Viable NXP/Teensy support

- Fix UART & putChar
- Timer-based sleep
- Enable systick in abort
- Buffered, interrupt-based UART TX
- Use the new interrupt API and fix sleepTicks
- Make pins behave more like other boards
- Use the MCU's UART numbering
- Allow interrupts to wake the scheduler (#1214)

src/machine/board_teensy36.go

@@ -2,91 +2,100 @@
 
 package machine
 
-import (
-	"device/nxp"
-)
+// CPUFrequency returns the frequency of the ARM core clock (180MHz)
+func CPUFrequency() uint32 { return 180000000 }
 
-// //go:keep
-// //go:section .flash_config
-// var FlashControl = [16]byte{
-// 	0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
-// 	0xFF, 0xFF, 0xFF, 0xFF, 0xDE, 0xF9, 0xFF, 0xFF,
-// }
-
-func CPUFrequency() uint32 {
-	return 180000000
-}
+// ClockFrequency returns the frequency of the external oscillator (16MHz)
+func ClockFrequency() uint32 { return 16000000 }
 
 // LED on the Teensy
-const LED Pin = 13
+const LED = PC05
 
-var pins = []pin{
-	// {bit, control register, gpio register bank}
-	0:  {16, &nxp.PORTB.PCR16, nxp.GPIOB},
-	1:  {17, &nxp.PORTB.PCR17, nxp.GPIOB},
-	2:  {0, &nxp.PORTD.PCR0, nxp.GPIOD},
-	3:  {12, &nxp.PORTA.PCR12, nxp.GPIOA},
-	4:  {13, &nxp.PORTA.PCR13, nxp.GPIOA},
-	5:  {7, &nxp.PORTD.PCR7, nxp.GPIOD},
-	6:  {4, &nxp.PORTD.PCR4, nxp.GPIOD},
-	7:  {2, &nxp.PORTD.PCR2, nxp.GPIOD},
-	8:  {3, &nxp.PORTD.PCR3, nxp.GPIOD},
-	9:  {3, &nxp.PORTC.PCR3, nxp.GPIOC},
-	10: {4, &nxp.PORTC.PCR4, nxp.GPIOC},
-	11: {6, &nxp.PORTC.PCR6, nxp.GPIOC},
-	12: {7, &nxp.PORTC.PCR7, nxp.GPIOC},
-	13: {5, &nxp.PORTC.PCR5, nxp.GPIOC},
-	14: {1, &nxp.PORTD.PCR1, nxp.GPIOD},
-	15: {0, &nxp.PORTC.PCR0, nxp.GPIOC},
-	16: {0, &nxp.PORTB.PCR0, nxp.GPIOB},
-	17: {1, &nxp.PORTB.PCR1, nxp.GPIOB},
-	18: {3, &nxp.PORTB.PCR3, nxp.GPIOB},
-	19: {2, &nxp.PORTB.PCR2, nxp.GPIOB},
-	20: {5, &nxp.PORTD.PCR5, nxp.GPIOD},
-	21: {6, &nxp.PORTD.PCR6, nxp.GPIOD},
-	22: {1, &nxp.PORTC.PCR1, nxp.GPIOC},
-	23: {2, &nxp.PORTC.PCR2, nxp.GPIOC},
-	24: {26, &nxp.PORTE.PCR26, nxp.GPIOE},
-	25: {5, &nxp.PORTA.PCR5, nxp.GPIOA},
-	26: {14, &nxp.PORTA.PCR14, nxp.GPIOA},
-	27: {15, &nxp.PORTA.PCR15, nxp.GPIOA},
-	28: {16, &nxp.PORTA.PCR16, nxp.GPIOA},
-	29: {18, &nxp.PORTB.PCR18, nxp.GPIOB},
-	30: {19, &nxp.PORTB.PCR19, nxp.GPIOB},
-	31: {10, &nxp.PORTB.PCR10, nxp.GPIOB},
-	32: {11, &nxp.PORTB.PCR11, nxp.GPIOB},
-	33: {24, &nxp.PORTE.PCR24, nxp.GPIOE},
-	34: {25, &nxp.PORTE.PCR25, nxp.GPIOE},
