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Changelog

Unreleased

Add USDHC1 clock configuration and expose the USDHC1 peripheral instance in board resources. The BSP configures the USDHC1 root clock and publishes the frequency as USDHC1_FREQUENCY. Pin muxing and driver initialization are left to the caller.

Add FlexSPI2 instance (for PSRAM usage).

0.5.2 2026-03-10

Add LPUART5 and LPUART7 aliases, resources, to teensy4-bsp.

Add SAI clock gates, Audio PLL config, and SAI resources in BSP. The BSP configures the SAI1 root clock, but doesn't affect SAI2 or SAI3 root clocks.

Expose the IOMUXC_GPR through resources.

0.5.1 2024-11-11

Add additional LPSPI instances and type aliases.

0.5.0 2024-05-27

BREAKING Remove the BSP's internal USB logger. Users should either use imxrt-log or construct their own USB logging stack.

The BSP still exports imxrt-hal v0.5.

0.4.8 2024-04-05

Add TEENSY4_STACK_SIZE and TEENSY4_HEAP_SIZE environment variables to change the stack and heap sizes at build time.

0.4.7 2024-01-27

Enable the SVNS high-power clock gate during BSP setup, resolving issues when using the SRTC.

0.4.6 2023-12-26

Expose LPUART1 resources and type aliases from board.

0.4.5 2023-11-11

Enable the LPSPI3 clock gate in the BSP, resolving issues when trying to use LPSPI3.

0.4.4 2023-10-09

Expose board::prepare_clocks_and_power for users who want to configure their own resources with the BSP's clock policy.

0.4.3 2023-07-18

Update BSP documentation, noting that the "usb-logging" feature causes the BSP to define a USB_OTG1 interrupt handler.

Add FlexIO instances to board resources.

0.4.2 - 2023-05-30

Fix the board clock configuration routines to enable the TRNG clock gate. This fixes a TRNG initialization defect that prevents random number generation. See issue 138 for details.

0.4.1 - 2023-02-09

Add support for the Teensy MicroMod. See the updated board APIs and documentation for more information.

0.4.0 - 2023-01-05

BREAKING Update to imxrt-hal 0.5. This changes the driver APIs exposed by teensy4-bsp. Study the imxrt-hal documentation for more information.

BREAKING Replace the custom runtime with imxrt-rt. The BSP still provides the runtime hooks that let you write main(). However, the default memory map has changed. See the package documentation to understand the new layout, and to learn how you can override it.

BREAKING Remove the common, t40, and t41 modules. Users can access these modules through the re-export of teensy4-pin, simplified as pins.

BREAKING The BSP still provides a high-speed USB serial logger. The implementation is now fully in Rust, and it's usable across various i.MX RT processors. The BSP has a new way to initialize the logger; see the LoggingFrontend documentation and hardware examples for more information.

The BSP includes the board module, which provides pre-defined clock and power configurations for your application. It also performs some driver set-up on your behalf. See the board documentation for more information. All hardware examples demonstrate this module.

BREAKING Update to Rust 2021 edition.

0.3.0 - 2021-12-29

BREAKING This release removes the systick module, and all SYSTICK APIs. Users who want to use the system timer should prefer the APIs available from the cortex_m crate. See this project's examples for one way to configure SYSTICK for your system.

BREAKING This release removes the MPU protection regions from the BSP. Users who depend on MPU protection may specify their own MPU regions using either the cortex-m APIs, or their own implementation.

This release also removes the I-Cache and D-Cache configuration from the BSP. To re-enable the caches, consider using the cortex-m APIs:

// [dependencies]
// cortex-m = "0.7"

let mut core = cortex_m::Peripherals::take().unwrap();
core.SCB.enable_dcache(&mut core.CPUID);
core.SCB.enable_icache();

BREAKING Correct Rust symbol names, following the Rust API guidelines. These changes affect symbols in the BSP:

  • LED => Led
  • usb::Error::IO => usb::Error::Io

BREAKING Updated dependencies:

  • cortex-m to 0.7
  • cortex-m-rt to 0.7

BREAKING Re-export the 0.2 teensy4-pins API. See the CHANGELOG for a description of the small breaking change. teensy4-bsp forwards the teensy4-pins package as the pins module.

