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

src/machine/machine_nxp.go

@@ -1,33 +0,0 @@
-// +build nxp
-
-package machine
-
-import (
-	"device/arm"
-	"device/nxp"
-)
-
-type PinMode uint8
-
-const (
-	PinInput PinMode = iota
-	PinOutput
-)
-
-// Stop enters STOP (deep sleep) mode
-func Stop() {
-	// set SLEEPDEEP to enable deep sleep
-	nxp.SystemControl.SCR.SetBits(nxp.SystemControl_SCR_SLEEPDEEP)
-
-	// enter STOP mode
-	arm.Asm("wfi")
-}
-
-// Wait enters WAIT (sleep) mode
-func Wait() {
-	// clear SLEEPDEEP bit to disable deep sleep
-	nxp.SystemControl.SCR.ClearBits(nxp.SystemControl_SCR_SLEEPDEEP)
-
-	// enter WAIT mode
-	arm.Asm("wfi")
-}

src/machine/machine_nxpmk66f18.go

@@ -1,3 +1,32 @@
+// Derivative work of Teensyduino Core Library
+// http://www.pjrc.com/teensy/
+// Copyright (c) 2017 PJRC.COM, LLC.
+//
+// Permission is hereby granted, free of charge, to any person obtaining
+// a copy of this software and associated documentation files (the
+// "Software"), to deal in the Software without restriction, including
+// without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to
+// permit persons to whom the Software is furnished to do so, subject to
+// the following conditions:
+//
+// 1. The above copyright notice and this permission notice shall be
+// included in all copies or substantial portions of the Software.
+//
+// 2. If the Software is incorporated into a build system that allows
+// selection among a list of target devices, then similar target
+// devices manufactured by PJRC.COM must be included in the list of
+// target devices and selectable in the same manner.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+// BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+// ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+// CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 // +build nxp,mk66f18
 
 package machine
@@ -5,8 +34,240 @@ package machine
 import (
 	"device/nxp"
 	"runtime/volatile"
+	"unsafe"
 )
 
+type PinMode uint8
+
+const (
+	PinInput PinMode = iota
+	PinInputPullUp
+	PinInputPullDown
+	PinOutput
+	PinOutputOpenDrain
+	PinDisable
+)
+
+const (
+	PA00 Pin = iota
+	PA01
+	PA02
+	PA03
+	PA04
+	PA05
+	PA06
+	PA07
+	PA08
+	PA09
+	PA10
+	PA11
+	PA12
+	PA13
+	PA14
+	PA15
+	PA16
+	PA17
+	PA18
+	PA19
+	PA20
+	PA21
+	PA22
+	PA23
+	PA24
+	PA25
+	PA26
+	PA27
+	PA28
+	PA29
+)
+
+const (
+	PB00 Pin = iota + 32
+	PB01
+	PB02
+	PB03
+	PB04
+	PB05
+	PB06
+	PB07
+	PB08
+	PB09
+	PB10
+	PB11
+	_
+	_
+	_
+	_
+	PB16
+	PB17
+	PB18
+	PB19
+	PB20
+	PB21
+	PB22
+	PB23
+)
+
+const (
+	PC00 Pin = iota + 64
+	PC01
+	PC02
+	PC03
+	PC04
+	PC05
+	PC06
+	PC07
+	PC08
+	PC09
+	PC10
+	PC11
+	PC12
+	PC13
+	PC14
+	PC15
+	PC16
+	PC17
+	PC18
+	PC19
+)
+
+const (
+	PD00 Pin = iota + 96
+	PD01
+	PD02
+	PD03
+	PD04
+	PD05
+	PD06
+	PD07
+	PD08
+	PD09
+	PD10
+	PD11
+	PD12
+	PD13
+	PD14
+	PD15
+)
+
+const (
+	PE00 Pin = iota + 128
+	PE01
+	PE02
+	PE03
+	PE04
+	PE05
+	PE06
+	PE07
+	PE08
+	PE09
+	PE10
+	PE11
+	PE12
+	PE13
+	PE14
+	PE15
+	PE16
+	PE17
+	PE18
+	PE19
+	PE20
+	PE21
+	PE22
+	PE23
+	PE24
+	PE25
+	PE26
+	PE27
+	PE28
+)
+
+//go:inline
+func (p Pin) reg() (*nxp.GPIO_Type, *volatile.Register32, uint8) {
+	var gpio *nxp.GPIO_Type
+	var pcr *nxp.PORT_Type
+
+	if p < 32 {
+		gpio, pcr = nxp.GPIOA, nxp.PORTA
+	} else if p < 64 {
+		gpio, pcr = nxp.GPIOB, nxp.PORTB
+	} else if p < 96 {
+		gpio, pcr = nxp.GPIOC, nxp.PORTC
+	} else if p < 128 {
+		gpio, pcr = nxp.GPIOD, nxp.PORTD
+	} else if p < 160 {
+		gpio, pcr = nxp.GPIOE, nxp.PORTE
+	} else {
+		panic("invalid pin number")
+	}
+
+	return gpio, &(*[32]volatile.Register32)(unsafe.Pointer(pcr))[p%32], uint8(p % 32)
+}
+
+// Configure this pin with the given configuration.
+func (p Pin) Configure(config PinConfig) {
+	gpio, pcr, pos := p.reg()
+
+	switch config.Mode {
+	case PinOutput:
+		gpio.PDDR.SetBits(1 << pos)
+		pcr.Set((1 << nxp.PORT_PCR0_MUX_Pos) | nxp.PORT_PCR0_SRE | nxp.PORT_PCR0_DSE)
+
+	case PinOutputOpenDrain:
+		gpio.PDDR.SetBits(1 << pos)
+		pcr.Set((1 << nxp.PORT_PCR0_MUX_Pos) | nxp.PORT_PCR0_SRE | nxp.PORT_PCR0_DSE | nxp.PORT_PCR0_ODE)
+
+	case PinInput:
+		gpio.PDDR.ClearBits(1 << pos)
+		pcr.Set((1 << nxp.PORT_PCR0_MUX_Pos))
+
+	case PinInputPullUp:
+		gpio.PDDR.ClearBits(1 << pos)
+		pcr.Set((1 << nxp.PORT_PCR0_MUX_Pos) | nxp.PORT_PCR0_PE | nxp.PORT_PCR0_PS)
+
+	case PinInputPullDown:
+		gpio.PDDR.ClearBits(1 << pos)
+		pcr.Set((1 << nxp.PORT_PCR0_MUX_Pos) | nxp.PORT_PCR0_PE)
+
+	case PinDisable:
+		gpio.PDDR.ClearBits(1 << pos)
+		pcr.Set((0 << nxp.PORT_PCR0_MUX_Pos))
+	}
+}
+
+// Set changes the value of the GPIO pin. The pin must be configured as output.
+func (p Pin) Set(value bool) {
+	gpio, _, pos := p.reg()
+	if value {
+		gpio.PSOR.Set(1 << pos)
+	} else {
+		gpio.PCOR.Set(1 << pos)
+	}
+}
+
+// Get returns the current value of a GPIO pin.
+func (p Pin) Get() bool {
+	gpio, _, pos := p.reg()
+	return gpio.PDIR.HasBits(1 << pos)
+}
+
+func (p Pin) Control() *volatile.Register32 {
+	_, pcr, _ := p.reg()
+	return pcr
+}
+
+func (p Pin) Fast() FastPin {
+	gpio, _, pos := p.reg()
+	return FastPin{
+		PDOR: gpio.PDOR.Bit(pos),
+		PSOR: gpio.PSOR.Bit(pos),
+		PCOR: gpio.PCOR.Bit(pos),
+		PTOR: gpio.PTOR.Bit(pos),
+		PDIR: gpio.PDIR.Bit(pos),
+		PDDR: gpio.PDDR.Bit(pos),
+	}
+}
+
 type FastPin struct {
 	PDOR *volatile.BitRegister
 	PSOR *volatile.BitRegister
@@ -16,58 +277,6 @@ type FastPin struct {
 	PDDR *volatile.BitRegister
 }
 