-	35: {8, &nxp.PORTC.PCR8, nxp.GPIOC},
-	36: {9, &nxp.PORTC.PCR9, nxp.GPIOC},
-	37: {10, &nxp.PORTC.PCR10, nxp.GPIOC},
-	38: {11, &nxp.PORTC.PCR11, nxp.GPIOC},
-	39: {17, &nxp.PORTA.PCR17, nxp.GPIOA},
-	40: {28, &nxp.PORTA.PCR28, nxp.GPIOA},
-	41: {29, &nxp.PORTA.PCR29, nxp.GPIOA},
-	42: {26, &nxp.PORTA.PCR26, nxp.GPIOA},
-	43: {20, &nxp.PORTB.PCR20, nxp.GPIOB},
-	44: {22, &nxp.PORTB.PCR22, nxp.GPIOB},
-	45: {23, &nxp.PORTB.PCR23, nxp.GPIOB},
-	46: {21, &nxp.PORTB.PCR21, nxp.GPIOB},
-	47: {8, &nxp.PORTD.PCR8, nxp.GPIOD},
-	48: {9, &nxp.PORTD.PCR9, nxp.GPIOD},
-	49: {4, &nxp.PORTB.PCR4, nxp.GPIOB},
-	50: {5, &nxp.PORTB.PCR5, nxp.GPIOB},
-	51: {14, &nxp.PORTD.PCR14, nxp.GPIOD},
-	52: {13, &nxp.PORTD.PCR13, nxp.GPIOD},
-	53: {12, &nxp.PORTD.PCR12, nxp.GPIOD},
-	54: {15, &nxp.PORTD.PCR15, nxp.GPIOD},
-	55: {11, &nxp.PORTD.PCR11, nxp.GPIOD},
-	56: {10, &nxp.PORTE.PCR10, nxp.GPIOE},
-	57: {11, &nxp.PORTE.PCR11, nxp.GPIOE},
-	58: {0, &nxp.PORTE.PCR0, nxp.GPIOE},
-	59: {1, &nxp.PORTE.PCR1, nxp.GPIOE},
-	60: {2, &nxp.PORTE.PCR2, nxp.GPIOE},
-	61: {3, &nxp.PORTE.PCR3, nxp.GPIOE},
-	62: {4, &nxp.PORTE.PCR4, nxp.GPIOE},
-	63: {5, &nxp.PORTE.PCR5, nxp.GPIOE},
-}
+// digital IO
+const (
+	D00 = PB16
+	D01 = PB17
+	D02 = PD00
+	D03 = PA12
+	D04 = PA13
+	D05 = PD07
+	D06 = PD04
+	D07 = PD02
+	D08 = PD03
+	D09 = PC03
+	D10 = PC04
+	D11 = PC06
+	D12 = PC07
+	D13 = PC05
+	D14 = PD01
+	D15 = PC00
+	D16 = PB00
+	D17 = PB01
+	D18 = PB03
+	D19 = PB02
+	D20 = PD05
+	D21 = PD06
+	D22 = PC01
+	D23 = PC02
+	D24 = PE26
+	D25 = PA05
+	D26 = PA14
+	D27 = PA15
+	D28 = PA16
+	D29 = PB18
+	D30 = PB19
+	D31 = PB10
+	D32 = PB11
+	D33 = PE24
+	D34 = PE25
+	D35 = PC08
+	D36 = PC09
+	D37 = PC10
+	D38 = PC11
+	D39 = PA17
+	D40 = PA28
+	D41 = PA29
+	D42 = PA26
+	D43 = PB20
+	D44 = PB22
+	D45 = PB23
+	D46 = PB21
+	D47 = PD08
+	D48 = PD09
+	D49 = PB04
+	D50 = PB05
+	D51 = PD14
+	D52 = PD13
+	D53 = PD12
+	D54 = PD15
+	D55 = PD11
+	D56 = PE10
+	D57 = PE11
+	D58 = PE00
+	D59 = PE01
+	D60 = PE02
+	D61 = PE03
+	D62 = PE04
+	D63 = PE05
+)
 
-//go:inline
-func (p Pin) reg() pin { return pins[p] }
+var (
+	TeensyUART1 = &UART0
+	TeensyUART2 = &UART1
+	TeensyUART3 = &UART2
+	TeensyUART4 = &UART3
+	TeensyUART5 = &UART4
+)
+
+const (
+	defaultUART0RX = D00
+	defaultUART0TX = D01
+	defaultUART1RX = D09
+	defaultUART1TX = D10
+	defaultUART2RX = D07
+	defaultUART2TX = D08
+	defaultUART3RX = D31
+	defaultUART3TX = D32
+	defaultUART4RX = D34
+	defaultUART4TX = D33
+)