pjrc
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socs:
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- name: mimxrt1062

‎boards/pjrc/teensy4/doc/img/teensymm.jpg

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‎boards/pjrc/teensy4/doc/index.rst

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Original file line numberDiff line numberDiff line change
@@ -28,6 +28,14 @@ programming is done via the USB port.
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(Credit: https://www.pjrc.com)
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.. group-tab:: Sparkfun Teensy Micromod
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.. figure:: img/teensymm.jpg
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:align: center
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:alt: TEENSYMM
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(Credit: https://www.sparkfun.com)
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Hardware
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********
3341

@@ -56,6 +64,17 @@ Hardware
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See the `Teensy 4.1 Website`_ for a complete hardware description.
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.. group-tab:: Teensy Micromod
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- MIMXRT1062DVJ6A MCU (600 MHz, 1024 KB on-chip memory)
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- 128 Mbit QSPI Flash
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- User LED
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- USB 2.0 host connector
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- USB 2.0 OTG connector
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- TF socket for SD card
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See the `Teensy Micromod Website`_ for a complete hardware description.
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For more information, check the `i.MX RT1060 Datasheet`_.
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Supported Features
@@ -188,7 +207,7 @@ Pin mappings from Teensy to MIMXRT1062 SoC.
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| 33 | EMC_07 | GPIO4_7 |
189208
+-----+------------+-------------------------------------+
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191-
Only Teensy 4.0:
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Only Teensy 4.0 and Teensy Micromod:
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+-----+------------+-------------------------------------+
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| 34 | SD_B0_03 | GPIO3_15 |
@@ -204,6 +223,22 @@ Only Teensy 4.0:
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| 39 | SD_B0_04 | GPIO3_16 |
205224
+-----+------------+-------------------------------------+
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226+
Only Teensy Micromod
227+
228+
+-----+------------+-------------------------------------+
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| 40 | B0_04 | GPIO2_4 / I2C2 SCL |
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+-----+------------+-------------------------------------+
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| 41 | B0_05 | GPIO2_5 / I2C2 SDA |
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+-----+------------+-------------------------------------+
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| 42 | B0_06 | GPIO2_6 |
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+-----+------------+-------------------------------------+
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| 43 | B0_07 | GPIO2_7 |
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+-----+------------+-------------------------------------+
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| 44 | B0_08 | GPIO2_8 / UART3 TX |
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+-----+------------+-------------------------------------+
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| 45 | B0_09 | GPIO2_9 / UART3 RX |
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+-----+------------+-------------------------------------+
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Only Teensy 4.1:
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+-----+------------+-------------------------------------+
@@ -221,8 +256,109 @@ Only Teensy 4.1:
221256
+-----+------------+-------------------------------------+
222257
| 40 | AD_B1_04 | GPIO1_20 |
223258
+-----+------------+-------------------------------------+
224-
| 41 | AD_B1_05 | GPIO1_21 |
225-
+-----+------------+-------------------------------------+
259+
| 41 | AD_B1_05 | GPIO1_21 / UART3_RX |
260+
+-----+------------+-------------------------------------+
261+
262+
Pin Mapping from Teensy pins Micromod Pins and MIMXRT1062 SoC.
263+
264+
Teensy Micromod only:
265+
266+
+-----+------+------------+-------------------------------------+
267+
| Pin | MMOD | Pad ID | Usage |
268+
+=====+======+============+=====================================+
269+
| 0 | 19 | AD_B0_03 | GPIO1_3 / UART6_RX / CAN2_RX |
270+
+-----+------+------------+-------------------------------------+
271+
| 1 | 17 | AD_B0_02 | GPIO1_2 / UART6_TX / CAN2_TX |
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+-----+------+------------+-------------------------------------+
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| 2 | 47 | EMC_04 | GPIO4_4 |
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+-----+------+------------+-------------------------------------+
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| 3 | 32 | EMC_05 | GPIO4_5 |
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+-----+------+------------+-------------------------------------+
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| 4 | 10 | EMC_06 | GPIO4_6 |
278+
+-----+------+------------+-------------------------------------+
279+
| 5 | 18 | EMC_08 | GPIO4_8 |
280+
+-----+------+------------+-------------------------------------+
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| 6 | 71 | B0_10 | GPIO2_10 |
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+-----+------+------------+-------------------------------------+
283+
| 7 | 56 | B1_01 | GPIO2_17 / UART4_RX |
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+-----+------+------------+-------------------------------------+
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| 8 | 54 | B1_00 | GPIO2_16 / UART4_TX |
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+-----+------+------------+-------------------------------------+
287+
| 9 | 69 | B0_11 | GPIO2_11 |
