.. _teensy40:

PJRC TEENSY 4
#############

Overview
********
The Teensy is a complete USB-based microcontroller development system, in a
very small footprint, capable of implementing many types of projects. All
programming is done via the USB port.


.. figure:: teensy40.jpg
   :width: 459px
   :align: center
   :alt: TEENSY40

   TEENSY40 (Credit: https://www.pjrc.com)

.. figure:: teensy41.jpg
   :width: 758px
   :align: center
   :alt: TEENSY41

   TEENSY41 (Credit: https://www.pjrc.com)

Hardware
********

Teensy 4.0:

- MIMXRT1062DVL6A MCU (600 MHz, 1024 KB on-chip memory)
- 16 Mbit QSPI Flash
- LED
- USB 2.0 host connector

Teensy 4.1:

- MIMXRT1062DVJ6A MCU (600 MHz, 1024 KB on-chip memory)
- 64 Mbit QSPI Flash
- LED
- USB 2.0 host connector
- USB 2.0 OTG connector
- 10/100 Mbit/s Ethernet PHY
- TF socket for SD card

See the `Teensy 4.0 Website`_ for a complete hardware description.

Supported Features
==================

The teensy40 board configuration supports the following hardware
features:

+-----------+------------+-------------------------------------+
| Interface | Controller | Driver/Component                    |
+===========+============+=====================================+
| NVIC      | on-chip    | nested vector interrupt controller  |
+-----------+------------+-------------------------------------+
| SYSTICK   | on-chip    | systick                             |
+-----------+------------+-------------------------------------+
| GPIO      | on-chip    | gpio                                |
+-----------+------------+-------------------------------------+
| I2C       | on-chip    | i2c                                 |
+-----------+------------+-------------------------------------+
| UART      | on-chip    | serial port-polling;                |
|           |            | serial port-interrupt               |
+-----------+------------+-------------------------------------+
| USB       | on-chip    | USB device                          |
+-----------+------------+-------------------------------------+


The default configuration can be found in the defconfig file:
``boards/arm/teensy4/teensy40_defconfig``


The teensy41 board configuration supports additional hardware
features:

+-----------+------------+-------------------------------------+
| Interface | Controller | Driver/Component                    |
+===========+============+=====================================+
| SDHC      | on-chip    | disk access                         |
+-----------+------------+-------------------------------------+
| ENET      | on-chip    | ethernet                            |
+-----------+------------+-------------------------------------+


The default configuration can be found in the defconfig file:
``boards/arm/teensy4/teensy41_defconfig``

Other hardware features are not currently supported by the port.

Connections and IOs
===================

Pin mappings from Teensy to MIMXRT1062 SoC.

+-----+------------+-------------------------------------+
| Pin | Pad ID     | Usage                               |
+=====+============+=====================================+
|  0  | AD_B0_03   | GPIO1_3 / UART6_RX / CAN2_RX        |
+-----+------------+-------------------------------------+
|  1  | AD_B0_02   | GPIO1_2 / UART6_TX / CAN2_TX        |
+-----+------------+-------------------------------------+
|  2  | EMC_04     | GPIO4_4                             |
+-----+------------+-------------------------------------+
|  3  | EMC_05     | GPIO4_5                             |
+-----+------------+-------------------------------------+
|  4  | EMC_06     | GPIO4_6                             |
+-----+------------+-------------------------------------+
|  5  | EMC_08     | GPIO4_8                             |
+-----+------------+-------------------------------------+
|  6  | B0_10      | GPIO2_10                            |
+-----+------------+-------------------------------------+
|  7  | B1_01      | GPIO2_17 / UART4_RX                 |
+-----+------------+-------------------------------------+
|  8  | B1_00      | GPIO2_16 / UART4_TX                 |
+-----+------------+-------------------------------------+
|  9  | B0_11      | GPIO2_11                            |
+-----+------------+-------------------------------------+
| 10  | B0_00      | GPIO2_0                             |
+-----+------------+-------------------------------------+
| 11  | B0_02      | GPIO2_2                             |
+-----+------------+-------------------------------------+
| 12  | B0_01      | GPIO2_1                             |
+-----+------------+-------------------------------------+
| 13  | B0_03      | GPIO2_3 / LED                       |
+-----+------------+-------------------------------------+
| 14  | AD_B1_02   | GPIO1_18 / UART2_TX                 |
+-----+------------+-------------------------------------+
| 15  | AD_B1_03   | GPIO1_19 / UART2_RX                 |
+-----+------------+-------------------------------------+
| 16  | AD_B1_07   | GPIO1_23 / UART3_RX / I2C3_SCL      |
+-----+------------+-------------------------------------+
| 17  | AD_B1_06   | GPIO1_22 / UART3_TX / I2C3_SDA      |
+-----+------------+-------------------------------------+
| 18  | AD_B1_01   | GPIO1_17 / I2C1_SDA                 |
+-----+------------+-------------------------------------+
| 19  | AD_B1_00   | GPIO1_16 / I2C1_SCL                 |
+-----+------------+-------------------------------------+
| 20  | AD_B1_10   | GPIO1_26 / UART8_TX                 |
+-----+------------+-------------------------------------+
| 21  | AD_B1_11   | GPIO1_27 / UART8_RX                 |
+-----+------------+-------------------------------------+
| 22  | AD_B1_08   | GPIO1_24 / CAN1_TX                  |
+-----+------------+-------------------------------------+
| 23  | AD_B1_09   | GPIO1_25 / CAN1_RX                  |
+-----+------------+-------------------------------------+
| 24  | AD_B0_12   | GPIO1_12 / UART1_TX / I2C4_SCL      |
+-----+------------+-------------------------------------+
| 25  | AD_B0_13   | GPIO1_13 / UART1_RX / I2C4_SDA      |
+-----+------------+-------------------------------------+
| 26  | AD_B1_14   | GPIO1_30                            |
+-----+------------+-------------------------------------+
| 27  | AD_B1_15   | GPIO1_31                            |
+-----+------------+-------------------------------------+
| 28  | EMC_32     | GPIO3_18 / UART7_RX                 |
+-----+------------+-------------------------------------+
| 29  | EMC_31     | GPIO4_31 / UART7_TX                 |
+-----+------------+-------------------------------------+
| 30  | EMC_37     | GPIO3_23 / CAN3_RX                  |
+-----+------------+-------------------------------------+
| 31  | EMC_36     | GPIO3_22 / CAN3_TX                  |
+-----+------------+-------------------------------------+
| 32  | B0_12      | GPIO2_12                            |
+-----+------------+-------------------------------------+
| 33  | EMC_07     | GPIO4_7                             |
+-----+------------+-------------------------------------+

