HAL for 32-bit Teensy (3.5, 3.6) architecture

2017-07-11 21:59:27 +01:00 · 2017-07-11 21:59:27 +01:00 · f3e562e46e
commit f3e562e46e
parent cfef925559
18 changed files with 1532 additions and 4 deletions
--- a/.travis.yml
+++ b/.travis.yml
@ -3,6 +3,8 @@ sudo: true
  #
 language: c
  #
+dist: trusty
+sudo: required
 group: deprecated-2017Q2
 notifications:
  email: false
@ -21,12 +23,17 @@ before_install:
  - sleep 3
  - export DISPLAY=:1.0
  #
+  # Teensy compiling
+  - lsb_release -a
+  - sudo apt-get -qq update
+  - sudo apt-get install -y binutils-arm-none-eabi gcc-arm-none-eabi lib32ncurses5 lib32z1
+  #
 install:
  #
-  # Install arduino 1.6.10
-  - wget http://downloads-02.arduino.cc/arduino-1.6.10-linux64.tar.xz
-  - tar xf arduino-1.6.10-linux64.tar.xz
-  - sudo mv arduino-1.6.10 /usr/local/share/arduino
+  # Install arduino 1.8.0
+  - wget http://downloads-02.arduino.cc/arduino-1.8.0-linux64.tar.xz
+  - tar xf arduino-1.8.0-linux64.tar.xz
+  - sudo mv arduino-1.8.0 /usr/local/share/arduino
  - ln -s /usr/local/share/arduino/arduino ${TRAVIS_BUILD_DIR}/buildroot/bin/arduino
  #
  # Install: LiquidCrystal_I2C library
@ -57,6 +64,36 @@ install:
  - git clone https://github.com/adafruit/Adafruit_NeoPixel.git
  - sudo mv Adafruit_NeoPixel /usr/local/share/arduino/libraries/Adafruit_NeoPixel
  #
+  # Install Teensy stuff
+
+  - wget https://developer.arm.com/-/media/Files/downloads/gnu-rm/5_4-2016q2/gccarmnoneeabi542016q220160622linuxtar.bz2
+  - tar xf gccarmnoneeabi542016q220160622linuxtar.bz2
+  - sudo mkdir -p /usr/local/share/arduino/hardware/tools/arm
+  - sudo mv gcc-arm-none-eabi-5_4-2016q2/* /usr/local/share/arduino/hardware/tools/arm/
+
+  - wget https://github.com/ARM-software/CMSIS_5/raw/develop/CMSIS/Lib/ARM/arm_cortexM4lf_math.lib
+  - sudo mv arm_cortexM4lf_math.lib /usr/local/share/arduino/hardware/tools/arm/arm-none-eabi/lib/libarm_cortexM4lf_math.a
+
+  - git clone https://github.com/teemuatlut/teensyfiles_for_marlin.git
+  - sudo mkdir -p /usr/local/share/arduino/hardware/teensy/avr
+  - sudo cp teensyfiles_for_marlin/*.txt /usr/local/share/arduino/hardware/teensy/avr/
+
+  - git clone https://github.com/PaulStoffregen/cores.git
+  - sudo mv cores /usr/local/share/arduino/hardware/teensy/avr
+
+  # Teensy libraries
+
+  - git clone https://github.com/PaulStoffregen/Wire.git
+  - git clone https://github.com/PaulStoffregen/SPI.git
+  - git clone https://github.com/PaulStoffregen/Servo.git
+  - sudo mkdir -p /usr/local/share/arduino/hardware/teensy/avr/libraries/
+  - sudo mv Wire /usr/local/share/arduino/hardware/teensy/avr/libraries/
+  - sudo mv SPI /usr/local/share/arduino/hardware/teensy/avr/libraries/
+  - sudo mv Servo /usr/local/share/arduino/hardware/teensy/avr/libraries/
+
+  - mkdir -p /usr/local/share/arduino/hardware/tools/arm
+  - sudo ln -s /usr/bin /usr/local/share/arduino/hardware/tools/arm/bin
+  - sudo ln -s /usr/lib /usr/local/share/arduino/hardware/tools/arm/lib
 before_script:
  #
  # Change current working directory to the build dir
@ -353,3 +390,259 @@ script:
  #
  # To be added in nightly test branch
  #
+  # Backup Configuration.h, Configuration_adv.h, and pins_RAMPS.h
+  #
+  - restore_configs
+  - opt_set MOTHERBOARD BOARD_TEENSY35_36
+  - cp Marlin/Configuration.h Marlin/Configuration.h.backup
+  - cp Marlin/Configuration_adv.h Marlin/Configuration_adv.h.backup
+  - cp Marlin/pins_RAMPS.h Marlin/pins_RAMPS.h.backup
+  #
+  # Test Teensy3.5 with default config
+  #
+  - build_marlin_teensy35
+  #
+  # Test heated bed temperature sensor
+  #
+  - opt_set TEMP_SENSOR_BED 1
+  - build_marlin_teensy35
+  #
+  # Test 2 extruders on basic RAMPS 1.4
+  #
+  - opt_set EXTRUDERS 2
+  - opt_set TEMP_SENSOR_1 1
+  - build_marlin_teensy35
+  #
+  # Test PIDTEMPBED
+  #
+  - restore_configs
+  - opt_enable PIDTEMPBED
+  - build_marlin_teensy35
+  #
+  # Test a "Fix Mounted" Probe along with Safe Homing
+  #
+  - restore_configs
+  - opt_enable FIX_MOUNTED_PROBE Z_SAFE_HOMING
+  - build_marlin_teensy35
+  #
+  # ...with AUTO_BED_LEVELING_LINEAR, Z_MIN_PROBE_REPEATABILITY_TEST, and DEBUG_LEVELING_FEATURE
+  #
+  - opt_enable AUTO_BED_LEVELING_LINEAR Z_MIN_PROBE_REPEATABILITY_TEST DEBUG_LEVELING_FEATURE
+  - opt_set ABL_GRID_POINTS_X 16
+  - opt_set ABL_GRID_POINTS_Y 16
+  - build_marlin_teensy35
+  #
+  # Test a Sled Z Probe
+  #
+  - restore_configs
+  - opt_enable Z_PROBE_SLED
+  - build_marlin_teensy35
+  #
+  # ...with AUTO_BED_LEVELING_LINEAR, DEBUG_LEVELING_FEATURE, EEPROM_SETTINGS, and EEPROM_CHITCHAT
+  #
+  - opt_enable AUTO_BED_LEVELING_LINEAR DEBUG_LEVELING_FEATURE EEPROM_SETTINGS EEPROM_CHITCHAT
+  - build_marlin_teensy35
+  #
+  # Test a Servo Probe
+  #
+  - restore_configs
+  - opt_enable NUM_SERVOS Z_ENDSTOP_SERVO_NR Z_SERVO_ANGLES DEACTIVATE_SERVOS_AFTER_MOVE
+  - build_marlin_teensy35
+  #
+  # ...with AUTO_BED_LEVELING_3POINT, DEBUG_LEVELING_FEATURE, EEPROM_SETTINGS, EEPROM_CHITCHAT, EXTENDED_CAPABILITIES_REPORT, and AUTO_REPORT_TEMPERATURES
+  #
+  - opt_enable AUTO_BED_LEVELING_3POINT DEBUG_LEVELING_FEATURE EEPROM_SETTINGS EEPROM_CHITCHAT
+  - opt_enable_adv EXTENDED_CAPABILITIES_REPORT AUTO_REPORT_TEMPERATURES
+  - build_marlin_teensy35
+  #
+  # Test MESH_BED_LEVELING feature, with LCD
+  #
+  - restore_configs
+  - opt_enable MESH_BED_LEVELING MESH_G28_REST_ORIGIN MANUAL_BED_LEVELING ULTIMAKERCONTROLLER
+  - build_marlin_teensy35
+  #
+  # Test EEPROM_SETTINGS, EEPROM_CHITCHAT, M100_FREE_MEMORY_WATCHER,
+  #   INCH_MODE_SUPPORT, TEMPERATURE_UNITS_SUPPORT
+  #
+  - restore_configs
+  # - opt_enable M100_FREE_MEMORY_WATCHER // Compiler error!