-type pin struct {
-	Bit  uint8
-	PCR  *volatile.Register32
-	GPIO *nxp.GPIO_Type
-}
-
-// Configure this pin with the given configuration.
-func (p Pin) Configure(config PinConfig) {
-	switch config.Mode {
-	case PinInput:
-		panic("todo")
-
-	case PinOutput:
-		r := p.reg()
-		r.GPIO.PDDR.SetBits(1 << r.Bit)
-		r.PCR.SetBits(nxp.PORT_PCR0_SRE | nxp.PORT_PCR0_DSE | nxp.PORT_PCR0_MUX(1))
-		r.PCR.ClearBits(nxp.PORT_PCR0_ODE)
-	}
-}
-
-// Set changes the value of the GPIO pin. The pin must be configured as output.
-func (p Pin) Set(value bool) {
-	r := p.reg()
-	if value {
-		r.GPIO.PSOR.Set(1 << r.Bit)
-	} else {
-		r.GPIO.PCOR.Set(1 << r.Bit)
-	}
-}
-
-// Get returns the current value of a GPIO pin.
-func (p Pin) Get() bool {
-	r := p.reg()
-	return r.GPIO.PDIR.HasBits(1 << r.Bit)
-}
-
-func (p Pin) Control() *volatile.Register32 {
-	return p.reg().PCR
-}
-
-func (p Pin) Fast() FastPin {
-	r := p.reg()
-	return FastPin{
-		PDOR: r.GPIO.PDOR.Bit(r.Bit),
-		PSOR: r.GPIO.PSOR.Bit(r.Bit),
-		PCOR: r.GPIO.PCOR.Bit(r.Bit),
-		PTOR: r.GPIO.PTOR.Bit(r.Bit),
-		PDIR: r.GPIO.PDIR.Bit(r.Bit),
-		PDDR: r.GPIO.PDDR.Bit(r.Bit),
-	}
-}
-
 func (p FastPin) Set()         { p.PSOR.Set(true) }
 func (p FastPin) Clear()       { p.PCOR.Set(true) }
 func (p FastPin) Toggle()      { p.PTOR.Set(true) }

src/machine/uart.go

@@ -1,4 +1,4 @@
-// +build avr nrf sam sifive stm32 k210
+// +build avr nrf sam sifive stm32 k210 nxp
 
 package machine
 

src/machine/uart_nxpmk66f18.go

@@ -1,3 +1,32 @@
+// Derivative work of Teensyduino Core Library
+// http://www.pjrc.com/teensy/
+// Copyright (c) 2017 PJRC.COM, LLC.
+//
+// Permission is hereby granted, free of charge, to any person obtaining
+// a copy of this software and associated documentation files (the
+// "Software"), to deal in the Software without restriction, including
+// without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to
+// permit persons to whom the Software is furnished to do so, subject to
+// the following conditions:
+//
+// 1. The above copyright notice and this permission notice shall be
+// included in all copies or substantial portions of the Software.
+//
+// 2. If the Software is incorporated into a build system that allows
+// selection among a list of target devices, then similar target
+// devices manufactured by PJRC.COM must be included in the list of
+// target devices and selectable in the same manner.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+// BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+// ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+// CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
 // +build nxp,mk66f18
 
 package machine
@@ -6,6 +35,7 @@ import (
 	"device/arm"
 	"device/nxp"
 	"errors"
+	"runtime/interrupt"
 	"runtime/volatile"
 
 	_ "unsafe" // for go:linkname
@@ -18,6 +48,10 @@ const (
 	uartC2TXInactive   = uartC2Enable
 
 	uartIRQPriority = 64
+
+	// determined from UARTx_PFIFO
+	uartRXFIFODepth = 8
+	uartTXFIFODepth = 8
 )
 
 var (
@@ -25,61 +59,81 @@ var (
 	ErrNotConfigured  = errors.New("device has not been configured")
 )
 
-type UARTConfig struct {
+//go:linkname gosched runtime.Gosched
-	BaudRate uint32
+func gosched()
+
+// PutcharUART writes a byte to the UART synchronously, without using interrupts
+// or calling the scheduler
+func PutcharUART(u UART, c byte) {
+	// ensure the UART has been configured
+	if !u.SCGC.HasBits(u.SCGCMask) {
+		u.configure(UARTConfig{}, false)
+	}
+
+	for u.TCFIFO.Get() > 0 {
+		// busy wait
+	}
+	u.D.Set(c)
+	u.C2.Set(uartC2TXActive)
 }
 
-type UART struct {
+// PollUART manually checks a UART status and calls the ISR. This should only be
+// called by runtime.abort.
+func PollUART(u UART) {
+	if u.SCGC.HasBits(u.SCGCMask) {
+		u.handleStatusInterrupt(u.Interrupt)
+	}
+}
+
+type UART = *UARTData
+
+type UARTData struct {
 	*nxp.UART_Type
-	RXPCR     *volatile.Register32
+	SCGC     *volatile.Register32
-	TXPCR     *volatile.Register32
+	SCGCMask uint32
-	SCGC      *volatile.Register32
+
-	SCGCMask  uint32
+	DefaultRX Pin
-	IRQNumber uint32
+	DefaultTX Pin
 
 	// state
-	RXBuffer     RingBuffer
+	Buffer       RingBuffer // RX Buffer
 	TXBuffer     RingBuffer
+	Configured   bool
 	Transmitting volatile.Register8
+	Interrupt    interrupt.Interrupt
 }
 