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+-----+------+------------+-------------------------------------+
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| 10 | 55 | B0_00 | GPIO2_0 |
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+-----+------+------------+-------------------------------------+
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| 11 | 59 | B0_02 | GPIO2_2 |
292+
+-----+------+------------+-------------------------------------+
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| 12 | 61 | B0_01 | GPIO2_1 |
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+-----+------+------------+-------------------------------------+
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| 13 | 57 | B0_03 | GPIO2_3 / LED |
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+-----+------+------------+-------------------------------------+
297+
| 14 | 34 | AD_B1_02 | GPIO1_18 / UART2_TX |
298+
+-----+------+------------+-------------------------------------+
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| 15 | 38 | AD_B1_03 | GPIO1_19 / UART2_RX |
300+
+-----+------+------------+-------------------------------------+
301+
| 16 | 20 | AD_B1_07 | GPIO1_23 / UART3_RX / I2C3_SCL |
302+
+-----+------+------------+-------------------------------------+
303+
| 17 | 22 | AD_B1_06 | GPIO1_22 / UART3_TX / I2C3_SDA |
304+
+-----+------+------------+-------------------------------------+
305+
| 18 | 12 | AD_B1_01 | GPIO1_17 / I2C1_SDA |
306+
+-----+------+------------+-------------------------------------+
307+
| 19 | 14 | AD_B1_00 | GPIO1_16 / I2C1_SCL |
308+
+-----+------+------------+-------------------------------------+
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| 20 | 52 | AD_B1_10 | GPIO1_26 / UART8_TX |
310+
+-----+------+------------+-------------------------------------+
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| 21 | 50 | AD_B1_11 | GPIO1_27 / UART8_RX |
312+
+-----+------+------------+-------------------------------------+
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| 22 | 49 | AD_B1_08 | GPIO1_24 / CAN1_TX |
314+
+-----+------+------------+-------------------------------------+
315+
| 23 | 58 | AD_B1_09 | GPIO1_25 / CAN1_RX |
316+
+-----+------+------------+-------------------------------------+
317+
| 24 | 53 | AD_B0_12 | GPIO1_12 / UART1_TX / I2C4_SCL |
318+
+-----+------+------------+-------------------------------------+
319+
| 25 | 51 | AD_B0_13 | GPIO1_13 / UART1_RX / I2C4_SDA |
320+
+-----+------+------------+-------------------------------------+
321+
| 26 | 67 | AD_B1_14 | GPIO1_30 / SPI3_MOSI |
322+
+-----+------+------------+-------------------------------------+
323+
| 27 | 8 | AD_B1_15 | GPIO1_31 / SPI3_SCK |
324+
+-----+------+------------+-------------------------------------+
325+
| 28 | 4 | EMC_32 | GPIO3_18 / UART7_RX |
326+
+-----+------+------------+-------------------------------------+
327+
| 29 | 16 | EMC_31 | GPIO4_31 / UART7_TX |
328+
+-----+------+------------+-------------------------------------+
329+
| 30 | 41 | EMC_37 | GPIO3_23 / CAN3_RX |
330+
+-----+------+------------+-------------------------------------+
331+
| 31 | 43 | EMC_36 | GPIO3_22 / CAN3_TX |
332+
+-----+------+------------+-------------------------------------+
333+
| 32 | 65 | B0_12 | GPIO2_12 |
334+
+-----+------+------------+-------------------------------------+
335+
| 33 | 63 | EMC_07 | GPIO4_7 |
336+
+-----+------+------------+-------------------------------------+
337+
| 34 | 66 | SD_B0_03 | GPIO3_15 |
338+
+-----+------+------------+-------------------------------------+
339+
| 35 | 64 | SD_B0_02 | GPIO3_14 |
340+
+-----+------+------------+-------------------------------------+
341+
| 36 | 60 | SD_B0_01 | GPIO3_13 |
342+
+-----+------+------------+-------------------------------------+
343+
| 37 | 62 | SD_B0_00 | GPIO3_12 |
344+
+-----+------+------------+-------------------------------------+
345+
| 38 | 68 | SD_B0_05 | GPIO3_17 |
346+
+-----+------+------------+-------------------------------------+
347+
| 39 | 70 | SD_B0_04 | GPIO3_16 |
348+
+-----+------+------------+-------------------------------------+
349+
| 40 | 40 | B0_04 | GPIO2_4 / I2C2 SCL |
350+
+-----+------+------------+-------------------------------------+
351+
| 41 | 42 | B0_05 | GPIO2_5 / I2C2 SDA |
352+
+-----+------+------------+-------------------------------------+
353+
| 42 | 44 | B0_06 | GPIO2_6 |
354+
+-----+------+------------+-------------------------------------+
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| 43 | 46 | B0_07 | GPIO2_7 |
356+
+-----+------+------------+-------------------------------------+
357+
| 44 | 48 | B0_08 | GPIO2_8 / UART3 TX |
358+
+-----+------+------------+-------------------------------------+
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| 45 | 73 | B0_09 | GPIO2_9 / UART3 RX |
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+-----+------+------------+-------------------------------------+
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Programming and Debugging
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*************************
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:goals: build
255391
:compact:
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.. group-tab:: Teensy Micromod
394+
395+
.. zephyr-app-commands::
396+
:zephyr-app: samples/basic/blinky
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:board: teensymm
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:goals: build
399+
:compact:
400+
257401
#. Connect the board to your host computer using USB.
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#. Tap the reset button to enter bootloader mode.
@@ -279,6 +423,15 @@ but does not support debugging the device.
279423
:goals: flash
280424
:compact:
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.. group-tab:: Teensy Micromod
427+
428+
.. zephyr-app-commands::
429+
:zephyr-app: samples/basic/blinky
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:board: teensymm
431+
:goals: flash
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:compact:
433+
434+
282435
#. You should see the orange LED blink.
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Configuring a Console
@@ -335,5 +488,8 @@ References
335488
.. _Teensy 4.1 Ethernet Kit:
336489
https://www.pjrc.com/store/ethernet_kit.html
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491+
.. _Teensy Micromod Website:
492+
https://www.sparkfun.com/sparkfun-micromod-teensy-processor.html
493+
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.. _i.MX RT1060 Datasheet:
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https://www.nxp.com/docs/en/nxp/data-sheets/IMXRT1060CEC.pdf