+  - opt_enable EEPROM_SETTINGS EEPROM_CHITCHAT INCH_MODE_SUPPORT TEMPERATURE_UNITS_SUPPORT
+  - build_marlin_teensy35
+  #
+  # Mixing Extruder
+  #
+  - restore_configs
+  - opt_enable MIXING_EXTRUDER
+  - opt_set MIXING_STEPPERS 2
+  - build_marlin_teensy35
+  #
+  # Test DUAL_X_CARRIAGE
+  #
+  #- restore_configs
+  #- opt_set EXTRUDERS 2
+  #- opt_set TEMP_SENSOR_1 1
+  #- opt_enable USE_XMAX_PLUG
+  #- opt_enable_adv DUAL_X_CARRIAGE
+  #- build_marlin_teensy35
+  #
+  # Test SWITCHING_EXTRUDER
+  #
+  - restore_configs
+  - opt_set EXTRUDERS 2
+  - opt_enable NUM_SERVOS
+  - opt_set NUM_SERVOS 1
+  - opt_set TEMP_SENSOR_1 1
+  - opt_enable SWITCHING_EXTRUDER ULTIMAKERCONTROLLER
+  - build_marlin_teensy35
+  #
+  # Test FILAMENT_CHANGE_FEATURE and LCD_INFO_MENU
+  #
+  - restore_configs
+  - opt_enable ULTIMAKERCONTROLLER
+  - opt_enable_adv FILAMENT_CHANGE_FEATURE LCD_INFO_MENU
+  - build_marlin_teensy35
+  #
+  # Enable filament sensor
+  #
+  - restore_configs
+  - opt_enable FILAMENT_WIDTH_SENSOR
+  - build_marlin_teensy35
+  #
+  # Enable filament sensor with LCD display
+  #
+  - opt_enable ULTIMAKERCONTROLLER FILAMENT_LCD_DISPLAY
+  - build_marlin_teensy35
+  #
+  # Enable BEZIER_CURVE_SUPPORT, EXPERIMENTAL_I2CBUS, and I2C_SLAVE_ADDRESS
+  #
+  - restore_configs
+  - opt_enable_adv BEZIER_CURVE_SUPPORT EXPERIMENTAL_I2CBUS
+  - opt_set_adv I2C_SLAVE_ADDRESS 63
+  - build_marlin_teensy35
+  #
+  # Enable COREXY
+  #
+  - restore_configs
+  - opt_enable COREXY
+  - build_marlin_teensy35
+  #
+  # Enable COREXZ
+  #
+  - restore_configs
+  - opt_enable COREXZ
+  - build_marlin_teensy35
+  #
+  # Enable Z_DUAL_STEPPER_DRIVERS, Z_DUAL_ENDSTOPS
+  #
+  - restore_configs
+  - opt_enable_adv Z_DUAL_STEPPER_DRIVERS Z_DUAL_ENDSTOPS
+  - pins_set RAMPS X_MAX_PIN -1
+  - opt_set_adv Z2_MAX_PIN 2
+  - build_marlin_teensy35
+  #
+  # Test PRINTCOUNTER
+  #
+  - restore_configs
+  - opt_enable PRINTCOUNTER
+  - build_marlin_teensy35
+  #
+  # Test NOZZLE_PARK_FEATURE
+  #
+  - restore_configs
+  - opt_enable NOZZLE_PARK_FEATURE
+  - build_marlin_teensy35
+  #
+  # Test NOZZLE_CLEAN_FEATURE
+  #
+  - restore_configs
+  - opt_enable NOZZLE_CLEAN_FEATURE
+  - build_marlin_teensy35
+  #
+  #
+  ######## STANDARD LCD/PANELS ##############
+  #
+  # ULTRA_LCD
+  #
+  - restore_configs
+  - opt_enable ULTRA_LCD
+  - build_marlin_teensy35
+  #
+  # DOGLCD
+  #
+  - restore_configs
+  - opt_enable DOGLCD
+  - build_marlin_teensy35
+  #
+  # ULTIMAKERCONTROLLER
+  #
+  - restore_configs
+  - opt_enable ULTIMAKERCONTROLLER
+  - build_marlin_teensy35
+  #
+  # MAKRPANEL
+  # Needs to use Melzi and Sanguino hardware
+  #
+  #- restore_configs
+  #- opt_enable MAKRPANEL
+  #- build_marlin
+  #
+  # REPRAP_DISCOUNT_SMART_CONTROLLER, SDSUPPORT, and BABYSTEPPING
+  #
+  - restore_configs
+  - opt_enable REPRAP_DISCOUNT_SMART_CONTROLLER SDSUPPORT BABYSTEPPING
+  - build_marlin_teensy35
+  #
+  # G3D_PANEL
+  #
+  - restore_configs
+  - opt_enable G3D_PANEL SDSUPPORT
+  - build_marlin_teensy35
+  #
+  # REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
+  #
+  - restore_configs
+  - opt_enable REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER SDSUPPORT
+  - build_marlin_teensy35
+  #
+  # REPRAPWORLD_KEYPAD
+  #
+  # Cant find configuration details to get it to compile
+  #- restore_configs
+  #- opt_enable ULTRA_LCD REPRAPWORLD_KEYPAD REPRAPWORLD_KEYPAD_MOVE_STEP
+  #- build_marlin
+  #
+  # RA_CONTROL_PANEL
+  #
+  - restore_configs
+  - opt_enable RA_CONTROL_PANEL
+  - build_marlin_teensy35
+  #
+  ######## I2C LCD/PANELS ##############
+  #
+  # !!!ATTENTION!!!