-// 'UART0' in the K66 manual corresponds to 'UART1' on the Teensy's pinout
+var UART0 = UARTData{UART_Type: nxp.UART0, SCGC: &nxp.SIM.SCGC4, SCGCMask: nxp.SIM_SCGC4_UART0, DefaultRX: defaultUART0RX, DefaultTX: defaultUART0TX}
-var UART1 = UART{UART_Type: nxp.UART0, RXPCR: pins[0].PCR, TXPCR: pins[1].PCR, SCGC: &nxp.SIM.SCGC4, SCGCMask: nxp.SIM_SCGC4_UART0, IRQNumber: nxp.IRQ_UART0_RX_TX}
+var UART1 = UARTData{UART_Type: nxp.UART1, SCGC: &nxp.SIM.SCGC4, SCGCMask: nxp.SIM_SCGC4_UART1, DefaultRX: defaultUART1RX, DefaultTX: defaultUART1TX}
-var UART2 = UART{UART_Type: nxp.UART1, RXPCR: pins[9].PCR, TXPCR: pins[10].PCR, SCGC: &nxp.SIM.SCGC4, SCGCMask: nxp.SIM_SCGC4_UART1, IRQNumber: nxp.IRQ_UART1_RX_TX}
+var UART2 = UARTData{UART_Type: nxp.UART2, SCGC: &nxp.SIM.SCGC4, SCGCMask: nxp.SIM_SCGC4_UART2, DefaultRX: defaultUART2RX, DefaultTX: defaultUART2TX}
-var UART3 = UART{UART_Type: nxp.UART2, RXPCR: pins[7].PCR, TXPCR: pins[8].PCR, SCGC: &nxp.SIM.SCGC4, SCGCMask: nxp.SIM_SCGC4_UART2, IRQNumber: nxp.IRQ_UART2_RX_TX}
+var UART3 = UARTData{UART_Type: nxp.UART3, SCGC: &nxp.SIM.SCGC4, SCGCMask: nxp.SIM_SCGC4_UART3, DefaultRX: defaultUART3RX, DefaultTX: defaultUART3TX}
-var UART4 = UART{UART_Type: nxp.UART3, RXPCR: pins[31].PCR, TXPCR: pins[32].PCR, SCGC: &nxp.SIM.SCGC4, SCGCMask: nxp.SIM_SCGC4_UART3, IRQNumber: nxp.IRQ_UART3_RX_TX}
+var UART4 = UARTData{UART_Type: nxp.UART4, SCGC: &nxp.SIM.SCGC1, SCGCMask: nxp.SIM_SCGC1_UART4, DefaultRX: defaultUART4RX, DefaultTX: defaultUART4TX}
-var UART5 = UART{UART_Type: nxp.UART4, RXPCR: pins[34].PCR, TXPCR: pins[33].PCR, SCGC: &nxp.SIM.SCGC1, SCGCMask: nxp.SIM_SCGC1_UART4, IRQNumber: nxp.IRQ_UART4_RX_TX}
 
-//go:export UART0_RX_TX_IRQHandler
+func init() {
-func uart0StatusISR() { UART1.handleStatusInterrupt() }
+	UART0.Interrupt = interrupt.New(nxp.IRQ_UART0_RX_TX, UART0.handleStatusInterrupt)
-
+	UART1.Interrupt = interrupt.New(nxp.IRQ_UART1_RX_TX, UART1.handleStatusInterrupt)
-//go:export UART1_RX_TX_IRQHandler
+	UART2.Interrupt = interrupt.New(nxp.IRQ_UART2_RX_TX, UART2.handleStatusInterrupt)
-func uart1StatusISR() { UART2.handleStatusInterrupt() }
+	UART3.Interrupt = interrupt.New(nxp.IRQ_UART3_RX_TX, UART3.handleStatusInterrupt)
-
+	UART4.Interrupt = interrupt.New(nxp.IRQ_UART4_RX_TX, UART4.handleStatusInterrupt)
-//go:export UART2_RX_TX_IRQHandler
+}
-func uart2StatusISR() { UART3.handleStatusInterrupt() }
-
-//go:export UART3_RX_TX_IRQHandler
-func uart3StatusISR() { UART4.handleStatusInterrupt() }
-
-//go:export UART4_RX_TX_IRQHandler
-func uart4StatusISR() { UART5.handleStatusInterrupt() }
 
 // Configure the UART.
-func (u *UART) Configure(config UARTConfig) {
+func (u UART) Configure(config UARTConfig) {
-	en := u.SCGC.HasBits(u.SCGCMask)
+	u.configure(config, true)
+}
 
-	// adapted from Teensy core's serial_begin
+func (u UART) configure(config UARTConfig, canSched bool) {
+	// from: serial_begin
 
-	if !en {
+	if !u.Configured {
 		u.Transmitting.Set(0)
 
 		// turn on the clock
 		u.SCGC.Set(u.SCGCMask)
 
 		// configure pins
-		u.RXPCR.Set(nxp.PORT_PCR0_PE | nxp.PORT_PCR0_PS | nxp.PORT_PCR0_PFE | nxp.PORT_PCR0_MUX(3))
+		u.DefaultRX.Control().Set(nxp.PORT_PCR0_PE | nxp.PORT_PCR0_PS | nxp.PORT_PCR0_PFE | (3 << nxp.PORT_PCR0_MUX_Pos))
-		u.TXPCR.Set(nxp.PORT_PCR0_DSE | nxp.PORT_PCR0_SRE | nxp.PORT_PCR0_MUX(3))
+		u.DefaultTX.Control().Set(nxp.PORT_PCR0_DSE | nxp.PORT_PCR0_SRE | (3 << nxp.PORT_PCR0_MUX_Pos))
 		u.C1.Set(nxp.UART_C1_ILT)
 	}
 
@@ -89,14 +143,20 @@ func (u *UART) Configure(config UARTConfig) {
 	}
 
 	// copied from teensy core's BAUD2DIV macro
-	divisor := ((CPUFrequency() * 2) + ((config.BaudRate) >> 1)) / config.BaudRate
+	divisor := ((CPUFrequency() * 2) + (config.BaudRate >> 1)) / config.BaudRate
 	if divisor < 32 {
 		divisor = 32
 	}
 
-	if en {
+	if u.Configured {
 		// don't change baud rate mid transmit
-		u.Flush()
+		if canSched {
+			u.Flush()
+		} else {
+			for u.Transmitting.Get() != 0 {
+				// busy wait flush
+			}
+		}
 	}
 
 	// set the divisor
@@ -104,23 +164,27 @@ func (u *UART) Configure(config UARTConfig) {
 	u.BDL.Set(uint8((divisor >> 5) & 0xFF))
 	u.C4.Set(uint8(divisor & 0x1F))
 
-	if !en {
+	if !u.Configured {
+		u.Configured = true
+
 		u.C1.Set(nxp.UART_C1_ILT)
 
 		// configure TX and RX watermark
 		u.TWFIFO.Set(2) // causes bit TDRE of S1 to set
 		u.RWFIFO.Set(4) // causes bit RDRF of S1 to set
 
