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-rw-r--r--Marlin/src/HAL/TEENSY35_36/HAL.cpp123
-rw-r--r--Marlin/src/HAL/TEENSY35_36/HAL.h129
-rw-r--r--Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp125
-rw-r--r--Marlin/src/HAL/TEENSY35_36/Servo.cpp59
-rw-r--r--Marlin/src/HAL/TEENSY35_36/Servo.h41
-rw-r--r--Marlin/src/HAL/TEENSY35_36/eeprom.cpp76
-rw-r--r--Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h66
-rw-r--r--Marlin/src/HAL/TEENSY35_36/fastio.h98
-rw-r--r--Marlin/src/HAL/TEENSY35_36/inc/Conditionals_LCD.h26
-rw-r--r--Marlin/src/HAL/TEENSY35_36/inc/Conditionals_adv.h22
-rw-r--r--Marlin/src/HAL/TEENSY35_36/inc/Conditionals_post.h26
-rw-r--r--Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h38
-rw-r--r--Marlin/src/HAL/TEENSY35_36/pinsDebug.h108
-rw-r--r--Marlin/src/HAL/TEENSY35_36/spi_pins.h31
-rw-r--r--Marlin/src/HAL/TEENSY35_36/timers.cpp113
-rw-r--r--Marlin/src/HAL/TEENSY35_36/timers.h112
-rw-r--r--Marlin/src/HAL/TEENSY35_36/watchdog.cpp40
-rw-r--r--Marlin/src/HAL/TEENSY35_36/watchdog.h30
18 files changed, 1263 insertions, 0 deletions
diff --git a/Marlin/src/HAL/TEENSY35_36/HAL.cpp b/Marlin/src/HAL/TEENSY35_36/HAL.cpp
new file mode 100644
index 0000000..547681d
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/HAL.cpp
@@ -0,0 +1,123 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * HAL for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+#include "HAL.h"
+#include "../shared/Delay.h"
+
+#include <Wire.h>
+
+DefaultSerial MSerial(false);
+USBSerialType USBSerial(false, SerialUSB);
+
+uint16_t HAL_adc_result, HAL_adc_select;
+
+static const uint8_t pin2sc1a[] = {
+ 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13
+ 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9
+ 255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only
+ 14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128, // 31-39 are A12-A20
+ 255, 255, 255, 255, 255, 255, 255, 255, 255, // 40-48 are digital only
+ 10+128, 11+128, // 49-50 are A23-A24
+ 255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only
+ 255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only
+ 3, 19+128, // 64-65 are A10-A11
+ 23, 23+128,// 66-67 are A21-A22 (DAC pins)
+ 1, 1+128, // 68-69 are A25-A26 (unused USB host port on Teensy 3.5)
+ 26, // 70 is Temperature Sensor
+ 18+128 // 71 is Vref
+};
+
+/*
+ // disable interrupts
+ void cli() { noInterrupts(); }
+
+ // enable interrupts
+ void sei() { interrupts(); }
+*/
+
+void HAL_adc_init() {
+ analog_init();
+ while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
+ while (ADC1_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
+ NVIC_ENABLE_IRQ(IRQ_FTM1);
+}
+
+void HAL_clear_reset_source() { }
+
+uint8_t HAL_get_reset_source() {
+ switch (RCM_SRS0) {
+ case 128: return RST_POWER_ON; break;
+ case 64: return RST_EXTERNAL; break;
+ case 32: return RST_WATCHDOG; break;
+ // case 8: return RST_LOSS_OF_LOCK; break;
+ // case 4: return RST_LOSS_OF_CLOCK; break;
+ // case 2: return RST_LOW_VOLTAGE; break;
+ }
+ return 0;
+}
+
+extern "C" {
+ extern char __bss_end;
+ extern char __heap_start;
+ extern void* __brkval;
+
+ int freeMemory() {
+ int free_memory;
+ if ((int)__brkval == 0)
+ free_memory = ((int)&free_memory) - ((int)&__bss_end);
+ else
+ free_memory = ((int)&free_memory) - ((int)__brkval);
+ return free_memory;
+ }
+}
+
+void HAL_adc_start_conversion(const uint8_t adc_pin) {
+ const uint16_t pin = pin2sc1a[adc_pin];
+ if (pin == 0xFF) {
+ // Digital only
+ HAL_adc_select = -1;
+ }
+ else if (pin & 0x80) {
+ HAL_adc_select = 1;
