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machine/mimxrt1062: add flash support (machine.Flash) for Teensy 4.x - #5704

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machine/mimxrt1062: add flash support (machine.Flash) for Teensy 4.x#5704
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@sago35

@sago35 sago35 commented Sep 18, 2026

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Blocked by #5691.
This PR builds on the teensy-usb branch.

This PR adds machine.Flash support for the Teensy 4.0 and 4.1.

  • The CPU runs code from the flash (XIP), and the flash gives no data during an erase or a program operation. The full transaction runs from a .ramfuncs section in OCRAM2 with interrupts disabled. The method follows Teensyduino cores/teensy4/eeprom.c.
  • The data area is a fixed region at the top of the flash, 60 KiB on the Teensy 4.0 and 252 KiB on the Teensy 4.1. The Teensy bootloader keeps this region during an upload.
  • The teensy41 target now uses the full 8 MiB flash with its own linker script and FCB. The Teensy 4.0 configuration limited it to 2 MiB before.

Tested on a Teensy 4.0 with erase, non-aligned writes across page boundaries, and data kept through firmware uploads.
The Teensy 4.1 changes are build tested only.

@sago35
machine/mimxrt1062: add USB device (CDC) support for Teensy 4.x
8847502 
Connect the USB1 device controller to the machine/usb stack. The
controller runs at full speed because the stack uses 64 byte
endpoints. The DMA descriptors and the endpoint buffers are in a non
cacheable region at the top of OCRAM, because the USB DMA cannot
access DTCM. The serial number comes from the unique chip ID.

The default serial output is now USB CDC. Use -serial uart for the
old behavior. Set serial-port so tinygo monitor can find the port.
Enable the 1200 bps touch so tinygo flash can start the bootloader
without a button press.

Tested on a Teensy 4.0 with CDC, HID keyboard, HID mouse, HID
joystick, and MIDI.
@sago35
machine/mimxrt1062: take the USB DMA region address from the linker s…
b1d107d 
…cript

The address 0x2027F000 was in three places, the linker script, the
MPU setup, and the USB driver. Define _usb_dma_start in the linker
script and use the symbol from the Go code. An ASSERT makes sure the
region keeps the 2 KiB alignment that ENDPTLISTADDR requires.
@sago35
mimxrt1062: shorten comments
5aada33 
Keep comments no more than 2 lines, as AGENTS.md specifies. Move the
notes from the long file header next to the code they describe.
@sago35
machine/mimxrt1062: add flash support (machine.Flash) for Teensy 4.x
3c040e3 
The CPU runs code from the FlexSPI serial NOR flash (XIP). The flash
gives no data while an erase or a program operation is active. Thus
the full transaction runs from RAM with interrupts disabled. The code
uses the FlexSPI IP commands and LUT sequence 15. This is the same
method as Teensyduino cores/teensy4/eeprom.c. The routine is in a new
.ramfuncs section. The startup code copies this section to OCRAM2.
OCRAM2 does not need a FlexRAM bank change.

The data area is a fixed 60 KiB region at the top of the flash.
Teensyduino uses the same region for its EEPROM emulation. The Teensy
bootloader does not erase this region during an upload. Thus the data
stays through firmware updates.

Tested on a Teensy 4.0 with erase, non-aligned writes across page
boundaries, read back, and data kept through firmware uploads.
@sago35
targets/teensy41: use the full 8 MiB flash
4675110 
The teensy41 target used the Teensy 4.0 linker script and flash
configuration block. That limited the flash to 2 MiB. Add a linker
script and an FCB for the Teensy 4.1 with sflashA1Size set to 8 MiB.
Also set the MPU region size for the QSPI flash for each board. The
size was fixed at 2 MiB before. Access above that range caused a
fault.

The machine.Flash data area is the fixed 252 KiB region at the top
of the 8 MiB flash. The Teensy bootloader keeps this region during
an upload. Teensyduino uses the same region for its EEPROM emulation
on the Teensy 4.1.