+		// enable FIFOs
 		u.PFIFO.Set(nxp.UART_PFIFO_TXFE | nxp.UART_PFIFO_RXFE)
-		u.C2.Set(uartC2TXInactive)
 
-		arm.SetPriority(u.IRQNumber, uartIRQPriority)
+		// setup interrupts
-		arm.EnableIRQ(u.IRQNumber)
+		u.C2.Set(uartC2TXInactive)
+		u.Interrupt.SetPriority(uartIRQPriority)
+		u.Interrupt.Enable()
 	}
 }
 
-func (u *UART) Disable() {
+func (u UART) Disable() {
-	// adapted from Teensy core's serial_end
+	// from: serial_end
 
 	// check if the device has been enabled already
 	if !u.SCGC.HasBits(u.SCGCMask) {
@@ -129,27 +193,29 @@ func (u *UART) Disable() {
 
 	u.Flush()
 
-	arm.DisableIRQ(u.IRQNumber)
+	u.Interrupt.Disable()
 	u.C2.Set(0)
 
 	// reconfigure pin
-	u.RXPCR.Set(nxp.PORT_PCR0_PE | nxp.PORT_PCR0_PS | nxp.PORT_PCR0_MUX(1))
+	u.DefaultRX.Configure(PinConfig{Mode: PinInputPullUp})
-	u.TXPCR.Set(nxp.PORT_PCR0_PE | nxp.PORT_PCR0_PS | nxp.PORT_PCR0_MUX(1))
+	u.DefaultTX.Configure(PinConfig{Mode: PinInputPullUp})
 
 	// clear flags
 	u.S1.Get()
 	u.D.Get()
-	u.RXBuffer.Clear()
+	u.Buffer.Clear()
 }
 
-func (u *UART) Flush() {
+func (u UART) Flush() {
 	for u.Transmitting.Get() != 0 {
-		// gosched()
+		gosched()
 	}
 }
 
-// adapted from Teensy core's uart0_status_isr
+func (u UART) handleStatusInterrupt(interrupt.Interrupt) {
-func (u *UART) handleStatusInterrupt() {
+	// from: uart0_status_isr
+
+	// receive
 	if u.S1.HasBits(nxp.UART_S1_RDRF | nxp.UART_S1_IDLE) {
 		intrs := arm.DisableInterrupts()
 		avail := u.RCFIFO.Get()
@@ -177,7 +243,7 @@ func (u *UART) handleStatusInterrupt() {
 			arm.EnableInterrupts(intrs)
 
 			for {
-				u.RXBuffer.Put(u.D.Get())
+				u.Buffer.Put(u.D.Get())
 				avail--
 				if avail <= 0 {
 					break
@@ -186,66 +252,54 @@ func (u *UART) handleStatusInterrupt() {
 		}
 	}
 
-	c := u.C2.Get()
+	// transmit
-	if c&nxp.UART_C2_TIE != 0 && u.S1.HasBits(nxp.UART_S1_TDRE) {
+	if u.C2.HasBits(nxp.UART_C2_TIE) && u.S1.HasBits(nxp.UART_S1_TDRE) {
-		for {
+		data := make([]byte, 0, uartTXFIFODepth)
-			n, ok := u.TXBuffer.Get()
+		avail := uartTXFIFODepth - u.TCFIFO.Get()
-			if !ok {
-				break
-			}
 
-			u.S1.Get()
+		// get avail bytes from ring buffer
-			u.D.Set(n)
+		for len(data) < int(avail) {
-
+			if b, ok := u.TXBuffer.Get(); ok {
-			if u.TCFIFO.Get() >= 8 {
+				data = append(data, b)
+			} else {
 				break
 			}
 		}
 
+		// write data to FIFO
+		l := len(data)
+		for i, b := range data {
+			if i == l-1 {
+				// only clear TDRE on last write, per the manual
+				u.S1.Get()
+			}
+			u.D.Set(b)
+		}
+
+		// if FIFO still has room, disable TIE, enable TCIE
 		if u.S1.HasBits(nxp.UART_S1_TDRE) {
-			u.Transmitting.Set(0)
 			u.C2.Set(uartC2TXCompleting)
 		}
 	}
 
-	if c&nxp.UART_C2_TCIE != 0 && u.S1.HasBits(nxp.UART_S1_TC) {
+	// transmit complete
+	if u.C2.HasBits(nxp.UART_C2_TCIE) && u.S1.HasBits(nxp.UART_S1_TC) {
+		u.Transmitting.Set(0)
 		u.C2.Set(uartC2TXInactive)
 	}
 }
 
-//go:linkname gosched runtime.Gosched
-func gosched()
-
 // WriteByte writes a byte of data to the UART.
-func (u *UART) WriteByte(c byte) error {
+func (u UART) WriteByte(c byte) error {
-	if !u.SCGC.HasBits(u.SCGCMask) {
+	if !u.Configured {
 		return ErrNotConfigured
 	}
 
-	for !u.S1.HasBits(nxp.UART_S1_TDRE) {
+	for !u.TXBuffer.Put(c) {
 		gosched()
 	}
-	u.D.Set(c)
 
-	// // wait for room on the buffer
+	u.Transmitting.Set(1)
-	// for !u.TXBuffer.Put(c) {
+	u.C2.Set(uartC2TXActive)
-	// 	gosched()
-	// }
-
-	// var wrote bool
-	// for u.S1.HasBits(nxp.UART_S1_TDRE) {
-	// 	n, ok := u.TXBuffer.Get()
-	// 	if ok {
-	// 		u.D.Set(n)
-	// 		wrote = true
-	// 	} else {
-	// 		break
-	// 	}
-	// }
-
-	// if wrote {
-	// 	u.Transmitting.Set(1)
-	// 	u.C2.Set(uartC2TXActive)
-	// }
 	return nil
 }

src/runtime/runtime_nxp.go

@@ -1,5 +0,0 @@
-// +build nxp
-
-package runtime
-
-type timeUnit int64

src/runtime/runtime_nxpmk66f18.go

@@ -35,53 +35,41 @@ import (
 	"device/arm"
 	"device/nxp"
 	"machine"
-	"runtime/volatile"
 )
 
 const (
-	WDOG_UNLOCK_SEQ1 = 0xC520
+	watchdogUnlockSequence1 = 0xC520
-	WDOG_UNLOCK_SEQ2 = 0xD928
+	watchdogUnlockSequence2 = 0xD928
 
-	DEFAULT_FTM_MOD      = 61440 - 1
+	_DEFAULT_FTM_MOD      = 61440 - 1
-	DEFAULT_FTM_PRESCALE = 1
+	_DEFAULT_FTM_PRESCALE = 1
 )
 