+  # Most I2C configurations are failing at the moment because they require
+  # a different Liquid Crystal library "LiquidTWI2".
+  #
+  # LCD_I2C_SAINSMART_YWROBOT
+  #
+  #- restore_configs
+  #- opt_enable LCD_I2C_SAINSMART_YWROBOT
+  #- build_marlin
+  #
+  # LCD_I2C_PANELOLU2
+  #
+  #- restore_configs
+  #- opt_enable LCD_I2C_PANELOLU2
+  #- build_marlin
+  #
+  # LCD_I2C_VIKI
+  #
+  #- restore_configs
+  #- opt_enable LCD_I2C_VIKI
+  #- build_marlin
+  #
+  # LCM1602
+  #
+  - restore_configs
+  - opt_enable LCM1602
+  - build_marlin_teensy35
--- a/Marlin/pins_TEENSY35_36.h
+++ b/Marlin/pins_TEENSY35_36.h
@ -0,0 +1,130 @@
+/****************************************************************************************
+* Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0) Breadboard pin assignments
+* Requires the Teensyduino software with Teensy 3.5 or Teensy 3.6 selected in Arduino IDE!
+* http://www.pjrc.com/teensy/teensyduino.html
+* 
+****************************************************************************************/
+#if MOTHERBOARD == 841 // BOARD_TEENSY35_36
+#define KNOWN_BOARD 1
+#define AT90USB 1286  // Disable MarlinSerial etc.
+
+#if !IS_32BIT_TEENSY
+  #error Oops!  Make sure you have 'Teensy 3.5' or 'Teensy 3.6' selected from the 'Tools -> Boards' menu.
+#endif
+
+#if IS_TEENSY35
+  #define BOARD_NAME "Teensy3.5"
+#elif IS_TEENSY36
+  #define BOARD_NAME "Teensy3.6"
+#endif
+
+#define LARGE_FLASH        true
+#define USBCON //1286  // Disable MarlinSerial etc.
+
+/* 
+teemuatlut plan for Teensy3.5 and Teensy3.6:
+
+                                                     USB
+                                          GND |-----#####-----| VIN 5V
+      X_STEP_PIN          MOSI1   RX1       0 |     #####     | Analog GND
+      X_DIR_PIN           MISO1   TX1       1 |               | 3.3V
+      Y_STEP_PIN                       PWM  2 | *NC     AREF* | 23  A9 PWM
+      Y_DIR_PIN           SCL2 CAN0TX  PWM  3 | *A26     A10* | 22  A8 PWM
+      Z_STEP_PIN          SDA2 CAN0RX  PWM  4 | *A25     A11* | 21  A7 PWM  CS0   MOSI1  RX1
+      Z_DIR_PIN           MISO1   TX1  PWM  5 | *GND * * 57   | 20  A6 PWM  CS0   SCK1        FILWIDTH_PIN
+      X_ENABLE_PIN                     PWM  6 | *GND * * 56   | 19  A5            SCL0        E0_STEP_PIN
+      Y_ENABLE_PIN  SCL0  MOSI0   RX3  PWM  7 |      * * 55   | 18  A4            SDA0        E0_DIR_PIN
+      Z_ENABLE_PIN  SDA0  MISO0   TX3  PWM  8 |      * * 54   | 17  A3            SDA0        E0_ENABLE_PIN
+                          CS0     RX2  PWM  9 |               | 16  A2            SCL0        TEMP_0_PIN
+                          CS0     TX2  PWM 10 |               | 15  A1      CS0               TEMP_BED_PIN
+      X_STOP_PIN          MOSI0            11 |               | 14  A0 PWM  CS0               TEMP_1_PIN
+      Y_STOP_PIN          MISO0            12 |               | 13 LED            SCK0        LED_PIN
+                                         3.3V |               | GND
+      Z_STOP_PIN                           24 |   40 * * 53   |    A22 DAC1
+AUX2                                       25 |   41 * * 52   |    A21 DAC0
+AUX2  FAN_PIN             SCL2    TX1      26 |   42 * * 51   | 39 A20      MISO0             SDSS
+AUX2  Z-PROBE PWR         SCK0    RX1      27 | *  *  *  *  * | 38 A19 PWM        SDA1
+AUX2  SOL1_PIN            MOSI0            28 |   43 * * 50   | 37 A18 PWM        SCL1
+D10   CONTROLLERFAN_PIN   CAN0TX       PWM 29 |   44 * * 49   | 36 A17 PWM
+D9    HEATER_0_PIN        CAN0RX       PWM 30 |   45 * * 48   | 35 A16 PWM                    E1_ENABLE_PIN
+D8    HEATER_BED_PIN      CS1     RX4  A12 31 |   46 * * 47   | 34 A15 PWM        SDA0  RX5   E1_DIR_PIN
+                          SCK1    TX4  A13 32 |__GND_*_*_3.3V_| 33 A14 PWM        SCL0  TX5   E1_STEP_PIN
+
+          Interior pins:
+                          LCD_PINS_RS             40 * * 53   SCK2
+                          LCD_PINS_ENABLE         41 * * 52   MOSI2
+                          LCD_PINS_D4             42 * * 51   MISO2
+                          LCD_PINS_D5     CS2     43 * * 50   A24
+                          LCD_PINS_D6     MOSI2   44 * * 49   A23
+                          LCD_PINS_D7     MISO2   45 * * 48   TX6   SDA0  BTN_ENC
+                          BTN_EN1         SCK2    46 * * 47   RX6   SCL0  BTN_EN2
+                                                 GND * * 3.3V
+
+*/
+
+#define X_STEP_PIN          22
+#define X_DIR_PIN           21
+#define X_ENABLE_PIN        39
+
+#define Y_STEP_PIN          19
+#define Y_DIR_PIN           18
+#define Y_ENABLE_PIN        20
+
+#define Z_STEP_PIN          38
+#define Z_DIR_PIN           37
+#define Z_ENABLE_PIN        17
+
+#define E0_STEP_PIN        31
+#define E0_DIR_PIN         30
+#define E0_ENABLE_PIN      32
+
+#define E1_STEP_PIN        33
+#define E1_DIR_PIN         34
+#define E1_ENABLE_PIN      35
+
+#define HEATER_0_PIN       30
+#define HEATER_1_PIN       36
+#define HEATER_2_PIN       -1
+#define HEATER_BED_PIN     31
+#define FAN_PIN             2
+
+#define X_STOP_PIN         24
+#define Y_STOP_PIN         26
+#define Z_STOP_PIN         28
+
+#define TEMP_0_PIN          2 // Extruder / Analog pin numbering: 2 => A2
+#define TEMP_BED_PIN        1 // Bed / Analog pin numbering
+#define TEMP_1_PIN          0
+#define TEMP_2_PIN         -1
+
+#define SDPOWER            -1
+#define SD_DETECT_PIN      -1
+#define SDSS               39 // 8
+#define LED_PIN            13
+#define PS_ON_PIN           1
+#define KILL_PIN           -1
+#define ALARM_PIN          -1
+
+#define FILWIDTH_PIN        6
+#define SOL1_PIN           28
+
+#ifndef SDSUPPORT
+// these pins are defined in the SD library if building with SD support
+  #define SCK_PIN          13
+  #define MISO_PIN         12
+  #define MOSI_PIN         11
+#endif
+
+#ifdef ULTRA_LCD
+  #define LCD_PINS_RS        40
+  #define LCD_PINS_ENABLE    41
+  #define LCD_PINS_D4        42