+ ADC1_SC1A = pin & 0x7F;
+ }
+ else {
+ HAL_adc_select = 0;
+ ADC0_SC1A = pin;
+ }
+}
+
+uint16_t HAL_adc_get_result() {
+ switch (HAL_adc_select) {
+ case 0: return ADC0_RA;
+ case 1: return ADC1_RA;
+ }
+ return 0;
+}
+
+#endif // __MK64FX512__ || __MK66FX1M0__
diff --git a/Marlin/src/HAL/TEENSY35_36/HAL.h b/Marlin/src/HAL/TEENSY35_36/HAL.h
new file mode 100644
index 0000000..94c514b
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/HAL.h
@@ -0,0 +1,129 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#define CPU_32_BIT
+
+#include "../shared/Marduino.h"
+#include "../shared/math_32bit.h"
+#include "../shared/HAL_SPI.h"
+
+#include "fastio.h"
+#include "watchdog.h"
+
+#include <stdint.h>
+#include <util/atomic.h>
+
+#define ST7920_DELAY_1 DELAY_NS(600)
+#define ST7920_DELAY_2 DELAY_NS(750)
+#define ST7920_DELAY_3 DELAY_NS(750)
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define IS_32BIT_TEENSY 1
+#define IS_TEENSY_35_36 1
+#ifdef __MK66FX1M0__
+ #define IS_TEENSY36 1
+#else // __MK64FX512__
+ #define IS_TEENSY35 1
+#endif
+
+#include "../../core/serial_hook.h"
+typedef Serial0Type<decltype(Serial)> DefaultSerial;
+extern DefaultSerial MSerial;
+typedef ForwardSerial0Type<decltype(SerialUSB)> USBSerialType;
+extern USBSerialType USBSerial;
+
+#define _MSERIAL(X) MSerial##X
+#define MSERIAL(X) _MSERIAL(X)
+#define MSerial0 MSerial
+
+#if SERIAL_PORT == -1
+ #define MYSERIAL0 USBSerial
+#elif WITHIN(SERIAL_PORT, 0, 3)
+ #define MYSERIAL0 MSERIAL(SERIAL_PORT)
+#endif
+
+#define HAL_SERVO_LIB libServo
+
+typedef int8_t pin_t;
+
+#ifndef analogInputToDigitalPin
+ #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1)
+#endif
+
+#define CRITICAL_SECTION_START() uint32_t primask = __get_primask(); __disable_irq()
+#define CRITICAL_SECTION_END() if (!primask) __enable_irq()
+#define ISRS_ENABLED() (!__get_primask())
+#define ENABLE_ISRS() __enable_irq()
+#define DISABLE_ISRS() __disable_irq()
+
+#undef sq
+#define sq(x) ((x)*(x))
+
+inline void HAL_init() {}
+
+// Clear reset reason
+void HAL_clear_reset_source();
+
+// Reset reason
+uint8_t HAL_get_reset_source();
+
+inline void HAL_reboot() {} // reboot the board or restart the bootloader
+
+FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); }
+
+#if GCC_VERSION <= 50000
+ #pragma GCC diagnostic push
+ #pragma GCC diagnostic ignored "-Wunused-function"
+#endif
+
+extern "C" int freeMemory();
+
+#if GCC_VERSION <= 50000
+ #pragma GCC diagnostic pop
+#endif
+
+// ADC
+
+void HAL_adc_init();
+
+#define HAL_ADC_VREF 3.3
+#define HAL_ADC_RESOLUTION 10
+#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin)
+#define HAL_READ_ADC() HAL_adc_get_result()
+#define HAL_ADC_READY() true
+
+#define HAL_ANALOG_SELECT(pin)
+
+void HAL_adc_start_conversion(const uint8_t adc_pin);
+uint16_t HAL_adc_get_result();
+
+#define GET_PIN_MAP_PIN(index) index
+#define GET_PIN_MAP_INDEX(pin) pin
+#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval)
diff --git a/Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp b/Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp
new file mode 100644
index 0000000..84852cd
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp
@@ -0,0 +1,125 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * HAL SPI for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+#include "HAL.h"
+#include <SPI.h>
+#include <pins_arduino.h>
+#include "spi_pins.h"
+#include "../../core/macros.h"
+
+static SPISettings spiConfig;
+
+void spiBegin() {
+ #if !PIN_EXISTS(SD_SS)
+ #error "SD_SS_PIN not defined!"