-var (
+const (
-	SIM_SOPT2_IRC48SEL = nxp.SIM_SOPT2_PLLFLLSEL(3)
+	_SIM_SOPT2_IRC48SEL = 3 << nxp.SIM_SOPT2_PLLFLLSEL_Pos
-	SMC_PMCTRL_HSRUN   = nxp.SMC_PMCTRL_RUNM(3)
+	_SMC_PMCTRL_HSRUN   = 3 << nxp.SMC_PMCTRL_RUNM_Pos
-	SMC_PMSTAT_HSRUN   = nxp.SMC_PMSTAT_PMSTAT(0x80)
+	_SMC_PMSTAT_HSRUN   = 0x80 << nxp.SMC_PMSTAT_PMSTAT_Pos
 )
 
-var bootMsg = []byte("\r\n\r\nStartup complete, running main\r\n\r\n")
-
-//go:section .resetHandler
 //go:export Reset_Handler
 func main() {
 	initSystem()
 	arm.Asm("CPSIE i")
 	initInternal()
-	startupLateHook()
 
-	initAll()
+	run()
-	machine.UART1.Configure(machine.UARTConfig{BaudRate: 115200})
-	for _, c := range bootMsg {
-		for !machine.UART1.S1.HasBits(nxp.UART_S1_TDRE) {
-		}
-		machine.UART1.D.Set(c)
-	}
-
-	callMain()
 	abort()
 }
 
-// ported ResetHandler from mk20dx128.c from teensy3 core libraries
-//go:noinline
 func initSystem() {
-	nxp.WDOG.UNLOCK.Set(WDOG_UNLOCK_SEQ1)
+	// from: ResetHandler
-	nxp.WDOG.UNLOCK.Set(WDOG_UNLOCK_SEQ2)
+
+	nxp.WDOG.UNLOCK.Set(watchdogUnlockSequence1)
+	nxp.WDOG.UNLOCK.Set(watchdogUnlockSequence2)
 	arm.Asm("nop")
 	arm.Asm("nop")
-	startupEarlyHook()
+	// TODO: hook for overriding? 'startupEarlyHook'
+	nxp.WDOG.STCTRLH.Set(nxp.WDOG_STCTRLH_ALLOWUPDATE)
 
 	// enable clocks to always-used peripherals
 	nxp.SIM.SCGC3.Set(nxp.SIM_SCGC3_ADC1 | nxp.SIM_SCGC3_FTM2 | nxp.SIM_SCGC3_FTM3)
@@ -117,9 +105,9 @@ func initSystem() {
 	// enable capacitors for crystal
 	nxp.OSC.CR.Set(nxp.OSC_CR_SC8P | nxp.OSC_CR_SC2P | nxp.OSC_CR_ERCLKEN)
 	// enable osc, 8-32 MHz range, low power mode
-	nxp.MCG.C2.Set(uint8(nxp.MCG_C2_RANGE(2) | nxp.MCG_C2_EREFS))
+	nxp.MCG.C2.Set(uint8((2 << nxp.MCG_C2_RANGE_Pos) | nxp.MCG_C2_EREFS))
 	// switch to crystal as clock source, FLL input = 16 MHz / 512
-	nxp.MCG.C1.Set(uint8(nxp.MCG_C1_CLKS(2) | nxp.MCG_C1_FRDIV(4)))
+	nxp.MCG.C1.Set(uint8((2 << nxp.MCG_C1_CLKS_Pos) | (4 << nxp.MCG_C1_FRDIV_Pos)))
 	// wait for crystal oscillator to begin
 	for !nxp.MCG.S.HasBits(nxp.MCG_S_OSCINIT0) {
 	}
@@ -127,7 +115,7 @@ func initSystem() {
 	for nxp.MCG.S.HasBits(nxp.MCG_S_IREFST) {
 	}
 	// wait for MCGOUT to use oscillator
-	for (nxp.MCG.S.Get() & nxp.MCG_S_CLKST_Msk) != nxp.MCG_S_CLKST(2) {
+	for (nxp.MCG.S.Get() & nxp.MCG_S_CLKST_Msk) != (2 << nxp.MCG_S_CLKST_Pos) {
 	}
 
 	// now in FBE mode
@@ -137,11 +125,11 @@ func initSystem() {
 	//  C6[PLLS] bit is written to 0
 	//  C2[LP] is written to 0
 	// we need faster than the crystal, turn on the PLL (F_CPU > 120000000)
-	nxp.SMC.PMCTRL.Set(SMC_PMCTRL_HSRUN) // enter HSRUN mode
+	nxp.SMC.PMCTRL.Set(_SMC_PMCTRL_HSRUN) // enter HSRUN mode
-	for nxp.SMC.PMSTAT.Get() != SMC_PMSTAT_HSRUN {
+	for nxp.SMC.PMSTAT.Get() != _SMC_PMSTAT_HSRUN {
 	} // wait for HSRUN
-	nxp.MCG.C5.Set(nxp.MCG_C5_PRDIV(1))
+	nxp.MCG.C5.Set((1 << nxp.MCG_C5_PRDIV_Pos))
-	nxp.MCG.C6.Set(nxp.MCG_C6_PLLS | nxp.MCG_C6_VDIV(29))
+	nxp.MCG.C6.Set(nxp.MCG_C6_PLLS | (29 << nxp.MCG_C6_VDIV_Pos))
 
 	// wait for PLL to start using xtal as its input
 	for !nxp.MCG.S.HasBits(nxp.MCG_S_PLLST) {
@@ -153,18 +141,18 @@ func initSystem() {
 
 	// now program the clock dividers
 	// config divisors: 180 MHz core, 60 MHz bus, 25.7 MHz flash, USB = IRC48M
-	nxp.SIM.CLKDIV1.Set(nxp.SIM_CLKDIV1_OUTDIV1(0) | nxp.SIM_CLKDIV1_OUTDIV2(2) | nxp.SIM_CLKDIV1_OUTDIV4(6))
+	nxp.SIM.CLKDIV1.Set((0 << nxp.SIM_CLKDIV1_OUTDIV1_Pos) | (2 << nxp.SIM_CLKDIV1_OUTDIV2_Pos) | (0 << nxp.SIM_CLKDIV1_OUTDIV1_Pos) | (6 << nxp.SIM_CLKDIV1_OUTDIV4_Pos))
-	nxp.SIM.CLKDIV2.Set(nxp.SIM_CLKDIV2_USBDIV(0))
+	nxp.SIM.CLKDIV2.Set((0 << nxp.SIM_CLKDIV2_USBDIV_Pos))
 