+  #define LCD_PINS_D5        43
+  #define LCD_PINS_D6        44
+  #define LCD_PINS_D7        45
+  #define BTN_EN1            46
+  #define BTN_EN2            47
+  #define BTN_ENC            48
+#endif
+
+#endif  // MOTHERBOARD == 841 (Teensy3.5 and Teensy3.6)
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_Servo_Teensy.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_Servo_Teensy.cpp
@ -0,0 +1,28 @@
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+
+#include "HAL_Servo_Teensy.h"
+#include "../../../MarlinConfig.h"
+
+
+int8_t libServo::attach(int pin) {
+	if (this->servoIndex >= MAX_SERVOS) return -1;
+	return Servo::attach(pin);
+}
+
+int8_t libServo::attach(int pin, int min, int max) {
+	return Servo::attach(pin, min, max);
+}
+
+void libServo::move(int value) {
+  if (this->attach(0) >= 0) {
+    this->write(value);
+    delay(SERVO_DELAY);
+    #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
+      this->detach();
+    #endif
+  }
+}
+
+
+#endif
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_Servo_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_Servo_Teensy.h
@ -0,0 +1,18 @@
+#ifndef HAL_Servo_Teensy_h
+#define HAL_Servo_Teensy_h
+
+#include <Servo.h>
+
+// Inherit and expand on the official library
+class libServo : public Servo {
+	public:
+		int8_t attach(int pin);
+		int8_t attach(int pin, int min, int max);
+		void move(int value);
+	private:
+	   uint16_t min_ticks;
+	   uint16_t max_ticks;
+	   uint8_t servoIndex;               // index into the channel data for this servo
+};
+
+#endif
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_Teensy.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_Teensy.cpp
@ -0,0 +1,119 @@
+/* **************************************************************************
+ 
+ Marlin 3D Printer Firmware
+ Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+   
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program.  If not, see <http://www.gnu.org/licenses/>.
+****************************************************************************/
+
+
+/**
+ * Description: HAL for Teensy35 (MK64FX512)
+ */
+
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+#include "../HAL.h"
+
+#include <Wire.h>
+
+uint16_t HAL_adc_result;
+
+
+static const uint8_t pin2sc1a[] = {
+  5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13
+  5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9
+  255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only
+  14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128,  // 31-39 are A12-A20
+  255, 255, 255, 255, 255, 255, 255, 255, 255,  // 40-48 are digital only
+  10+128, 11+128, // 49-50 are A23-A24
+  255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only
+  255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only
+  3, 19+128, // 64-65 are A10-A11
+  23, 23+128,// 66-67 are A21-A22 (DAC pins)
+  1, 1+128,  // 68-69 are A25-A26 (unused USB host port on Teensy 3.5)
+  26,        // 70 is Temperature Sensor
+  18+128     // 71 is Vref
+};
+
+/*
+// disable interrupts
+void cli(void)
+{
+	noInterrupts();
+}
+
+// enable interrupts
+void sei(void)
+{
+	interrupts();
+}
+*/
+void HAL_adc_init() {
+  analog_init();
+  while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish
+  NVIC_ENABLE_IRQ(IRQ_FTM1);
+}
+
+void HAL_clear_reset_source (void)
+{ }
+
+uint8_t HAL_get_reset_source (void)
+{
+  switch ( RCM_SRS0 )
+  {
+    case 128: return RST_POWER_ON; break;
+    case 64: return RST_EXTERNAL; break;
+    case 32: return RST_WATCHDOG; break;
+//  case 8: return RST_LOSS_OF_LOCK; break;
+//  case 4: return RST_LOSS_OF_CLOCK; break;
+//  case 2: return RST_LOW_VOLTAGE; break;
+    default:
+      return 0;
+  }
+}
+
+void _delay_ms (int delay_ms)
+{
+	delay (delay_ms);
+}
+
+extern "C" {
+  extern char __bss_end;
+  extern char __heap_start;
+  extern void* __brkval;
+
+  int freeMemory() {
+    int free_memory;
+    if ((int)__brkval == 0)
+      free_memory = ((int)&free_memory) - ((int)&__bss_end);
+    else
+      free_memory = ((int)&free_memory) - ((int)__brkval);
+    return free_memory;
+  }
+}
+
+void HAL_adc_start_conversion (uint8_t adc_pin)
+{
+	ADC0_SC1A = pin2sc1a[adc_pin];
+}
+
+uint16_t HAL_adc_get_result(void)
+{
+	return ADC0_RA;
+}
+
+#endif // __MK64FX512__ || __MK66FX1M0__
+
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_Teensy.h
@ -0,0 +1,149 @@
+/* **************************************************************************
+ 
+ Marlin 3D Printer Firmware
+ Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program.  If not, see <http://www.gnu.org/licenses/>.
+****************************************************************************/
+
+/**
+ * Description: HAL for Teensy 3.5 and Teensy 3.6
+ */
+
+
+#ifndef _HAL_TEENSY_H
+#define _HAL_TEENSY_H
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include <stdint.h>
+
+#include "Arduino.h"
+
+#include "fastio_Teensy.h"
+#include "watchdog_Teensy.h"
+
+#include "HAL_timers_Teensy.h"
+
+// --------------------------------------------------------------------------
+// Defines
+// --------------------------------------------------------------------------
+
+#define MOTHERBOARD BOARD_TEENSY35_36
+
+#define IS_32BIT_TEENSY (defined(__MK64FX512__) || defined(__MK66FX1M0__))
+#define IS_TEENSY35 defined(__MK64FX512__)
+#define IS_TEENSY36 defined(__MK66FX1M0__)
+
+#if SERIAL_PORT == -1
+  #define MYSERIAL SerialUSB
+#elif SERIAL_PORT == 0
+  #define MYSERIAL Serial
+#elif SERIAL_PORT == 1
+  #define MYSERIAL Serial1
+#elif SERIAL_PORT == 2
+  #define MYSERIAL Serial2
+#elif SERIAL_PORT == 3
+  #define MYSERIAL Serial3
+#endif
+
+#define HAL_SERVO_LIB libServo
+
+//#define _BV(bit) 	(1 << (bit))
+
+#ifndef analogInputToDigitalPin
+  #define analogInputToDigitalPin(p) ((p < 12u) ? (p) + 54u : -1)
+#endif
+
+#define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli();
+#define CRITICAL_SECTION_END    SREG = _sreg;
+
+
+// On AVR this is in math.h?