+ #endif
+ OUT_WRITE(SD_SS_PIN, HIGH);
+ SET_OUTPUT(SD_SCK_PIN);
+ SET_INPUT(SD_MISO_PIN);
+ SET_OUTPUT(SD_MOSI_PIN);
+
+ #if 0 && DISABLED(SOFTWARE_SPI)
+ // set SS high - may be chip select for another SPI device
+ #if SET_SPI_SS_HIGH
+ WRITE(SD_SS_PIN, HIGH);
+ #endif
+ // set a default rate
+ spiInit(SPI_HALF_SPEED); // 1
+ #endif
+}
+
+void spiInit(uint8_t spiRate) {
+ // Use Marlin data-rates
+ uint32_t clock;
+ switch (spiRate) {
+ case SPI_FULL_SPEED: clock = 10000000; break;
+ case SPI_HALF_SPEED: clock = 5000000; break;
+ case SPI_QUARTER_SPEED: clock = 2500000; break;
+ case SPI_EIGHTH_SPEED: clock = 1250000; break;
+ case SPI_SPEED_5: clock = 625000; break;
+ case SPI_SPEED_6: clock = 312500; break;
+ default:
+ clock = 4000000; // Default from the SPI libarary
+ }
+ spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
+ SPI.begin();
+}
+
+uint8_t spiRec() {
+ SPI.beginTransaction(spiConfig);
+ uint8_t returnByte = SPI.transfer(0xFF);
+ SPI.endTransaction();
+ return returnByte;
+ //SPDR = 0xFF;
+ //while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+ //return SPDR;
+}
+
+void spiRead(uint8_t* buf, uint16_t nbyte) {
+ SPI.beginTransaction(spiConfig);
+ SPI.transfer(buf, nbyte);
+ SPI.endTransaction();
+ //if (nbyte-- == 0) return;
+ // SPDR = 0xFF;
+ //for (uint16_t i = 0; i < nbyte; i++) {
+ // while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+ // buf[i] = SPDR;
+ // SPDR = 0xFF;
+ //}
+ //while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+ //buf[nbyte] = SPDR;
+}
+
+void spiSend(uint8_t b) {
+ SPI.beginTransaction(spiConfig);
+ SPI.transfer(b);
+ SPI.endTransaction();
+ //SPDR = b;
+ //while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+}
+
+void spiSendBlock(uint8_t token, const uint8_t* buf) {
+ SPI.beginTransaction(spiConfig);
+ SPDR = token;
+ for (uint16_t i = 0; i < 512; i += 2) {
+ while (!TEST(SPSR, SPIF)) { /* nada */ };
+ SPDR = buf[i];
+ while (!TEST(SPSR, SPIF)) { /* nada */ };
+ SPDR = buf[i + 1];
+ }
+ while (!TEST(SPSR, SPIF)) { /* nada */ };
+ SPI.endTransaction();
+}
+
+// Begin SPI transaction, set clock, bit order, data mode
+void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
+ spiConfig = SPISettings(spiClock, bitOrder, dataMode);
+ SPI.beginTransaction(spiConfig);
+}
+
+#endif // __MK64FX512__ || __MK66FX1M0__
diff --git a/Marlin/src/HAL/TEENSY35_36/Servo.cpp b/Marlin/src/HAL/TEENSY35_36/Servo.cpp
new file mode 100644
index 0000000..0338585
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/Servo.cpp
@@ -0,0 +1,59 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * HAL Servo for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "Servo.h"
+
+uint8_t servoPin[MAX_SERVOS] = { 0 };
+
+int8_t libServo::attach(const int inPin) {
+ if (servoIndex >= MAX_SERVOS) return -1;
+ if (inPin > 0) servoPin[servoIndex] = inPin;
+ return super::attach(servoPin[servoIndex]);
+}
+
+int8_t libServo::attach(const int inPin, const int inMin, const int inMax) {
+ if (inPin > 0) servoPin[servoIndex] = inPin;
+ return super::attach(servoPin[servoIndex], inMin, inMax);
+}
+
+void libServo::move(const int value) {
+ constexpr uint16_t servo_delay[] = SERVO_DELAY;
+ static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
+ if (attach(0) >= 0) {
+ write(value);
+ safe_delay(servo_delay[servoIndex]);
+ TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
+ }
+}
+