 	// switch to PLL as clock source, FLL input = 16 MHz / 512
-	nxp.MCG.C1.Set(nxp.MCG_C1_CLKS(0) | nxp.MCG_C1_FRDIV(4))
+	nxp.MCG.C1.Set((0 << nxp.MCG_C1_CLKS_Pos) | (4 << nxp.MCG_C1_FRDIV_Pos))
 	// wait for PLL clock to be used
-	for (nxp.MCG.S.Get() & nxp.MCG_S_CLKST_Msk) != nxp.MCG_S_CLKST(3) {
+	for (nxp.MCG.S.Get() & nxp.MCG_S_CLKST_Msk) != (3 << nxp.MCG_S_CLKST_Pos) {
 	}
 	// now we're in PEE mode
 	// trace is CPU clock, CLKOUT=OSCERCLK0
 	// USB uses IRC48
-	nxp.SIM.SOPT2.Set(nxp.SIM_SOPT2_USBSRC | SIM_SOPT2_IRC48SEL | nxp.SIM_SOPT2_TRACECLKSEL | nxp.SIM_SOPT2_CLKOUTSEL(6))
+	nxp.SIM.SOPT2.Set(nxp.SIM_SOPT2_USBSRC | _SIM_SOPT2_IRC48SEL | nxp.SIM_SOPT2_TRACECLKSEL | (6 << nxp.SIM_SOPT2_CLKOUTSEL_Pos))
 
 	// If the RTC oscillator isn't enabled, get it started.  For Teensy 3.6
 	// we don't do this early.  See comment above about slow rising power.
@@ -174,23 +162,19 @@ func initSystem() {
 	}
 
 	// initialize the SysTick counter
-	nxp.SysTick.RVR.Set((machine.CPUFrequency() / 1000) - 1)
+	initSysTick()
-	nxp.SysTick.CVR.Set(0)
-	nxp.SysTick.CSR.Set(nxp.SysTick_CSR_CLKSOURCE | nxp.SysTick_CSR_TICKINT | nxp.SysTick_CSR_ENABLE)
-	nxp.SystemControl.SHPR3.Set(0x20200000) // Systick = priority 32
 }
 
-// ported _init_Teensyduino_internal_ from pins_teensy.c from teensy3 core libraries
-//go:noinline
 func initInternal() {
-	arm.EnableIRQ(nxp.IRQ_PORTA)
+	// from: _init_Teensyduino_internal_
-	arm.EnableIRQ(nxp.IRQ_PORTB)
+	// arm.EnableIRQ(nxp.IRQ_PORTA)
-	arm.EnableIRQ(nxp.IRQ_PORTC)
+	// arm.EnableIRQ(nxp.IRQ_PORTB)
-	arm.EnableIRQ(nxp.IRQ_PORTD)
+	// arm.EnableIRQ(nxp.IRQ_PORTC)
-	arm.EnableIRQ(nxp.IRQ_PORTE)
+	// arm.EnableIRQ(nxp.IRQ_PORTD)
+	// arm.EnableIRQ(nxp.IRQ_PORTE)
 
 	nxp.FTM0.CNT.Set(0)
-	nxp.FTM0.MOD.Set(DEFAULT_FTM_MOD)
+	nxp.FTM0.MOD.Set(_DEFAULT_FTM_MOD)
 	nxp.FTM0.C0SC.Set(0x28) // MSnB:MSnA = 10, ELSnB:ELSnA = 10
 	nxp.FTM0.C1SC.Set(0x28)
 	nxp.FTM0.C2SC.Set(0x28)
@@ -209,145 +193,45 @@ func initInternal() {
 	nxp.FTM3.C6SC.Set(0x28)
 	nxp.FTM3.C7SC.Set(0x28)
 
-	nxp.FTM0.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(DEFAULT_FTM_PRESCALE))
+	nxp.FTM0.SC.Set((1 << nxp.FTM_SC_CLKS_Pos) | (_DEFAULT_FTM_PRESCALE << nxp.FTM_SC_PS_Pos))
 	nxp.FTM1.CNT.Set(0)
-	nxp.FTM1.MOD.Set(DEFAULT_FTM_MOD)
+	nxp.FTM1.MOD.Set(_DEFAULT_FTM_MOD)
 	nxp.FTM1.C0SC.Set(0x28)
 	nxp.FTM1.C1SC.Set(0x28)
-	nxp.FTM1.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(DEFAULT_FTM_PRESCALE))
+	nxp.FTM1.SC.Set((1 << nxp.FTM_SC_CLKS_Pos) | (_DEFAULT_FTM_PRESCALE << nxp.FTM_SC_PS_Pos))
 
+	// causes a data bus error for unknown reasons
 	// nxp.FTM2.CNT.Set(0)
-	// nxp.FTM2.MOD.Set(DEFAULT_FTM_MOD)
+	// nxp.FTM2.MOD.Set(_DEFAULT_FTM_MOD)
 	// nxp.FTM2.C0SC.Set(0x28)
 	// nxp.FTM2.C1SC.Set(0x28)
-	// nxp.FTM2.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(DEFAULT_FTM_PRESCALE))
+	// nxp.FTM2.SC.Set((1 << nxp.FTM_SC_CLKS_Pos) | (_DEFAULT_FTM_PRESCALE << nxp.FTM_SC_PS_Pos))
 
 	nxp.FTM3.CNT.Set(0)
-	nxp.FTM3.MOD.Set(DEFAULT_FTM_MOD)
+	nxp.FTM3.MOD.Set(_DEFAULT_FTM_MOD)
 	nxp.FTM3.C0SC.Set(0x28)
 	nxp.FTM3.C1SC.Set(0x28)
-	nxp.FTM3.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(DEFAULT_FTM_PRESCALE))
+	nxp.FTM3.SC.Set((1 << nxp.FTM_SC_CLKS_Pos) | (_DEFAULT_FTM_PRESCALE << nxp.FTM_SC_PS_Pos))
 
 	nxp.SIM.SCGC2.SetBits(nxp.SIM_SCGC2_TPM1)
-	nxp.SIM.SOPT2.SetBits(nxp.SIM_SOPT2_TPMSRC(2))
+	nxp.SIM.SOPT2.SetBits((2 << nxp.SIM_SOPT2_TPMSRC_Pos))
 	nxp.TPM1.CNT.Set(0)
 	nxp.TPM1.MOD.Set(32767)
 	nxp.TPM1.C0SC.Set(0x28)
 	nxp.TPM1.C1SC.Set(0x28)
-	nxp.TPM1.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(0))
+	nxp.TPM1.SC.Set((1 << nxp.FTM_SC_CLKS_Pos) | (0 << nxp.FTM_SC_PS_Pos))
 
-	// configure the low-power timer
+	// configure the sleep timer
-	// nxp.LPTMR0.CSR.Set(nxp.LPTMR0_CSR_TIE)
+	initSleepTimer()
-	// nxp.LPTMR0.PSR.Set(nxp.LPTMR0_PSR_PCS(3) | nxp.LPTMR0_PSR_PRESCALE(1)) // use main (external) clock, divided by 4
-	// arm.EnableIRQ(nxp.IRQ_LPTMR0)
 