Only Teensy 4.0:

+-----+------------+-------------------------------------+
| 34  | SD_B0_03   | GPIO3_15                            |
+-----+------------+-------------------------------------+
| 35  | SD_B0_02   | GPIO3_14                            |
+-----+------------+-------------------------------------+
| 36  | SD_B0_01   | GPIO3_13                            |
+-----+------------+-------------------------------------+
| 37  | SD_B0_00   | GPIO3_12                            |
+-----+------------+-------------------------------------+
| 38  | SD_B0_05   | GPIO3_17                            |
+-----+------------+-------------------------------------+
| 39  | SD_B0_04   | GPIO3_16                            |
+-----+------------+-------------------------------------+

Only Teensy 4.1:

+-----+------------+-------------------------------------+
| 34  | B1_13      | GPIO2_29 / UART5_RX                 |
+-----+------------+-------------------------------------+
| 35  | B1_12      | GPIO2_28 / UART5_TX                 |
+-----+------------+-------------------------------------+
| 36  | B1_02      | GPIO2_18                            |
+-----+------------+-------------------------------------+
| 37  | B1_03      | GPIO2_19                            |
+-----+------------+-------------------------------------+
| 38  | AD_B1_12   | GPIO1_28                            |
+-----+------------+-------------------------------------+
| 39  | AD_B1_13   | GPIO1_29                            |
+-----+------------+-------------------------------------+
| 40  | AD_B1_04   | GPIO1_20                            |
+-----+------------+-------------------------------------+
| 41  | AD_B1_05   | GPIO1_21                            |
+-----+------------+-------------------------------------+

Programming and Debugging
*************************

Flashing
========
Build applications as usual (see :ref:`build_an_application` for more details).

Flash hex-file with the documented tools:

.. _Teensy flash tools:
   https://www.pjrc.com/teensy/loader.html

Debugging
=========
Console output is mapped to teensy pins 0 (RX1) and 1 (TX1). Connect a usb-to-serial adapter
to use this serial console. Use the following settings with your serial terminal of choice (minicom, putty,
etc.):

- Speed: 115200
- Data: 8 bits
- Parity: None
- Stop bits: 1

References
**********

.. _Teensy 4.0 Website:
   https://www.pjrc.com/store/teensy40.html

.. _Teensy Schematics:
   https://www.pjrc.com/teensy/schematic.html

.. _i.MX RT1060 Website:
   https://www.nxp.com/products/processors-and-microcontrollers/arm-based-processors-and-mcus/i.mx-applications-processors/i.mx-rt-series/i.mx-rt1060-crossover-processor-with-arm-cortex-m7-core:i.MX-RT1060

.. _i.MX RT1060 Datasheet:
   https://www.nxp.com/docs/en/nxp/data-sheets/IMXRT1060CEC.pdf

.. _i.MX RT1060 Reference Manual:
   https://www.nxp.com/webapp/Download?colCode=IMXRT1060RM