Build tested only. Not yet checked on a real Teensy 4.1.
@deadprogram

deadprogram commented Sep 18, 2026

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@sago35 perhaps you might want to try a stacked PR with this and #5691

@github-actions

github-actions Bot commented Sep 18, 2026

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Size difference with the dev branch:

Binary size difference 
 flash                          ram
 before   after   diff          before   after   diff
  19652   19652      0   0.00%    7052    7052      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/adafruit4650
  63180   63180      0   0.00%    6852    6852      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adt7410/main.go
  11212   11212      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adxl345/main.go
  15388   15388      0   0.00%    7460    7460      0   0.00% tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/amg88xx
  10428   10428      0   0.00%    5364    5364      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/main.go
  12988   12988      0   0.00%    7196    7196      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/apds9960/proximity/main.go
  12504   12504      0   0.00%    5376    5376      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/itsybitsy-m0/main.go
   8608    8608      0   0.00%    2312    2312      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/at24cx/main.go
   9916    9916      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bh1750/main.go
   9212    9212      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/blinkm/main.go
  71736   71736      0   0.00%    3720    3720      0   0.00% tinygo build -size short -o ./build/test.hex -target=pinetime     ./examples/bma42x/main.go
  67788   67788      0   0.00%    6820    6820      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmi160/main.go
  29020   29020      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp180/main.go
  66444   66444      0   0.00%    6852    6852      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp280/main.go
  13468   13468      0   0.00%    5436    5436      0   0.00% tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bmp388/main.go
  24308   24308      0   0.00%    6284    6284      0   0.00% tinygo build -size short -o ./build/test.hex -target=metro-rp2350 ./examples/bno08x/i2c/main.go
   9104    9104      0   0.00%    3344    3344      0   0.00% tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/sram/main.go
  22680   22680      0   0.00%    3548    3548      0   0.00% tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/time/main.go
  30964   30964      0   0.00%    5600    5600      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/alarms/main.go
  44820   44820      0   0.00%    5600    5600      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/basic/main.go
   4752    4752      0   0.00%    2272    2272      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/easystepper/main.go
  72784   72784      0   0.00%    7672    7672      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/flash/console/spi
  68624   68624      0   0.00%    9712    9712      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/flash/console/qspi
   7452    7452      0   0.00%    2276    2276      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/gc9a01/main.go
  23608   23608      0   0.00%    8580    8580      0   0.00% tinygo build -size short -o ./build/test.bin -target=esp32-coreboard-v2 ./examples/gdew0154m09/main.go
  69504   69504      0   0.00%    7020    7020      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/gps/i2c/main.go
  70008   70008      0   0.00%    7124    7124      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/gps/uart/main.go
   9956    9956      0   0.00%    5420    5420      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/hcsr04/main.go
   5824    5824      0   0.00%    2272    2272      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/customchar/main.go
   5904    5904      0   0.00%    2272    2272      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/text/main.go
  11932   11932      0   0.00%    5388    5388      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/hd44780i2c/main.go
  15852   15852      0   0.00%    7196    7196      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/hts221/main.go
  16460   16460      0   0.00%    2420    2420      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hub75/main.go
  11564   11564      0   0.00%    7596    7596      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/basic
  13996   13996      0   0.00%    5556    5556      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/ili9341/basic
  30900   30900      0   0.00%   38756   38756      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/pyportal_boing
  11540   11540      0   0.00%    7596    7596      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/scroll
  14036   14036      0   0.00%    5556    5556      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/ili9341/scroll
 265756  265756      0   0.00%   47440   47440      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/slideshow
  12140   12140      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis3dh/main.go
  15260   15260      0   0.00%    7196    7196      0   0.00% tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/lps22hb/main.go
  26544   26544      0   0.00%    2320    2320      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/lsm303agr/main.go
  29692   29692      0   0.00%    7452    7452      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/lsm303dlhc/main.go
  13900   13900      0   0.00%    5412    5412      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/lsm6ds3/main.go
  12492   12492      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mag3110/main.go
  11268   11268      0   0.00%    5396    5396      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017/main.go
  11700   11700      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017-multiple/main.go
  11628   11628      0   0.00%    5364    5364      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp3008/main.go
  74180   74180      0   0.00%    6924    6924      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp2515/main.go
  30208   30208      0   0.00%    4144    4144      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/microbitmatrix/main.go
  30176   30176      0   0.00%    6188    6188      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit-v2 ./examples/microbitmatrix/main.go
   9948    9948      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mma8653/main.go
   9900    9900      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mpu6050/main.go
  79372   79372      0   0.00%    8076    8076      0   0.00% tinygo build -size short -o ./build/test.hex -target=p1am-100 ./examples/p1am/main.go
  15416   15416      0   0.00%    6232    6232      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/pca9685/main.go