+#endif // HAS_SERVOS
+#endif // __MK64FX512__ || __MK66FX1M0__
diff --git a/Marlin/src/HAL/TEENSY35_36/Servo.h b/Marlin/src/HAL/TEENSY35_36/Servo.h
new file mode 100644
index 0000000..719011f
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/Servo.h
@@ -0,0 +1,41 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL Servo for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#include <Servo.h>
+
+// Inherit and expand on core Servo library
+class libServo : public Servo {
+ public:
+ int8_t attach(const int pin);
+ int8_t attach(const int pin, const int min, const int max);
+ void move(const int value);
+ private:
+ typedef Servo super;
+ uint16_t min_ticks;
+ uint16_t max_ticks;
+ uint8_t servoIndex; // Index into the channel data for this servo
+};
diff --git a/Marlin/src/HAL/TEENSY35_36/eeprom.cpp b/Marlin/src/HAL/TEENSY35_36/eeprom.cpp
new file mode 100644
index 0000000..8cd6b4f
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/eeprom.cpp
@@ -0,0 +1,76 @@
+/**
+ * Marlin 3D Printer Firmware
+ *
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+ * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+/**
+ * HAL PersistentStore for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if USE_WIRED_EEPROM
+
+#include "../shared/eeprom_api.h"
+#include <avr/eeprom.h>
+
+#ifndef MARLIN_EEPROM_SIZE
+ #define MARLIN_EEPROM_SIZE size_t(E2END + 1)
+#endif
+size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; }
+
+bool PersistentStore::access_start() { return true; }
+bool PersistentStore::access_finish() { return true; }
+
+bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) {
+ while (size--) {
+ uint8_t * const p = (uint8_t * const)pos;
+ uint8_t v = *value;
+ // EEPROM has only ~100,000 write cycles,
+ // so only write bytes that have changed!
+ if (v != eeprom_read_byte(p)) {
+ eeprom_write_byte(p, v);
+ if (eeprom_read_byte(p) != v) {
+ SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE);
+ return true;
+ }
+ }
+ crc16(crc, &v, 1);
+ pos++;
+ value++;
+ }
+ return false;
+}
+
+bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) {
+ do {
+ uint8_t c = eeprom_read_byte((uint8_t*)pos);
+ if (writing) *value = c;
+ crc16(crc, &c, 1);
+ pos++;
+ value++;
+ } while (--size);
+ return false;
+}
+
+#endif // USE_WIRED_EEPROM
+#endif // __MK64FX512__ || __MK66FX1M0__
diff --git a/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h
new file mode 100644
index 0000000..87e6a75
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h
@@ -0,0 +1,66 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL Endstop Interrupts for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ *
+ * Without endstop interrupts the endstop pins must be polled continually in
+ * the temperature-ISR via endstops.update(), most of the time finding no change.
+ * With this feature endstops.update() is called only when we know that at
+ * least one endstop has changed state, saving valuable CPU cycles.
+ *
+ * This feature only works when all used endstop pins can generate an 'external interrupt'.
+ *
+ * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
+ * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
+ */
+
+#include "../../module/endstops.h"
+
+// One ISR for all EXT-Interrupts
+void endstop_ISR() { endstops.update(); }
+
+/**
+ * Endstop interrupts for Due based targets.
+ * On Due, all pins support external interrupt capability.