+#define square(x) ((x)*(x))
+
+#ifndef strncpy_P
+  #define strncpy_P(dest, src, num) strncpy((dest), (src), (num))
+#endif
+
+// Fix bug in pgm_read_ptr
+#undef pgm_read_ptr
+#define pgm_read_ptr(addr) (*(addr))
+#undef pgm_read_word
+#define pgm_read_word(addr) (*(addr))
+
+#define RST_POWER_ON   1
+#define RST_EXTERNAL   2
+#define RST_BROWN_OUT  4
+#define RST_WATCHDOG   8
+#define RST_JTAG       16
+#define RST_SOFTWARE   32
+#define RST_BACKUP     64
+
+/** clear reset reason */
+void HAL_clear_reset_source (void);
+
+/** reset reason */
+uint8_t HAL_get_reset_source (void);
+
+void _delay_ms(int delay);
+
+extern "C" {
+  int freeMemory(void);
+}
+
+// SPI: Extended functions which take a channel number (hardware SPI only)
+/** Write single byte to specified SPI channel */
+void spiSend(uint32_t chan, byte b);
+/** Write buffer to specified SPI channel */
+void spiSend(uint32_t chan, const uint8_t* buf, size_t n);
+/** Read single byte from specified SPI channel */
+uint8_t spiRec(uint32_t chan);
+
+// ADC
+
+void HAL_adc_init();
+
+#define HAL_START_ADC(pin)  HAL_adc_start_conversion(pin)
+#define HAL_READ_ADC        HAL_adc_get_result()
+
+#define HAL_ANALOG_SELECT(pin) NOOP;
+
+void HAL_adc_start_conversion (uint8_t adc_pin);
+
+uint16_t HAL_adc_get_result(void);
+
+/*
+uint16_t HAL_getAdcReading(uint8_t chan);
+
+void HAL_startAdcConversion(uint8_t chan);
+uint8_t HAL_pinToAdcChannel(int pin);
+
+uint16_t HAL_getAdcFreerun(uint8_t chan, bool wait_for_conversion = false);
+//uint16_t HAL_getAdcSuperSample(uint8_t chan);
+
+void HAL_enable_AdcFreerun(void);
+//void HAL_disable_AdcFreerun(uint8_t chan);
+*/
+
+// --------------------------------------------------------------------------
+//
+// --------------------------------------------------------------------------
+
+#endif // _HAL_TEENSY_H
+
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_pinsDebug_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_pinsDebug_Teensy.h
@ -0,0 +1,107 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef HAL_PINSDEBUG_TEENSY_H
+
+#define FTM0_CH0_PIN 22
+#define FTM0_CH1_PIN 23
+#define FTM0_CH2_PIN  9
+#define FTM0_CH3_PIN 10
+#define FTM0_CH4_PIN  6
+#define FTM0_CH5_PIN 20
+#define FTM0_CH6_PIN 21
+#define FTM0_CH7_PIN  5
+#define FTM1_CH0_PIN  3
+#define FTM1_CH1_PIN  4
+#define FTM2_CH0_PIN 29
+#define FTM2_CH1_PIN 30
+#define FTM3_CH0_PIN  2
+#define FTM3_CH1_PIN 14
+#define FTM3_CH2_PIN  7
+#define FTM3_CH3_PIN  8
+#define FTM3_CH4_PIN 35
+#define FTM3_CH5_PIN 36
+#define FTM3_CH6_PIN 37
+#define FTM3_CH7_PIN 38
+#if defined(__MK66FX1M0__) // Teensy3.6
+  #define TPM1_CH0_PIN 16
+  #define TPM1_CH1_PIN 17
+#endif
+
+#define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(9)) || ((P) >= analogInputToDigitalPin(12) && (P) <= analogInputToDigitalPin(20))
+
+void HAL_print_analog_pin(char buffer[], int8_t pin) {
+	if (pin <= 23)      sprintf(buffer, "(A%2d)  ", int(pin - 14));
+	else if (pin <= 39) sprintf(buffer, "(A%2d)  ", int(pin - 19));
+}
+
+void HAL_analog_pin_state(char buffer[], int8_t pin) {
+  if (pin <= 23)      sprintf(buffer, "Analog in =% 5d", analogRead(pin - 14));
+  else if (pin <= 39) sprintf(buffer, "Analog in =% 5d", analogRead(pin - 19));
+}
+
+#define PWM_PRINT(V) do{ sprintf(buffer, "PWM:  %4d", 22); SERIAL_ECHO(buffer); }while(0)
+#define FTM_CASE(N,Z) \
+  case FTM##N##_CH##Z##_PIN: \
+    if (FTM##N##_C##Z##V) { \
+      PWM_PRINT(FTM##N##_C##Z##V); \
+      return true; \
+    } else return false
+
+/**
+ * Print a pin's PWM status.
+ * Return true if it's currently a PWM pin.
+ */
+bool HAL_pwm_status(int8_t pin) {
+  char buffer[20];   // for the sprintf statements
+  switch(pin) {
+    FTM_CASE(0,0);
+    FTM_CASE(0,1);
+    FTM_CASE(0,2);
+    FTM_CASE(0,3);
+    FTM_CASE(0,4);
+    FTM_CASE(0,5);
+    FTM_CASE(0,6);
+    FTM_CASE(0,7);
+    FTM_CASE(1,0);
+    FTM_CASE(1,1);
+    FTM_CASE(2,0);
+    FTM_CASE(2,1);
+    FTM_CASE(3,0);
+    FTM_CASE(3,1);
+    FTM_CASE(3,2);
+    FTM_CASE(3,3);
+    FTM_CASE(3,4);
+    FTM_CASE(3,5);
+    FTM_CASE(3,6);
+    FTM_CASE(3,7);
+
+    case NOT_ON_TIMER:
+    default:
+      return false;
+  }
+  SERIAL_PROTOCOLPGM("  ");
+}
+
+static void HAL_pwm_details(uint8_t pin) { /* TODO */ }
+
+#endif
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_spi_Teensy.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_spi_Teensy.cpp
@ -0,0 +1,104 @@
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+#include "../HAL.h"
+#include <SPI.h>
+#include <pins_arduino.h>
+#include "spi_pins.h"
+#include "../../../macros.h"
+
+static SPISettings spiConfig;
+
+// Standard SPI functions
+/** Initialise SPI bus */
+void spiBegin(void) {
+  #ifndef SS_PIN
+    #error SS_PIN not defined!