 	// 	analog_init();
-
-	// #if !defined(TEENSY_INIT_USB_DELAY_BEFORE)
-	// 	#if TEENSYDUINO >= 142
-	// 		#define TEENSY_INIT_USB_DELAY_BEFORE 25
-	// 	#else
-	// 		#define TEENSY_INIT_USB_DELAY_BEFORE 50
-	// 	#endif
-	// #endif
-
-	// #if !defined(TEENSY_INIT_USB_DELAY_AFTER)
-	// 	#if TEENSYDUINO >= 142
-	// 		#define TEENSY_INIT_USB_DELAY_AFTER 275
-	// 	#else
-	// 		#define TEENSY_INIT_USB_DELAY_AFTER 350
-	// 	#endif
-	// #endif
-
-	// 	// for background about this startup delay, please see these conversations
-	// 	// https://forum.pjrc.com/threads/36606-startup-time-(400ms)?p=113980&viewfull=1#post113980
-	// 	// https://forum.pjrc.com/threads/31290-Teensey-3-2-Teensey-Loader-1-24-Issues?p=87273&viewfull=1#post87273
-
-	// 	delay(TEENSY_INIT_USB_DELAY_BEFORE);
-	// 	usb_init();
-	// 	delay(TEENSY_INIT_USB_DELAY_AFTER);
 }
 
-func startupEarlyHook() {
+func postinit() {}
-	// TODO allow override
-	// > programs using the watchdog timer or needing to initialize hardware as
-	// > early as possible can implement startup_early_hook()
-
-	nxp.WDOG.STCTRLH.Set(nxp.WDOG_STCTRLH_ALLOWUPDATE)
-}
-
-func startupLateHook() {
-	// TODO allow override
-}
 
 func putchar(c byte) {
-	machine.UART1.WriteByte(c)
+	machine.PutcharUART(&machine.UART0, c)
 }
 
 // ???
 const asyncScheduler = false
-
-// microseconds per tick
-const tickMicros = 1000
-
-// number of ticks since boot
-var tickMilliCount volatile.Register32
-
-//go:export SysTick_Handler
-func tickHandler() {
-	tickMilliCount.Set(tickMilliCount.Get() + 1)
-}
-
-// ticks are in microseconds
-func ticks() timeUnit {
-	m := arm.DisableInterrupts()
-	current := nxp.SysTick.CVR.Get()
-	count := tickMilliCount.Get()
-	istatus := nxp.SystemControl.ICSR.Get()
-	arm.EnableInterrupts(m)
-
-	if istatus&nxp.SystemControl_ICSR_PENDSTSET != 0 && current > 50 {
-		count++
-	}
-
-	current = ((machine.CPUFrequency() / tickMicros) - 1) - current
-	return timeUnit(count*tickMicros + current/(machine.CPUFrequency()/1000000))
-}
-
-// sleepTicks spins for a number of microseconds
-func sleepTicks(d timeUnit) {
-	// TODO actually sleep
-
-	if d <= 0 {
-		return
-	}
-
-	start := ticks()
-	ms := d / 1000
-
-	for {
-		for ticks()-start >= 1000 {
-			ms--
-			if ms <= 0 {
-				return
-			}
-			start += 1000
-		}
-		arm.Asm("wfi")
-	}
-}
-
-func Sleep(d int64) {
-	sleepTicks(timeUnit(d))
-}
-
-// func abort() {
-// 	for {
-// 		// keep polling some communication while in fault
-// 		// mode, so we don't completely die.
-// 		if nxp.SIM.SCGC4.HasBits(nxp.SIM_SCGC4_USBOTG) usb_isr();
-// 		if nxp.SIM.SCGC4.HasBits(nxp.SIM_SCGC4_UART0) uart0_status_isr();
-// 		if nxp.SIM.SCGC4.HasBits(nxp.SIM_SCGC4_UART1) uart1_status_isr();
-// 		if nxp.SIM.SCGC4.HasBits(nxp.SIM_SCGC4_UART2) uart2_status_isr();
-// 	}
-// }

src/runtime/time_nxpmk66f18.go

@@ -0,0 +1,163 @@
+// Derivative work of Teensyduino Core Library
+// http://www.pjrc.com/teensy/
+// Copyright (c) 2017 PJRC.COM, LLC.
+//
+// Permission is hereby granted, free of charge, to any person obtaining
+// a copy of this software and associated documentation files (the
+// "Software"), to deal in the Software without restriction, including
+// without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to
+// permit persons to whom the Software is furnished to do so, subject to
+// the following conditions:
+//
+// 1. The above copyright notice and this permission notice shall be
+// included in all copies or substantial portions of the Software.
+//
+// 2. If the Software is incorporated into a build system that allows
+// selection among a list of target devices, then similar target
+// devices manufactured by PJRC.COM must be included in the list of
+// target devices and selectable in the same manner.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+// BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+// ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+// CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+// +build nxp,mk66f18
+
+package runtime
+
+import (
+	"device/arm"
+	"device/nxp"
+	"machine"
+	"runtime/interrupt"
+	"runtime/volatile"
+)
+
+type timeUnit int64
+
+func ticksToNanoseconds(ticks timeUnit) int64 {
+	return int64(ticks) * 1000
+}
+
+func nanosecondsToTicks(ns int64) timeUnit {
+	return timeUnit(ns / 1000)
+}
+
+// cyclesPerMilli-1 is used for the systick reset value
+//   the systick current value will be decremented on every clock cycle
+//   an interrupt is generated when the current value reaches 0
+//   a value of freq/1000 generates a tick (irq) every millisecond (1/1000 s)
+var cyclesPerMilli = machine.CPUFrequency() / 1000
+
+// number of systick irqs (milliseconds) since boot
+var systickCount volatile.Register64
+
+func millisSinceBoot() uint64 {
+	return systickCount.Get()
+}
+
+func initSysTick() {
+	nxp.SysTick.RVR.Set(cyclesPerMilli - 1)
+	nxp.SysTick.CVR.Set(0)
+	nxp.SysTick.CSR.Set(nxp.SysTick_CSR_CLKSOURCE | nxp.SysTick_CSR_TICKINT | nxp.SysTick_CSR_ENABLE)
+	nxp.SystemControl.SHPR3.Set((32 << nxp.SystemControl_SHPR3_PRI_15_Pos) | (32 << nxp.SystemControl_SHPR3_PRI_14_Pos)) // set systick and pendsv priority to 32
+}
+
+func initSleepTimer() {
+	nxp.SIM.SCGC5.SetBits(nxp.SIM_SCGC5_LPTMR)
+	nxp.LPTMR0.CSR.Set(nxp.LPTMR0_CSR_TIE)
+
+	timerInterrupt = interrupt.New(nxp.IRQ_LPTMR0, timerWake)
+	timerInterrupt.Enable()
+}
+
+//go:export SysTick_Handler
+func tick() {
+	systickCount.Set(systickCount.Get() + 1)
+}
+
+// ticks are in microseconds
+func ticks() timeUnit {
+	mask := arm.DisableInterrupts()
+	current := nxp.SysTick.CVR.Get()        // current value of the systick counter
+	count := millisSinceBoot()              // number of milliseconds since boot
+	istatus := nxp.SystemControl.ICSR.Get() // interrupt status register
+	arm.EnableInterrupts(mask)
+
+	micros := timeUnit(count * 1000) // a tick (1ms) = 1000 us
+
+	// if the systick counter was about to reset and ICSR indicates a pending systick irq, increment count
+	if istatus&nxp.SystemControl_ICSR_PENDSTSET != 0 && current > 50 {
+		micros += 1000
+	} else {
+		cycles := cyclesPerMilli - 1 - current // number of cycles since last 1ms tick
+		cyclesPerMicro := machine.CPUFrequency() / 1000000
+		micros += timeUnit(cycles / cyclesPerMicro)
+	}
+
+	return micros
+}
+
+// sleepTicks spins for a number of microseconds
+func sleepTicks(duration timeUnit) {
+	now := ticks()
+	end := duration + now
+	cyclesPerMicro := machine.ClockFrequency() / 1000000
+
+	if duration <= 0 {
+		return
+	}
+
+	nxp.LPTMR0.PSR.Set((3 << nxp.LPTMR0_PSR_PCS_Pos) | nxp.LPTMR0_PSR_PBYP) // use 16MHz clock, undivided
+
+	for now < end {
+		count := uint32(end-now) / cyclesPerMicro
+		if count > 65535 {
+			count = 65535
+		}
+
+		if !timerSleep(count) {
+			// return early due to interrupt
+			return
+		}
+
+		now = ticks()
+	}
+}
+
+var timerInterrupt interrupt.Interrupt
+var timerActive volatile.Register32
+
+func timerSleep(count uint32) bool {
+	timerActive.Set(1)
+	nxp.LPTMR0.CMR.Set(count)                  // set count
+	nxp.LPTMR0.CSR.SetBits(nxp.LPTMR0_CSR_TEN) // enable
+
+	for {
+		arm.Asm("wfi")
+		if timerActive.Get() == 0 {
+			return true
+		}
+
+		if hasScheduler {
+			// bail out, as the interrupt may have awoken a goroutine
+			break
+		}
+
+		// if there is no scheduler, block for the entire count
+	}
+
+	timerWake(timerInterrupt)
+	return false
+}
+
+func timerWake(interrupt.Interrupt) {
+	timerActive.Set(0)
+	nxp.LPTMR0.CSR.Set(nxp.LPTMR0.CSR.Get()&^nxp.LPTMR0_CSR_TEN | nxp.LPTMR0_CSR_TCF) // clear flag and disable
+}