+ */
+void setup_endstop_interrupts() {
+ #define _ATTACH(P) attachInterrupt(digitalPinToInterrupt(P), endstop_ISR, CHANGE)
+ TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN));
+ TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN));
+ TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN));
+ TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN));
+ TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN));
+ TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN));
+ TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN));
+ TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN));
+ TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN));
+ TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN));
+ TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN));
+ TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN));
+ TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN));
+ TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN));
+ TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN));
+ TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN));
+ TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN));
+}
diff --git a/Marlin/src/HAL/TEENSY35_36/fastio.h b/Marlin/src/HAL/TEENSY35_36/fastio.h
new file mode 100644
index 0000000..622799e
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/fastio.h
@@ -0,0 +1,98 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Fast I/O Routines for Teensy 3.5 and Teensy 3.6
+ * Use direct port manipulation to save scads of processor time.
+ * Contributed by Triffid_Hunter and modified by Kliment, thinkyhead, Bob-the-Kuhn, et.al.
+ */
+
+#ifndef MASK
+ #define MASK(PIN) _BV(PIN)
+#endif
+
+#define GPIO_BITBAND_ADDR(reg, bit) (((uint32_t)&(reg) - 0x40000000) * 32 + (bit) * 4 + 0x42000000)
+#define GPIO_BITBAND(reg, bit) (*(uint32_t *)GPIO_BITBAND_ADDR((reg), (bit)))
+
+/**
+ * Magic I/O routines
+ *
+ * Now you can simply SET_OUTPUT(PIN); WRITE(PIN, HIGH); WRITE(PIN, LOW);
+ *
+ * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/gcc-4.8.5/cpp/Stringification.html
+ */
+
+#define _READ(P) bool(CORE_PIN ## P ## _PINREG & CORE_PIN ## P ## _BITMASK)
+
+#define _WRITE(P,V) do{ \
+ if (V) CORE_PIN ## P ## _PORTSET = CORE_PIN ## P ## _BITMASK; \
+ else CORE_PIN ## P ## _PORTCLEAR = CORE_PIN ## P ## _BITMASK; \
+}while(0)
+
+#define _TOGGLE(P) (*(&(CORE_PIN ## P ## _PORTCLEAR)+1) = CORE_PIN ## P ## _BITMASK)
+
+#define _SET_INPUT(P) do{ \
+ CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1); \
+ GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 0; \
+}while(0)
+
+#define _SET_OUTPUT(P) do{ \
+ CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1)|PORT_PCR_SRE|PORT_PCR_DSE; \
+ GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 1; \
+}while(0)
+
+#define _SET_INPUT_PULLUP(P) do{ \
+ CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1) | PORT_PCR_PE | PORT_PCR_PS; \
+ GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 0; \
+}while(0)
+
+#define _IS_INPUT(P) ((CORE_PIN ## P ## _DDRREG & CORE_PIN ## P ## _BITMASK) == 0)
+#define _IS_OUTPUT(P) ((CORE_PIN ## P ## _DDRREG & CORE_PIN ## P ## _BITMASK) == 0)
+
+#define READ(IO) _READ(IO)
+
+#define WRITE(IO,V) _WRITE(IO,V)
+#define TOGGLE(IO) _TOGGLE(IO)
+
+#define SET_INPUT(IO) _SET_INPUT(IO)
+#define SET_INPUT_PULLUP(IO) _SET_INPUT_PULLUP(IO)
+#define SET_INPUT_PULLDOWN SET_INPUT
+#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
+#define SET_PWM SET_OUTPUT
+
+#define IS_INPUT(IO) _IS_INPUT(IO)
+#define IS_OUTPUT(IO) _IS_OUTPUT(IO)
+
+#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+
+// digitalRead/Write wrappers
+#define extDigitalRead(IO) digitalRead(IO)
+#define extDigitalWrite(IO,V) digitalWrite(IO,V)
+
+#define PWM_PIN(P) digitalPinHasPWM(P)
+
+/**
+ * Ports, functions, and pins
+ */
+
+#define DIO0_PIN 8
diff --git a/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_LCD.h b/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_LCD.h
new file mode 100644
index 0000000..632ee53
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_LCD.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#if HAS_SPI_TFT || HAS_FSMC_TFT
+ #error "Sorry! TFT displays are not available for HAL/TEENSY35_36."