+  #endif
+  SET_OUTPUT(SS_PIN);
+  WRITE(SS_PIN, HIGH);
+  SET_OUTPUT(SCK_PIN);
+  SET_INPUT(MISO_PIN);
+  SET_OUTPUT(MOSI_PIN);
+
+  //#if DISABLED(SOFTWARE_SPI)
+  #if false
+    // set SS high - may be chip select for another SPI device
+    #if SET_SPI_SS_HIGH
+      WRITE(SS_PIN, HIGH);
+    #endif  // SET_SPI_SS_HIGH
+    // set a default rate
+    spiInit(SPI_HALF_SPEED); // 1
+  #endif  // SOFTWARE_SPI
+}
+
+/** Configure SPI for specified SPI speed */
+void spiInit(uint8_t spiRate) {
+	// Use datarates Marlin uses
+	uint32_t clock;
+	switch (spiRate) {
+  case SPI_FULL_SPEED:		clock = 10000000;	break;
+  case SPI_HALF_SPEED:		clock =  5000000;	break;
+  case SPI_QUARTER_SPEED:	clock =  2500000;	break;
+  case SPI_EIGHTH_SPEED:	clock =  1250000;	break;
+  case SPI_SPEED_5:				clock =   625000;	break;
+  case SPI_SPEED_6:				clock =   312500;	break;
+  default:
+		clock = 4000000; // Default from the SPI libarary
+	}
+	spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0);
+	SPI.begin();
+}
+
+//------------------------------------------------------------------------------
+/** SPI receive a byte */
+uint8_t spiRec(void) {
+  SPI.beginTransaction(spiConfig);
+  uint8_t returnByte = SPI.transfer(0xFF);
+  SPI.endTransaction();
+  return returnByte;
+//  SPDR = 0XFF;
+//  while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+//  return SPDR;
+}
+//------------------------------------------------------------------------------
+/** SPI read data  */
+void spiRead(uint8_t* buf, uint16_t nbyte) {
+  SPI.beginTransaction(spiConfig);
+  SPI.transfer(buf, nbyte);
+  SPI.endTransaction();
+//if (nbyte-- == 0) return;
+//  SPDR = 0XFF;
+//for (uint16_t i = 0; i < nbyte; i++) {
+//  while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+//  buf[i] = SPDR;
+//  SPDR = 0XFF;
+//}
+//while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+//buf[nbyte] = SPDR;
+}
+//------------------------------------------------------------------------------
+/** SPI send a byte */
+void spiSend(uint8_t b) {
+  SPI.beginTransaction(spiConfig);
+  SPI.transfer(b);
+  SPI.endTransaction();
+//  SPDR = b;
+//  while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+}
+//------------------------------------------------------------------------------
+/** SPI send block  */
+void spiSendBlock(uint8_t token, const uint8_t* buf) {
+  SPI.beginTransaction(spiConfig);
+  SPDR = token;
+  for (uint16_t i = 0; i < 512; i += 2) {
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+    SPDR = buf[i];
+    while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+    SPDR = buf[i + 1];
+  }
+  while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
+  SPI.endTransaction();
+}
+
+
+#endif
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.cpp
@ -0,0 +1,95 @@
+/* **************************************************************************
+ 
+ Marlin 3D Printer Firmware
+ Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+   
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program.  If not, see <http://www.gnu.org/licenses/>.
+****************************************************************************/
+
+
+/**
+ * Teensy3.5 __MK64FX512__
+ * Teensy3.6 __MK66FX1M0__
+ */
+
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+
+#include "../HAL.h"
+#include "HAL_timers_Teensy.h"
+
+
+void HAL_timer_start (uint8_t timer_num, uint32_t frequency) {
+  switch (timer_num) {
+  case 0:
+    FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN;
+    FTM0_SC = 0x00; // Set this to zero before changing the modulus
+    FTM0_CNT = 0x0000; // Reset the count to zero
+    FTM0_MOD = 0xFFFF; // max modulus = 65535
+    FTM0_C0V = FTM0_TIMER_RATE / frequency; // Initial FTM Channel 0 compare value
+    FTM0_SC = (FTM_SC_CLKS(0b1)&FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS)&FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8
+    FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA;
+    break;
+  case 1:
+    FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1
+    FTM1_SC = 0x00; // Set this to zero before changing the modulus
+    FTM1_CNT = 0x0000; // Reset the count to zero
+    FTM1_MOD = 0xFFFF; // max modulus = 65535
+    FTM1_C0V = FTM1_TIMER_RATE / frequency; // Initial FTM Channel 0 compare value 65535
+    FTM1_SC = (FTM_SC_CLKS(0b1)&FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM1_TIMER_PRESCALE_BITS)&FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 4
+    FTM1_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA;
+    break;
+  default:
+    break;
+  }
+}
+
+void HAL_timer_enable_interrupt (uint8_t timer_num)
+{
+  switch(timer_num) {
+  case 0: NVIC_ENABLE_IRQ(IRQ_FTM0); break;
+  case 1: NVIC_ENABLE_IRQ(IRQ_FTM1); break;
+  default:
+    break;
+  }
+}
+
+void HAL_timer_disable_interrupt (uint8_t timer_num)
+{
+  switch (timer_num) {
+  case 0: NVIC_DISABLE_IRQ(IRQ_FTM0); break;
+  case 1: NVIC_DISABLE_IRQ(IRQ_FTM1); break;
+  default:
+    break;
+  }
+}
+
+void HAL_timer_isr_prologue(uint8_t timer_num) {
+  switch(timer_num) {
+  case 0:
+    FTM0_CNT = 0x0000;
+    FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
+    FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag
+    break;
+  case 1:
+    FTM1_CNT = 0x0000;
+    FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag
+    FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag
+    break;
+  default:
+    break;
+  }
+}
+
+#endif // Teensy3.5 or Teensy3.6
--- a/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/HAL_timers_Teensy.h
@ -0,0 +1,109 @@
+/* **************************************************************************
+ 
+ Marlin 3D Printer Firmware
+ Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com
+ Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program.  If not, see <http://www.gnu.org/licenses/>.
