A grblHAL driver for the NXP iMXRT1062 processor on a Teensy 4.x board.
Available driver options can be found here.
This driver can be built with the Web Builder, see Compiling for more information on building.
Important! There is a "bug" in Teensyduino prior to v1.54 that may cause periodic stalls in processing.
It is possible that this is only happening when networking is enabled and then not always so.
Regardless of whether networking is enabled or not it is recommended that Teensyduino v1.54 is used to build this driver.
The networking plugin is for Teensy 4.1 and needs the teensy41_ethernet lwIP library, updated to lwIP 2.1.3 and configured for grblHAL.
The SD card plugin needs the uSDFS library, patched for bugs and configured for grblHAL.
Download the libraries above as zip files and add to your Arduino installation with Sketch > Include Library > Add .ZIP Library...
| N_AXIS | Ganged axes1 | Ethernet | EEPROM | SD card | I2C Keypad | Encoders | Digital I/O | Analog I/O | |
|---|---|---|---|---|---|---|---|---|---|
| Generic | 3 | no | no | yes2 | yes | yes | - | - | - |
| BOARD_T40X101 for Teensy 4.0 | max 4 | max 1 | no | yes2 | no | yes | max 1 | - | - |
| BOARD_T41U5XBB for Teensy 4.1 | max 5 | max 2 | yes | yes2 | yes | yes | max 1 | 4/3 or 1/33 | - |
| BOARD_T41BB5X_PRO for Teensy 4.1 | max 5 | max 2 | yes | yes (FRAM) | yes | yes | max 1 | 4/3 or 1/33 | - |
| BOARD_GRBLHAL2000 for Teensy 4.1 | max 5 | max 2? | yes | yes | yes | 4/? |
1 Each enabled reduces N_AXIS with one. Currently the board map file must be edited to enable ganged/auto squared axes.
2 I2C EEPROM (or FRAM) is optional and must be added to the board. FRAM is recommended when the Odometer plugin is added to the build.
3 Number of digital input pins available is reduced when the Encoder plugin is added to the build.
grblHAL can be built using the Arduino IDE or through the use of PlatformIO. Detailed directions may be found in the grblHAL wiki.
This driver compiles and uploads from the Arduino IDE and is partially dependent on the Arduino framework. Teensyduino is required and must be added to the Arduino IDE.
See the Wiki-page for compiling grblHAL for instructions for how to import the project, configure the driver and compile.
PlatformIO is a cross platform build system for embedded systems.
It provides both a GUI (delivered as an extension for VSCode) as well as a
command line interface, both of which wrap the underlying toolsi (scons,
gdb, etc). It features library management, a robust interface for dynamic
builds and scripting, and a set of Python APIs for customization. Users
interested in exploring complex project configurations utilzing many vendor
provided hardware abstraction layers, processor specific customizations, etc may
consult the configurations used within the Marlin project (configurations may be
found in platformio.ini and ini/*).
Compiling grblHAL with PlatformIO is quite trivial. PlatformIO will handle setting up any processor/architecture specific tooling needed to compile and flash grblHAL. To begin, decide whether you are choosing to use the GUI via VSCode or the command line tooling. Consult the documentation for directions on installing in the desired manner.
Next we will clone this repository, ensuring that all submodules have been retrieved:
git clone --recurse-submodules https://github.com/grblHAL/iMXRT1062.gitNext, change into the grblHAL_Teensy4 sub-directory located within your checkout
of the project (by default this would be iMXRT1062/grblHAL_Teensy4).
This directory contains the platformio.ini configuration file. Within the
configuration file we have some basic boilerplate information specifying how to
build the project. These settings describe:
board we desire to compile for (the Teensy 4.0 or 4.1) Note: Both
boards are defined in platformio.ini. The primary distinction between the
boards is the onboard flash size (1.94MB in the Teensy 4.0 and 7.75MB in the
Teensy 4.1). While either environment will generally work, using the wrong
environment may raise errors in the future if the build sizes become too
large.platform to be used (Within PlatformIO a development platform is
described as "a particular microcontroller or processor architecture that
PlatformIO projects can be compiled to run on. (A few platforms, for example
Teensy, use different target architectures for different boards.)"framework we will use for development (For the Teensy we use
arduino. Examples of other frameworks inclue CMSIS, FreeRTOS,
STM32Cube, etc).environment which scopes specific configurations for the tools
pio run, pio test, pio check, pio debug, and any custom targets
which may be defined. Our environment re-uses the board name, teensy41
and sets this value as the default environment.teensy-cli application)The configuration file also provides a number of configuration abstractions where common configurations can be applied project wide or by build environment. For more information on customizing your configuration or build environment, consult the PlatformIO documentation.
Next, make any desired edits to the file src/my_machine.h
Begin compilation by running the command:
pio runThis will begin the compilation, using the default environment. Alternate
environments may be specified using the flag -e/--environment. Additional
targets may be viewed by running pio run --list-targets. Changing the target
from the default (compilation) can be done using the flag -t/--target
(e.g. pio run -t clean).
As the compilation begins all of the needed tooling and libraries will be
retrieved. Tooling will be installed to the user's "global" PlatformIO
installation. Project specific libraries will be stored in the subdirectory
.pio. The .pio directory is solely used for temporary build artifacts and
caching libraries. It is safe to completely remove and will be re-created on
the next execution of pio run.
At the end of compilation, two assets will be generated:
.pio/build/teensy41/firmware.elf.pio/build/teensy41/firmware.hexOur ELF (Executable and Linkable Format) binary contains the full set of
headers desribing our program and section headers. Our HEX file is the binary
rendering of solely the data section of the ELF file. The HEX file is the one
used by the default Teensy tooling. The ELF file is useful when performing
debugging (i.e. through the use of gdb or openocd).
We may use the target upload to flash our new firmware. The default
project-specific configuration in platformio.ini utilizes the Teensy CLI
application. A complete list of supported upload protocols for the Teensy 4.1
(e.g. teensy-gui, jlink) can be referenced on the Teensy 4.1
page in the PlatformIO documentation.
To execute our upload, run the following command:
pio run -t uploadCongratulations! You should now have a newly flashed Teensy running grblHAL!
To update your checkout in the future, ensure that all git submodules are updates along with the primary repository:
git pull --recurse-submodules2023-09-20