Deprecate the common, t40, and t41 modules. Users should access these modules through the teensy4_bsp::pins module. See the deprecation warnings for more information.

0.2.2 - 2021-12-21

Users can place the heap in DTCM using dtcm_heap_start(). This mimics the behaviors of the 0.2.0 heap placement. See the 0.2.1 changelog note for more information.

The table below summarizes the change in heap start APIs between 0.2.0 and 0.2.2.

Heap location Release 0.2.0 Release 0.2.2
DTCM heap_start() dtcm_heap_start()
OCRAM2 None heap_start()

0.2.1 - 2021-12-19

Move the starting address for the heap into OCRAM2. Previously, the heap starting address was in DTCM, and it's expected to advance towards the stack. The relocation into OCRAM2 is consistent with the official Teensy 4 runtime, and allows you to have a larger heap (and stack, if heap allocation is used). The heap may occupy all address of OCRAM2 that are not allocated for DMA buffers. Heap-allocated state no longer benefits from the performance of DTCM.

0.2.0 - 2021-01-09

This release lets users combine the USB logging system with RTIC. The new feature required a few breaking changes. The rest of this section notes the breaking changes, migration tips, and other minor features in this release.

De-couple the USB logging and SysTick modules. You no longer need the SysTick timer to use the USB logging system. The BSP features are now independent, though they're both enabled by default. This change means that you can use RTIC with USB logging. See the RTIC examples for a demonstration.

Users may now check USB poll status in their own USB interrupt handler. This may support more responsive reading from a USB host.

BREAKING The "usb-logging" feature will not implicitly enable the "systick" feature. To fix your build, explicitly add the "systick" feature:

[dependencies.teensy4-bsp]
# features = ["usb-logging"]  # Before
features = ["usb-logging", "systick"]  # After
default-features = false

This only affects users who specify default-features = false.

BREAKING Since USB logging does not need SysTick, the setup functions do not accept a &SysTick reference. The change applies to these two functions:

  • usb::init
  • usb::split

Instead, the functions require the imxrt_ral's USB1 instance. The example below shows one way to migrate your code:

use teensy4_bsp as bsp;

// Before
let systick = bsp::SysTick::new(cortex_m::Peripherals::take().unwrap().SYST);
bsp::usb::init(&systick, Default::default()).unwrap();

// Now
use bsp::hal::ral::usb::USB1;
bsp::usb::init(USB1::take().unwrap(), Default::default()).unwrap();

BREAKING The USB Reader and Writer methods are fallible. Instead of returning usizes, the methods now return Result<usize, Error>. See the documentation to understand the Error type, and to learn about the new method guarantees.

BREAKING Users must poll() the USB driver to coordinate USB I/O. The BSP does not implement the USB_OTG1 interrupt handler. If you do not repeatedly call poll(), or you do not call it fast enough, the USB device may now work.

Consider calling poll() in your own USB_OTG1 interrupt handler to maintain compatibility. If using an interrupt handler, make sure to unmask the USB_OTG1 interrupt.

The unsafe snippet below should be sufficient to maintain compatibility in your system. See the documentation and examples for other implementations that control unsafe usage.

use teensy4_bsp as bsp;
use bsp::interrupt;

#[cortex_m_rt::interrupt]
unsafe fn USB_OTG1() {
    bsp::usb::poll();
}

// Unmask the interrupt after calling the `usb::init`
// or `usb::setup` functions.
unsafe { cortex_m::peripheral::NVIC::unmask(interrupt::USB_OTG1) };

Add a flush method to the usb::Writer type.

Add teensy4_bsp::usb::Filter type alias to simplify USB filter definitions.

0.1.1 - 2021-01-04

Fix the USB logger so that logging and flushing occur in a critical section. Before this fix, logging from an interrupt could preempt a logging call that was modifying transfer descriptors and buffers in the USB stack. This change should correct logger thread safety.

0.1.0 - 2020-10-16

First release of teensy4-bsp to crates.io.
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