‎boards/pjrc/teensy4/teensy4-pinctrl.dtsi

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};
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};
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/* LPI2C2 SCL, SDA on Teensy-Micromod-Pins 40/41 */
103+
pinmux_lpi2c2: pinmux_lpi2c2 {
104+
group0 {
105+
pinmux = <&iomuxc_gpio_b0_04_lpi2c2_scl>,
106+
<&iomuxc_gpio_b0_05_lpi2c2_sda>;
107+
drive-strength = "r0-6";
108+
drive-open-drain;
109+
slew-rate = "slow";
110+
nxp,speed = "100-mhz";
111+
input-enable;
112+
};
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};
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/* LPI2C3 SCL, SDA on Teensy-Pins 16/17 */
103116
pinmux_lpi2c3: pinmux_lpi2c3 {
104117
group0 {

‎boards/pjrc/teensy4/teensymm.dts

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/*
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* Copyright (c) 2020, Bernhard Kraemer
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
6+
7+
#include "teensy40.dts"
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9+
/ {
10+
model = "PJRC TEENSY Micromod board";
11+
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chosen {
13+
zephyr,flash-controller = &w25q128jvxgim;
14+
zephyr,flash = &w25q128jvxgim;
15+
};
16+
};
17+
18+
/delete-node/ &w25q16jvuxim;
19+
&flexspi {
20+
status = "okay";
21+
22+
reg = <0x402a8000 0x4000>, <0x60000000 DT_SIZE_M(8)>;
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/* WINBOND flash memory*/
24+
w25q128jvxgim: w25q128jvxgim@0 {
25+
compatible = "nxp,imx-flexspi-nor";
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size = <DT_SIZE_M(16 * 8)>;
27+
reg = <0>;
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spi-max-frequency = <DT_FREQ_M(133)>;
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status = "okay";
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jedec-id = [ef 70 18];
31+
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erase-block-size = <4096>;
33+
write-block-size = <1>;
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};
35+
};
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&lpi2c2 {
38+
pinctrl-0 = <&pinmux_lpi2c2>;
39+
pinctrl-names = "default";
40+
};
41+
42+
&usdhc1 {
43+
status = "okay";
44+
no-1-8-v;
45+
pinctrl-0 = <&pinmux_usdhc1>;
46+
pinctrl-1 = <&pinmux_usdhc1_slow>;
47+
pinctrl-2 = <&pinmux_usdhc1_med>;
48+
pinctrl-3 = <&pinmux_usdhc1_fast>;
49+
pinctrl-names = "default", "slow", "med", "fast";
50+
mmc {
51+
compatible = "zephyr,sdmmc-disk";
52+
disk-name = "SD";
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status = "okay";
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};
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};

‎boards/pjrc/teensy4/teensymm.yaml

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#
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# Copyright (c) 2020, Bernhard Kraemer
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#
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# SPDX-License-Identifier: Apache-2.0
5+
#
6+
7+
identifier: teensymm
8+
name: PJRC TEENSY_MICROMOD
9+
type: mcu
10+
arch: arm
11+
toolchain:
12+
- zephyr
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- gnuarmemb
14+
- xtools
15+
ram: 768
16+
flash: 8192
17+
supported:
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- counter
19+
- gpio
20+
- sdhc
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- usb_device
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- netif:eth
23+
testing:
24+
ignore_tags:
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- net
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- posix
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vendor: nxp

‎boards/pjrc/teensy4/teensymm_defconfig

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#
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# Copyright (c) 2020, Bernhard Kraemer
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#
4+
# SPDX-License-Identifier: Apache-2.0
5+
#
6+
7+
CONFIG_DEVICE_CONFIGURATION_DATA=n
8+
CONFIG_CONSOLE=y
9+
CONFIG_UART_CONSOLE=y
10+
CONFIG_SERIAL=y
11+
CONFIG_GPIO=y
12+
CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=600000000
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CONFIG_ARM_MPU=y
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CONFIG_HW_STACK_PROTECTION=y

‎samples/basic/blinky/src/main.c

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#include <zephyr/drivers/gpio.h>
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/* 1000 msec = 1 sec */
12-
#define SLEEP_TIME_MS 1000
12+
#define SLEEP_TIME_MS 500
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1414
/* The devicetree node identifier for the "led0" alias. */
1515
#define LED0_NODE DT_ALIAS(led0)

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