   6620    6620      0   0.00%    3284    3284      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setbuffer/main.go
   5020    5020      0   0.00%    2276    2276      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setpixel/main.go
  15144   15144      0   0.00%    6216    6216      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/seesaw/soil-sensor
  14776   14776      0   0.00%    6216    6216      0   0.00% tinygo build -size short -o ./build/test.hex -target=qtpy-rp2040 ./examples/seesaw/rotary-encoder
   2873    2873      0   0.00%     560     560      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino ./examples/servo
  16944   16944      0   0.00%    6288    6288      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico     ./examples/sgp30
   9340    9340      0   0.00%    7404    7404      0   0.00% tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/shifter/main.go
  58504   58504      0   0.00%    3720    3720      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht3x/main.go
  58440   58440      0   0.00%    3720    3720      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht4x/main.go
  58504   58504      0   0.00%    3720    3720      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/shtc3/main.go
  14116   14116      0   0.00%    9076    9076      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao-ble ./examples/ssd1306/
  14776   14776      0   0.00%    6248    6248      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao-rp2040 ./examples/ssd1306/
  14712   14712      0   0.00%    6240    6240      0   0.00% tinygo build -size short -o ./build/test.hex -target=thumby ./examples/ssd1306/
   6284    6284      0   0.00%    2276    2276      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1331/main.go
   7148    7148      0   0.00%    2276    2276      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7735/main.go
   6828    6828      0   0.00%    2276    2276      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7789/main.go
  18572   18572      0   0.00%    5356    5356      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/thermistor/main.go
  11804   11804      0   0.00%    5172    5172      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-bluefruit ./examples/tone
  11868   11868      0   0.00%    5356    5356      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/tm1637/main.go
  13900   13900      0   0.00%    6220    6220      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/touch/capacitive
  10676   10676      0   0.00%    7396    7396      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/fourwire/main.go
  13712   13712      0   0.00%    7656    7656      0   0.00% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/pyportal_touchpaint/main.go
  17236   17236      0   0.00%    5468    5468      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/vl53l1x/main.go
  15748   15748      0   0.00%    5468    5468      0   0.00% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/vl6180x/main.go
  26248   26248      0   0.00%   14360   14360      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840-sense ./examples/waveshare-epd/epd1in54/main.go
   6748    6748      0   0.00%    2316    2316      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13/main.go
   6380    6380      0   0.00%    2308    2308      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13x/main.go
   6620    6620      0   0.00%    2316    2316      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd4in2/main.go
  30776   30776      0   0.00%   19296   19296      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/waveshare-epd/epd2in66b/main.go
   8540    8540      0   0.00%    5396    5396      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/ws2812
   6118    6118      0   0.00%    8448    8448      0   0.00% tinygo build -size short -o ./build/test.bin -target=m5stamp-c3          ./examples/ws2812
  64500   64500      0   0.00%    6572    6572      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/is31fl3731/main.go
   1773    1773      0   0.00%     600     600      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino   ./examples/ws2812
   1280    1280      0   0.00%     182     182      0   0.00% tinygo build -size short -o ./build/test.hex -target=digispark ./examples/ws2812
   7722    7722      0   0.00%    8728    8728      0   0.00% tinygo build -size short -o ./build/test.bin -target=xiao-esp32c3 ./examples/ws2812
  33148   33148      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bme280/main.go
  18132   18132      0   0.00%    5340    5340      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/microphone/main.go
  12876   12876      0   0.00%    5356    5356      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/buzzer/main.go
  13836   13836      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/veml6070/main.go
   8300    8300      0   0.00%    5356    5356      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l293x/simple/main.go
  10236   10236      0   0.00%    5356    5356      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l293x/speed/main.go
   8252    8252      0   0.00%    5356    5356      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l9110x/simple/main.go
  10652   10652      0   0.00%    5356    5356      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l9110x/speed/main.go
   8092    8092      0   0.00%    3316    3316      0   0.00% tinygo build -size short -o ./build/test.hex -target=nucleo-f103rb ./examples/shiftregister/main.go
   7508    7508      0   0.00%    2280    2280      0   0.00% tinygo build -size short -o ./build/test.hex -target=hifive1b ./examples/ssd1351/main.go
  15068   15068      0   0.00%    5404    5404      0   0.00% tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis2mdl/main.go
  12764   12764      0   0.00%    5380    5380      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/max72xx/main.go
  79624   79624      0   0.00%    6956    6956      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/dht/main.go
  39776   39776      0   0.00%    6768    6768      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/pcf8523/
  72792   72792      0   0.00%    7004    7004      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/alarm/
   8892    8892      0   0.00%    5396    5396      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/clkout/
  67496   67496      0   0.00%    7004    7004      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/time/
  72632   72632      0   0.00%    7004    7004      0   0.00% tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/timer/
  15352   15352      0   0.00%    6224    6224      0   0.00% tinygo build -size short -o ./build/test.hex -target=pico ./examples/qmi8658c/main.go
  14440   14440      0   0.00%    6216    6216      0   0.00% tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/pcf8591/
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2 participants

@sago35 @deadprogram