+****************************************************************************/
+
+/**
+ * Description: HAL for
+ * Teensy3.5 (__MK64FX512__)
+ * Teensy3.6 (__MK66FX1M0__)
+ */
+
+
+#ifndef _HAL_TIMERS_TEENSY_H
+#define _HAL_TIMERS_TEENSY_H
+
+// --------------------------------------------------------------------------
+// Includes
+// --------------------------------------------------------------------------
+
+#include <stdint.h>
+
+// --------------------------------------------------------------------------
+// Defines
+// --------------------------------------------------------------------------
+
+#define FORCE_INLINE __attribute__((always_inline)) inline
+
+#define HAL_TIMER_TYPE uint32_t
+#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF
+
+#define STEP_TIMER_NUM 0
+#define TEMP_TIMER_NUM 1
+
+#define FTM0_TIMER_PRESCALE 8
+#define FTM1_TIMER_PRESCALE 4
+#define FTM0_TIMER_PRESCALE_BITS 0b011
+#define FTM1_TIMER_PRESCALE_BITS 0b010
+
+#define FTM0_TIMER_RATE F_BUS/FTM0_TIMER_PRESCALE // 60MHz / 8 = 7500kHz
+#define FTM1_TIMER_RATE F_BUS/FTM1_TIMER_PRESCALE // 60MHz / 4 = 15MHz
+
+#define STEPPER_TIMER STEP_TIMER_NUM // Alias?
+#define STEPPER_TIMER_PRESCALE 0 // Not defined anywhere else!
+
+#define HAL_TIMER_RATE         (FTM0_TIMER_RATE)
+#define HAL_STEPPER_TIMER_RATE HAL_TIMER_RATE
+#define HAL_TICKS_PER_US       (HAL_STEPPER_TIMER_RATE/1000000)
+
+#define TEMP_TIMER_FREQUENCY   1000
+
+#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt (STEP_TIMER_NUM)
+#define DISABLE_STEPPER_DRIVER_INTERRUPT()  HAL_timer_disable_interrupt (STEP_TIMER_NUM)
+#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt (TEMP_TIMER_NUM)
+#define DISABLE_TEMPERATURE_INTERRUPT()  HAL_timer_disable_interrupt (TEMP_TIMER_NUM)
+
+#define HAL_STEP_TIMER_ISR  extern "C" void ftm0_isr(void) //void TC3_Handler()
+#define HAL_TEMP_TIMER_ISR  extern "C" void ftm1_isr(void) //void TC4_Handler()
+
+#define HAL_ENABLE_ISRs() do { if (thermalManager.in_temp_isr)DISABLE_TEMPERATURE_INTERRUPT(); else ENABLE_TEMPERATURE_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT(); } while(0)
+
+void HAL_timer_start (uint8_t timer_num, uint32_t frequency);
+
+static FORCE_INLINE void HAL_timer_set_count (uint8_t timer_num, uint32_t count) {
+  switch(timer_num) {
+  case 0: FTM0_C0V = count; break;
+  case 1: FTM1_C0V = count; break;
+  default: break;
+  }
+}
+
+static FORCE_INLINE HAL_TIMER_TYPE HAL_timer_get_count (uint8_t timer_num) {
+  switch(timer_num) {
+  case 0: return FTM0_C0V;
+  case 1: return FTM1_C0V;
+  default: return 0;
+  }
+}
+
+static FORCE_INLINE uint32_t HAL_timer_get_current_count(uint8_t timer_num) {
+  switch(timer_num) {
+  case 0: return FTM0_CNT;
+  case 1: return FTM1_CNT;
+  default: return 0;
+  }
+}
+
+void HAL_timer_enable_interrupt (uint8_t timer_num);
+void HAL_timer_disable_interrupt (uint8_t timer_num);
+
+void HAL_timer_isr_prologue(uint8_t timer_num);
+
+#endif // _HAL_TIMERS_TEENSY_H
+
--- a/Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/endstop_interrupts.h
@ -0,0 +1,84 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Endstop Interrupts
+ *
+ * Without endstop interrupts the endstop pins must be polled continually in
+ * the stepper-ISR via endstops.update(), most of the time finding no change.
+ * With this feature endstops.update() is called only when we know that at
+ * least one endstop has changed state, saving valuable CPU cycles.
+ *
+ * This feature only works when all used endstop pins can generate an 'external interrupt'.
+ *
+ * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'.
+ * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino)
+ */
+
+ #ifndef _ENDSTOP_INTERRUPTS_H_
+ #define _ENDSTOP_INTERRUPTS_H_
+
+/**
+ *  Endstop interrupts for Due based targets.
+ *  On Due, all pins support external interrupt capability.
+ */
+
+void setup_endstop_interrupts( void ) {
+
+  #if HAS_X_MAX
+    attachInterrupt(digitalPinToInterrupt(X_MAX_PIN), endstop_ISR, CHANGE); // assign it
+  #endif
+
+  #if HAS_X_MIN
+    attachInterrupt(digitalPinToInterrupt(X_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
+
+  #if HAS_Y_MAX
+    attachInterrupt(digitalPinToInterrupt(Y_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+
+  #if HAS_Y_MIN
+    attachInterrupt(digitalPinToInterrupt(Y_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
+
+  #if HAS_Z_MAX
+    attachInterrupt(digitalPinToInterrupt(Z_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+
+  #if HAS_Z_MIN
+     attachInterrupt(digitalPinToInterrupt(Z_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
+
+  #if HAS_Z2_MAX
+    attachInterrupt(digitalPinToInterrupt(Z2_MAX_PIN), endstop_ISR, CHANGE);
+  #endif
+
+  #if HAS_Z2_MIN
+    attachInterrupt(digitalPinToInterrupt(Z2_MIN_PIN), endstop_ISR, CHANGE);
+  #endif
+
+  #if HAS_Z_MIN_PROBE_PIN
+    attachInterrupt(digitalPinToInterrupt(Z_MIN_PROBE_PIN), endstop_ISR, CHANGE);
+  #endif
+}
+
+#endif //_ENDSTOP_INTERRUPTS_H_
--- a/Marlin/src/HAL/HAL_TEENSY35_36/fastio_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/fastio_Teensy.h
@ -0,0 +1,120 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+  This code contributed by Triffid_Hunter and modified by Kliment
+  why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
+*/
+
+/**
+ * Description: Fast IO functions for Teensy 3.5 and Teensy 3.6
+ */
+
+#ifndef	_FASTIO_TEENSY_H
+#define	_FASTIO_TEENSY_H
+
+/**
+  utility functions
+*/
+
+#ifndef MASK
+  #define MASK(PIN)  (1 << PIN)
+#endif
+
+#define GPIO_BITBAND_ADDR(reg, bit) (((uint32_t)&(reg) - 0x40000000) * 32 + (bit) * 4 + 0x42000000)
+#define GPIO_BITBAND(reg, bit) (*(uint32_t *)GPIO_BITBAND_ADDR((reg), (bit)))
