A grblHAL driver for the NXP iMXRT1062 processor on a Teensy 4.x board.
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.
Available driver options can be found here.
The networking plugin is for Teensy 4.1 and needs the teensy41_ethernet lwIP library forked by ddrown.
Telnet and websocket protocols are currently supported, http is on the long term roadmap.
The SD card plugin needs the uSDFS library by WMXZ-EU.
Important: edit the utility/sd_config.h file and change
#define USE_MSC 1 // will be used in sd_msc.cpp
to
#define USE_MSC 0 // will be used in sd_msc.cpp
or add the MSC library as well (not needed). 2021-06-08: This is now changed in the latest version.
NOTE:
If enabling ftp transfer to the SD card then utility/sd_sdhc.c has to be replaced with this patched version (zip download).
I submitted a PR for this but it was rejected with no explanation, this is why I have added it here. The maintainer has made a similar change but that does not fix the underlying issue, and it may even crash the controller.
In addition to this ffconf.h has to be edited, #define FF_FS_RPATH value has to be changed to 2 (from 1) or you will get a compiler error.
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 | - |
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.
2021-06-08