src/runtime/volatile/bitband_nxpmk66f18.go

@@ -7,17 +7,16 @@ import "unsafe"
 const registerBase = 0x40000000
 const registerEnd = 0x40100000
 const bitbandBase = 0x42000000
-const ptrBytes = unsafe.Sizeof(uintptr(0))
 
 //go:inline
 func bitbandAddress(reg uintptr, bit uint8) uintptr {
-	if uintptr(bit) > ptrBytes*8 {
+	if uintptr(bit) > 32 {
 		panic("invalid bit position")
 	}
 	if reg < registerBase || reg >= registerEnd {
 		panic("register is out of range")
 	}
-	return (reg-registerBase)*ptrBytes*8 + uintptr(bit)*ptrBytes + bitbandBase
+	return (reg-registerBase)*32 + uintptr(bit)*4 + bitbandBase
 }
 
 // Special types that causes loads/stores to be volatile (necessary for

targets/nxpmk66f18.ld

@@ -5,8 +5,8 @@ ENTRY(Reset_Handler)
 /* define memory layout */
 MEMORY
 {
-	FLASH_TEXT (rx) : ORIGIN = 0x00000000, LENGTH = 1024K
+    FLASH_TEXT (rx) : ORIGIN = 0x00000000, LENGTH = 1024K
-	RAM (rwx)       : ORIGIN = 0x1FFF0000, LENGTH = 256K
+    RAM (rwx)       : ORIGIN = 0x1FFF0000, LENGTH = 256K
 }
 
 _stack_size = 2K;
@@ -18,21 +18,18 @@ SECTIONS
     .text :
     {
         /* vector table MUST start at 0x0 */
-		. = 0;
+        . = 0;
-        _vector_table = .;
         KEEP(*(.isr_vector))
 
         /* flash configuration MUST be at 0x400 */
         . = 0x400;
-        _flash_config = .;
+        KEEP(*(.flash_config))
-		KEEP(*(.flash_config))
 
         /* everything else */
-        *(.resetHandler)
         *(.text)
-        *(.text*)
+        *(.text.*)
         *(.rodata)
-        *(.rodata*)
+        *(.rodata.*)
         . = ALIGN(4);
 
     } >FLASH_TEXT = 0xFF
@@ -50,7 +47,7 @@ SECTIONS
     /* Start address (in flash) of .data, used by startup code. */
     _sidata = LOADADDR(.data);
 
-	/* todo add .usbdescriptortable .dmabuffers .usbbuffers */
+    /* this is where Teensy's LD script places .usbdescriptortable .dmabuffers .usbbuffers */
 
     /* Globals with initial value */
     .data :
@@ -58,7 +55,7 @@ SECTIONS
         . = ALIGN(4);
         _sdata = .;        /* used by startup code */
         *(.data)
-        *(.data*)
+        *(.data.*)
         . = ALIGN(4);
         _edata = .;        /* used by startup code */
     } >RAM AT>FLASH_TEXT
@@ -69,7 +66,7 @@ SECTIONS
         . = ALIGN(4);
         _sbss = .;         /* used by startup code */
         *(.bss)
-        *(.bss*)
+        *(.bss.*)
         *(COMMON)
         . = ALIGN(4);
         _ebss = .;         /* used by startup code */
@@ -79,11 +76,6 @@ SECTIONS
     {
         *(.ARM.exidx)      /* causes 'no memory region specified' error in lld */
         *(.ARM.exidx.*)    /* causes spurious 'undefined reference' errors */
-
-        /* all this makes it much harder to debug via disassembly */
-        *(.debug*)
-        *(.ARM.*)
-        *(.comment*)
     }
 }
 

targets/teensy36.s

@@ -1,7 +1,8 @@
-
 .section .flash_config
 .global  __flash_config
-	.byte 0xFF
+__flash_config:
+    .byte 0xFF
+    .byte 0xFF
     .byte 0xFF
     .byte 0xFF
     .byte 0xFF
@@ -9,11 +10,10 @@
     .byte 0xFF
     .byte 0xFF
     .byte 0xFF
-	.byte 0xFF
     .byte 0xFF
     .byte 0xFF
     .byte 0xFF
     .byte 0xDE
     .byte 0xF9
     .byte 0xFF
-    .byte 0xFF
+    .byte 0xFF