From 4ee0b8fa263afb990f2222e04b76e41e0d83e606 Mon Sep 17 00:00:00 2001
From: Michael Stapelberg <stapelberg@google.com>
Date: Wed, 3 Jun 2020 19:37:13 +0200
Subject: [PATCH] port demo to Teensy 3.6

Getting the mcuconf and Makefile changes right is non-trivial for a beginner, so
this will be helpful for others who want to get started with ChibiOS on a Teensy 3.6.
---
 demos/KINETIS/RT-TEENSY3_6/Makefile   |  8 ++++----
 demos/KINETIS/RT-TEENSY3_6/chconf.h   |  6 +++++-
 demos/KINETIS/RT-TEENSY3_6/mcuconf.h  | 17 +++++++++++++++--
 os/hal/boards/PJRC_TEENSY_3_6/board.h |  2 +-
 4 files changed, 25 insertions(+), 8 deletions(-)

diff --git a/demos/KINETIS/RT-TEENSY3_6/Makefile b/demos/KINETIS/RT-TEENSY3_6/Makefile
index b49cd34f..6a2d08d9 100644
--- a/demos/KINETIS/RT-TEENSY3_6/Makefile
+++ b/demos/KINETIS/RT-TEENSY3_6/Makefile
@@ -91,11 +91,11 @@ CHIBIOS_CONTRIB = $(CHIBIOS)/../ChibiOS-Contrib
 # Licensing files.
 include $(CHIBIOS)/os/license/license.mk
 # Startup files.
-include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_k20x7.mk
+include $(CHIBIOS_CONTRIB)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_MK66F18.mk
 # HAL-OSAL files (optional).
 include $(CHIBIOS_CONTRIB)/os/hal/hal.mk
-include $(CHIBIOS_CONTRIB)/os/hal/ports/KINETIS/K20x/platform.mk
-include $(CHIBIOS_CONTRIB)/os/hal/boards/PJRC_TEENSY_3_1/board.mk
+include $(CHIBIOS_CONTRIB)/os/hal/ports/KINETIS/MK66F18/platform.mk
+include $(CHIBIOS_CONTRIB)/os/hal/boards/PJRC_TEENSY_3_6/board.mk
 include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
 # RTOS files (optional).
 include $(CHIBIOS)/os/rt/rt.mk
@@ -106,7 +106,7 @@ include $(CHIBIOS)/test/rt/rt_test.mk
 include $(CHIBIOS)/test/oslib/oslib_test.mk
 
 # Define linker script file here
-LDSCRIPT= $(STARTUPLD_CONTRIB)/MK20DX256.ld
+LDSCRIPT= $(STARTUPLD_CONTRIB)/MK66FX1M0.ld
 
 # C sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
diff --git a/demos/KINETIS/RT-TEENSY3_6/chconf.h b/demos/KINETIS/RT-TEENSY3_6/chconf.h
index 58229952..d35a54a6 100644
--- a/demos/KINETIS/RT-TEENSY3_6/chconf.h
+++ b/demos/KINETIS/RT-TEENSY3_6/chconf.h
@@ -80,7 +80,11 @@
  *          this value.
  */
 #if !defined(CH_CFG_ST_TIMEDELTA)
-#define CH_CFG_ST_TIMEDELTA                 2
+
+// TODO: tickless mode is currently broken: e.g. chVTGetSystemTimeX() will
+// always return 0, making all timers hang.
+
+#define CH_CFG_ST_TIMEDELTA                 0
 #endif
 
 /** @} */
diff --git a/demos/KINETIS/RT-TEENSY3_6/mcuconf.h b/demos/KINETIS/RT-TEENSY3_6/mcuconf.h
index f4e1f8de..31995ff1 100644
--- a/demos/KINETIS/RT-TEENSY3_6/mcuconf.h
+++ b/demos/KINETIS/RT-TEENSY3_6/mcuconf.h
@@ -17,7 +17,7 @@
 #ifndef _MCUCONF_H_
 #define _MCUCONF_H_
 
-#define K20x_MCUCONF
+#define MK66FX1M0_MCUCONF
 
 /*
  * HAL driver system settings.
@@ -25,8 +25,21 @@
 
 /* Select the MCU clocking mode below by enabling the appropriate block. */
 
-/* PEE mode - 48MHz system clock driven by external crystal. */
+/* PEE mode - 180 MHz system clock driving by 16 MHz xtal */
 #if 1
+#define KINETIS_MCG_MODE KINETIS_MCG_MODE_PEE
+#define KINETIS_PLLCLK_FREQUENCY 180000000UL
+#define KINETIS_SYSCLK_FREQUENCY KINETIS_PLLCLK_FREQUENCY
+#define KINETIS_BUSCLK_FREQUENCY 60000000UL
+#define KINETIS_FLASHCLK_FREQUENCY 28000000UL
+
+#define KINETIS_CLKDIV1_OUTDIV1 1  // -> 0
+#define KINETIS_CLKDIV1_OUTDIV2 3  // -> 2
+#define KINETIS_CLKDIV1_OUTDIV4 7  // -> 6
+#endif
+
+/* PEE mode - 48MHz system clock driven by external crystal. */
+#if 0
 #define KINETIS_MCG_MODE            KINETIS_MCG_MODE_PEE
 #define KINETIS_PLLCLK_FREQUENCY    96000000UL
 #define KINETIS_SYSCLK_FREQUENCY    48000000UL
diff --git a/os/hal/boards/PJRC_TEENSY_3_6/board.h b/os/hal/boards/PJRC_TEENSY_3_6/board.h
index febd40c2..0607d56f 100644
--- a/os/hal/boards/PJRC_TEENSY_3_6/board.h
+++ b/os/hal/boards/PJRC_TEENSY_3_6/board.h
@@ -31,7 +31,7 @@
 #define KINETIS_XTAL_FREQUENCY      16000000UL
 
 /* Use internal capacitors for the crystal */
-#define KINETIS_BOARD_OSCILLATOR_SETTING OSC_CR_SC8P|OSC_CR_SC2P
+#define KINETIS_BOARD_OSCILLATOR_SETTING OSC0_CR_SC8P_SET(1) | OSC0_CR_SC2P_SET(1) | OSC0_CR_ERCLKEN_SET(1)
 
 /*
  * MCU type