+#endif
diff --git a/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_adv.h b/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_adv.h
new file mode 100644
index 0000000..5f1c4b1
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_adv.h
@@ -0,0 +1,22 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
diff --git a/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_post.h b/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_post.h
new file mode 100644
index 0000000..998f1dc
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/inc/Conditionals_post.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+#if USE_FALLBACK_EEPROM
+ #define USE_WIRED_EEPROM 1
+#endif
diff --git a/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h b/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h
new file mode 100644
index 0000000..ee80e42
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h
@@ -0,0 +1,38 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Test TEENSY35_36 specific configuration values for errors at compile-time.
+ */
+
+#if ENABLED(EMERGENCY_PARSER)
+ #error "EMERGENCY_PARSER is not yet implemented for Teensy 3.5/3.6. Disable EMERGENCY_PARSER to continue."
+#endif
+
+#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY
+ #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on Teensy 3.5/3.6."
+#endif
+
+#if HAS_TMC_SW_SERIAL
+ #error "TMC220x Software Serial is not supported on this platform."
+#endif
diff --git a/Marlin/src/HAL/TEENSY35_36/pinsDebug.h b/Marlin/src/HAL/TEENSY35_36/pinsDebug.h
new file mode 100644
index 0000000..e529fa9
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/pinsDebug.h
@@ -0,0 +1,108 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL Pins Debugging for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS
+#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin
+
+#define FTM0_CH0_PIN 22
+#define FTM0_CH1_PIN 23
+#define FTM0_CH2_PIN 9
+#define FTM0_CH3_PIN 10
+#define FTM0_CH4_PIN 6
+#define FTM0_CH5_PIN 20
+#define FTM0_CH6_PIN 21
+#define FTM0_CH7_PIN 5
+#define FTM1_CH0_PIN 3
+#define FTM1_CH1_PIN 4
+#define FTM2_CH0_PIN 29
+#define FTM2_CH1_PIN 30
+#define FTM3_CH0_PIN 2
+#define FTM3_CH1_PIN 14
+#define FTM3_CH2_PIN 7
+#define FTM3_CH3_PIN 8
+#define FTM3_CH4_PIN 35
+#define FTM3_CH5_PIN 36
+#define FTM3_CH6_PIN 37
+#define FTM3_CH7_PIN 38
+#ifdef __MK66FX1M0__ // Teensy3.6
+ #define TPM1_CH0_PIN 16
+ #define TPM1_CH1_PIN 17
+#endif
+
+#define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(9)) || ((P) >= analogInputToDigitalPin(12) && (P) <= analogInputToDigitalPin(20))
+
+void HAL_print_analog_pin(char buffer[], int8_t pin) {
+ if (pin <= 23) sprintf_P(buffer, PSTR("(A%2d) "), int(pin - 14));
+ else if (pin <= 39) sprintf_P(buffer, PSTR("(A%2d) "), int(pin - 19));
+}
+
+void HAL_analog_pin_state(char buffer[], int8_t pin) {
+ if (pin <= 23) sprintf_P(buffer, PSTR("Analog in =% 5d"), analogRead(pin - 14));
+ else if (pin <= 39) sprintf_P(buffer, PSTR("Analog in =% 5d"), analogRead(pin - 19));
+}
+
+#define PWM_PRINT(V) do{ sprintf_P(buffer, PSTR("PWM: %4d"), 22); SERIAL_ECHO(buffer); }while(0)
+#define FTM_CASE(N,Z) \
+ case FTM##N##_CH##Z##_PIN: \
+ if (FTM##N##_C##Z##V) { \
+ PWM_PRINT(FTM##N##_C##Z##V); \
+ return true; \
+ } else return false
+
+/**
+ * Print a pin's PWM status.
+ * Return true if it's currently a PWM pin.