+
+/**
+  magic I/O routines
+  now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0);
+*/
+
+/// Read a pin
+#define _READ(p) ((bool)(CORE_PIN ## p ## _PINREG & CORE_PIN ## p ## _BITMASK))
+
+/// Write to a pin
+#define _WRITE(p, v) do { if (v) CORE_PIN ## p ## _PORTSET = CORE_PIN ## p ## _BITMASK; \
+                            else CORE_PIN ## p ## _PORTCLEAR = CORE_PIN ## p ## _BITMASK; } while (0)
+
+/// toggle a pin
+#define _TOGGLE(p)  (*(&(CORE_PIN ## p ## _PORTCLEAR)+1) = CORE_PIN ## p ## _BITMASK)
+
+/// set pin as input
+  #define _SET_INPUT(p)   do { CORE_PIN ## p ## _CONFIG = PORT_PCR_MUX(1); \
+                            GPIO_BITBAND(CORE_PIN ## p ## _DDRREG , CORE_PIN ## p ## _BIT) = 0; \
+                            } while (0)
+/// set pin as output
+  #define _SET_OUTPUT(p)  do { CORE_PIN ## p ## _CONFIG = PORT_PCR_MUX(1)|PORT_PCR_SRE|PORT_PCR_DSE; \
+                            GPIO_BITBAND(CORE_PIN ## p ## _DDRREG , CORE_PIN ## p ## _BIT) = 1; \
+                            } while (0)
+
+/// set pin as input with pullup mode
+//#define _PULLUP(IO, v)  { pinMode(IO, (v!=LOW ? INPUT_PULLUP : INPUT)); }
+
+/// check if pin is an input
+#define _GET_INPUT(p)   ((CORE_PIN ## p ## _DDRREG & CORE_PIN ## p ## _BITMASK) == 0)
+/// check if pin is an output
+#define _GET_OUTPUT(p)  ((CORE_PIN ## p ## _DDRREG & CORE_PIN ## p ## _BITMASK) == 0)
+
+/// check if pin is an timer
+//#define _GET_TIMER(IO)
+
+//  why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
+
+/// Read a pin wrapper
+#define READ(IO)  _READ(IO)
+
+/// Write to a pin wrapper
+#define WRITE_VAR(IO, v)  _WRITE_VAR(IO, v)
+#define WRITE(IO, v)  _WRITE(IO, v)
+
+/// toggle a pin wrapper
+#define TOGGLE(IO)  _TOGGLE(IO)
+
+/// set pin as input wrapper
+#define SET_INPUT(IO)  _SET_INPUT(IO)
+/// set pin as input with pullup wrapper
+#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
+/// set pin as output wrapper
+#define SET_OUTPUT(IO)  _SET_OUTPUT(IO)
+
+/// check if pin is an input wrapper
+#define GET_INPUT(IO)  _GET_INPUT(IO)
+/// check if pin is an output wrapper
+#define GET_OUTPUT(IO)  _GET_OUTPUT(IO)
+
+// Shorthand
+#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
+
+/**
+  ports and functions
+
+  added as necessary or if I feel like it- not a comprehensive list!
+*/
+
+/**
+pins
+*/
+
+#define DIO0_PIN 8
+
+#endif	/* _FASTIO_TEENSY_H */
--- a/Marlin/src/HAL/HAL_TEENSY35_36/persistent_store.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/persistent_store.cpp
@ -0,0 +1,57 @@
+#include "../persistent_store_api.h"
+
+#include "../../../types.h"
+#include "../../../language.h"
+#include "../../../serial.h"
+#include "../../../utility.h"
+
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+#if ENABLED(EEPROM_SETTINGS)
+
+namespace HAL {
+namespace PersistentStore {
+
+bool access_start() {
+  return true;
+}
+
+bool access_finish(){
+  return true;
+}
+
+bool write_data(int &pos, const uint8_t *value, uint16_t size, uint16_t *crc) {
+  while (size--) {
+    uint8_t * const p = (uint8_t * const)pos;
+    uint8_t v = *value;
+    // EEPROM has only ~100,000 write cycles,
+    // so only write bytes that have changed!
+    if (v != eeprom_read_byte(p)) {
+      eeprom_write_byte(p, v);
+      if (eeprom_read_byte(p) != v) {
+        SERIAL_ECHO_START();
+        SERIAL_ECHOLNPGM(MSG_ERR_EEPROM_WRITE);
+        return false;
+      }
+    }
+    crc16(crc, &v, 1);
+    pos++;
+    value++;
+  };
+  return true;
+}
+
+void read_data(int &pos, uint8_t* value, uint16_t size, uint16_t *crc) {
+  do {
+    uint8_t c = eeprom_read_byte((unsigned char*)pos);
+    *value = c;
+    crc16(crc, &c, 1);
+    pos++;
+    value++;
+  } while (--size);
+}
+
+}
+}
+
+#endif // EEPROM_SETTINGS
+#endif // ARDUINO_ARCH_AVR
--- a/Marlin/src/HAL/HAL_TEENSY35_36/spi_pins.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/spi_pins.h
@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef SPI_PINS_H_
+#define SPI_PINS_H_
+
+#define SCK_PIN		13
+#define MISO_PIN	12
+#define MOSI_PIN	11
+#define SS_PIN		20 //SDSS // A.28, A.29, B.21, C.26, C.29
+
+#endif /* SPI_PINS_H_ */
--- a/Marlin/src/HAL/HAL_TEENSY35_36/watchdog_Teensy.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/watchdog_Teensy.cpp
@ -0,0 +1,39 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+ 
+  #include "../../../Marlin.h"
+
+  #if ENABLED(USE_WATCHDOG)
+
+    #include "watchdog_Teensy.h"
+
+    void watchdog_init() {
+      WDOG_TOVALH = 0;
+      WDOG_TOVALL = 4000;
+      WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN;
+    }
+
+  #endif //USE_WATCHDOG
+
+#endif
--- a/Marlin/src/HAL/HAL_TEENSY35_36/watchdog_Teensy.h
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/watchdog_Teensy.h
@ -0,0 +1,38 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef WATCHDOG_TEENSY_H
+#define WATCHDOG_TEENSY_H
+
+//#include "../../../Marlin.h"
+
+// Arduino Due core now has watchdog support
+
+void watchdog_init();
+
+inline void watchdog_reset() {
+	// Watchdog refresh sequence
+	WDOG_REFRESH = 0xA602;
+	WDOG_REFRESH = 0xB480;
+}
+
+#endif /* WATCHDOG_TEENSY_H */
--- a/buildroot/bin/build_marlin_teensy35
+++ b/buildroot/bin/build_marlin_teensy35
@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+arduino --verify --board teensy:avr:teensy35:usb=serial,speed=120,opt=o1std,keys=en-us Marlin/Marlin.ino
--- a/platformio.ini
+++ b/platformio.ini
@ -87,3 +87,10 @@ framework = arduino
 board = due
 build_flags = -I $BUILDSRC_DIR
 lib_deps = ${common.lib_deps}
+
+[env:teensy35]
+platform = teensy
+framework = arduino
+board = teensy35
+build_flags = -I $BUILDSRC_DIR
+lib_deps = ${common.lib_deps}