+ */
+bool HAL_pwm_status(int8_t pin) {
+ char buffer[20]; // for the sprintf statements
+ switch (pin) {
+ FTM_CASE(0,0);
+ FTM_CASE(0,1);
+ FTM_CASE(0,2);
+ FTM_CASE(0,3);
+ FTM_CASE(0,4);
+ FTM_CASE(0,5);
+ FTM_CASE(0,6);
+ FTM_CASE(0,7);
+ FTM_CASE(1,0);
+ FTM_CASE(1,1);
+ FTM_CASE(2,0);
+ FTM_CASE(2,1);
+ FTM_CASE(3,0);
+ FTM_CASE(3,1);
+ FTM_CASE(3,2);
+ FTM_CASE(3,3);
+ FTM_CASE(3,4);
+ FTM_CASE(3,5);
+ FTM_CASE(3,6);
+ FTM_CASE(3,7);
+
+ case NOT_ON_TIMER:
+ default:
+ return false;
+ }
+ SERIAL_ECHOPGM(" ");
+}
+
+static void HAL_pwm_details(uint8_t pin) { /* TODO */ }
diff --git a/Marlin/src/HAL/TEENSY35_36/spi_pins.h b/Marlin/src/HAL/TEENSY35_36/spi_pins.h
new file mode 100644
index 0000000..cfffdc9
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/spi_pins.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL SPI Pins for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#define SD_SCK_PIN 13
+#define SD_MISO_PIN 12
+#define SD_MOSI_PIN 11
+#define SD_SS_PIN 20 // SDSS // A.28, A.29, B.21, C.26, C.29
diff --git a/Marlin/src/HAL/TEENSY35_36/timers.cpp b/Marlin/src/HAL/TEENSY35_36/timers.cpp
new file mode 100644
index 0000000..8067d09
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/timers.cpp
@@ -0,0 +1,113 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * HAL Timers for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+#include "../../inc/MarlinConfig.h"
+
+/** \brief Instruction Synchronization Barrier
+ Instruction Synchronization Barrier flushes the pipeline in the processor,
+ so that all instructions following the ISB are fetched from cache or
+ memory, after the instruction has been completed.
+*/
+FORCE_INLINE static void __ISB() {
+ __asm__ __volatile__("isb 0xF":::"memory");
+}
+
+/** \brief Data Synchronization Barrier
+ This function acts as a special kind of Data Memory Barrier.
+ It completes when all explicit memory accesses before this instruction complete.
+*/
+FORCE_INLINE static void __DSB() {
+ __asm__ __volatile__("dsb 0xF":::"memory");
+}
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
+ switch (timer_num) {
+ case 0:
+ FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN;
+ FTM0_SC = 0x00; // Set this to zero before changing the modulus
+ FTM0_CNT = 0x0000; // Reset the count to zero
+ FTM0_MOD = 0xFFFF; // max modulus = 65535
+ FTM0_C0V = (FTM0_TIMER_RATE) / frequency; // Initial FTM Channel 0 compare value
+ FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8
+ FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA;
+ break;
+ case 1:
+ FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1
+ FTM1_SC = 0x00; // Set this to zero before changing the modulus
+ FTM1_CNT = 0x0000; // Reset the count to zero
+ FTM1_MOD = 0xFFFF; // max modulus = 65535
+ FTM1_C0V = (FTM1_TIMER_RATE) / frequency; // Initial FTM Channel 0 compare value 65535
+ FTM1_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM1_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 4
+ FTM1_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA;
+ break;
+ }
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num) {
+ switch (timer_num) {
+ case 0: NVIC_ENABLE_IRQ(IRQ_FTM0); break;
+ case 1: NVIC_ENABLE_IRQ(IRQ_FTM1); break;
+ }
+}
+
+void HAL_timer_disable_interrupt(const uint8_t timer_num) {
+ switch (timer_num) {
+ case 0: NVIC_DISABLE_IRQ(IRQ_FTM0); break;
+ case 1: NVIC_DISABLE_IRQ(IRQ_FTM1); break;
+ }
+
+ // We NEED memory barriers to ensure Interrupts are actually disabled!
+ // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the )
+ __DSB();
+ __ISB();
+}
+
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num) {
+ switch (timer_num) {
+ case 0: return NVIC_IS_ENABLED(IRQ_FTM0);
+ case 1: return NVIC_IS_ENABLED(IRQ_FTM1);
+ }
+ return false;
+}
+
+void HAL_timer_isr_prologue(const uint8_t timer_num) {
+ switch (timer_num) {
+ case 0:
+ FTM0_CNT = 0x0000;
+ FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
+ FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag
+ break;
+ case 1:
+ FTM1_CNT = 0x0000;
+ FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
+ FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag
+ break;
+ }
+}
+
+#endif // Teensy3.5 or Teensy3.6
diff --git a/Marlin/src/HAL/TEENSY35_36/timers.h b/Marlin/src/HAL/TEENSY35_36/timers.h
new file mode 100644
index 0000000..99269ac
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/timers.h
@@ -0,0 +1,112 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * HAL Timers for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
+ */
+
+#include <stdint.h>
+
+// ------------------------
+// Defines
+// ------------------------
+
+#define FORCE_INLINE __attribute__((always_inline)) inline
+
+typedef uint32_t hal_timer_t;
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+
+#define FTM0_TIMER_PRESCALE 8
+#define FTM1_TIMER_PRESCALE 4
+#define FTM0_TIMER_PRESCALE_BITS 0b011
+#define FTM1_TIMER_PRESCALE_BITS 0b010
+
+#define FTM0_TIMER_RATE (F_BUS / FTM0_TIMER_PRESCALE) // 60MHz / 8 = 7500kHz
+#define FTM1_TIMER_RATE (F_BUS / FTM1_TIMER_PRESCALE) // 60MHz / 4 = 15MHz
+
+#define HAL_TIMER_RATE (FTM0_TIMER_RATE)
+
+#ifndef STEP_TIMER_NUM
+ #define STEP_TIMER_NUM 0 // Timer Index for Stepper
+#endif
+#ifndef PULSE_TIMER_NUM
+ #define PULSE_TIMER_NUM STEP_TIMER_NUM
+#endif
+#ifndef TEMP_TIMER_NUM
+ #define TEMP_TIMER_NUM 1 // Timer Index for Temperature
+#endif
+
+#define TEMP_TIMER_FREQUENCY 1000
+
+#define STEPPER_TIMER_RATE HAL_TIMER_RATE
+#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000)
+#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US)
+
+#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer
+#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE
+#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM)
+#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM)
+
+#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
+#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
+
+#ifndef HAL_STEP_TIMER_ISR
+ #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler()
+#endif
+#ifndef HAL_TEMP_TIMER_ISR
+ #define HAL_TEMP_TIMER_ISR() extern "C" void ftm1_isr() //void TC4_Handler()
+#endif
+
+void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency);
+
+FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) {
+ switch (timer_num) {
+ case 0: FTM0_C0V = compare; break;
+ case 1: FTM1_C0V = compare; break;
+ }
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) {
+ switch (timer_num) {
+ case 0: return FTM0_C0V;
+ case 1: return FTM1_C0V;
+ }
+ return 0;
+}
+
+FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) {
+ switch (timer_num) {
+ case 0: return FTM0_CNT;
+ case 1: return FTM1_CNT;
+ }
+ return 0;
+}
+
+void HAL_timer_enable_interrupt(const uint8_t timer_num);
+void HAL_timer_disable_interrupt(const uint8_t timer_num);
+bool HAL_timer_interrupt_enabled(const uint8_t timer_num);
+
+void HAL_timer_isr_prologue(const uint8_t timer_num);
+#define HAL_timer_isr_epilogue(TIMER_NUM)
diff --git a/Marlin/src/HAL/TEENSY35_36/watchdog.cpp b/Marlin/src/HAL/TEENSY35_36/watchdog.cpp
new file mode 100644
index 0000000..3825e27
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/watchdog.cpp
@@ -0,0 +1,40 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(USE_WATCHDOG)
+
+#include "watchdog.h"
+
+#define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout
+
+void watchdog_init() {
+ WDOG_TOVALH = 0;
+ WDOG_TOVALL = WDT_TIMEOUT_MS;
+ WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN;
+}
+
+#endif // USE_WATCHDOG
+
+#endif // __MK64FX512__ || __MK66FX1M0__
diff --git a/Marlin/src/HAL/TEENSY35_36/watchdog.h b/Marlin/src/HAL/TEENSY35_36/watchdog.h
new file mode 100644
index 0000000..981b1f0
--- /dev/null
+++ b/Marlin/src/HAL/TEENSY35_36/watchdog.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+void watchdog_init();
+
+inline void HAL_watchdog_refresh() {
+ // Watchdog refresh sequence
+ WDOG_REFRESH = 0xA602;
+ WDOG_REFRESH = 0xB480;
+}
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