Minimal NXP/Teensy support

12 files changed, 754 insertions, 8 deletions

diff --git a/.gitignore b/.gitignore
index 84f90ddbc..760bbf0a1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,8 @@ src/device/avr/*.ld
 src/device/avr/*.s
 src/device/nrf/*.go
 src/device/nrf/*.s
+src/device/nxp/*.go
+src/device/nxp/*.s
 src/device/sam/*.go
 src/device/sam/*.s
 src/device/sifive/*.go
diff --git a/Makefile b/Makefile
index 5a1fd02c4..0e033dfbc 100644
--- a/Makefile
+++ b/Makefile
@@ -51,7 +51,7 @@ else
     LLVM_OPTION += '-DLLVM_ENABLE_ASSERTIONS=OFF'
 endif
 
-.PHONY: all tinygo test $(LLVM_BUILDDIR) llvm-source clean fmt gen-device gen-device-nrf gen-device-avr
+.PHONY: all tinygo test $(LLVM_BUILDDIR) llvm-source clean fmt gen-device gen-device-nrf gen-device-nxp gen-device-avr
 
 LLVM_COMPONENTS = all-targets analysis asmparser asmprinter bitreader bitwriter codegen core coroutines coverage debuginfodwarf executionengine frontendopenmp instrumentation interpreter ipo irreader linker lto mc mcjit objcarcopts option profiledata scalaropts support target
 
@@ -118,7 +118,7 @@ fmt-check:
 	@unformatted=$$(gofmt -l $(FMT_PATHS)); [ -z "$$unformatted" ] && exit 0; echo "Unformatted:"; for fn in $$unformatted; do echo "  $$fn"; done; exit 1
 
 
-gen-device: gen-device-avr gen-device-nrf gen-device-sam gen-device-sifive gen-device-stm32 gen-device-kendryte
+gen-device: gen-device-avr gen-device-nrf gen-device-sam gen-device-sifive gen-device-stm32 gen-device-kendryte gen-device-nxp
 
 gen-device-avr:
 	$(GO) build -o ./build/gen-device-avr ./tools/gen-device-avr/
@@ -133,6 +133,10 @@ gen-device-nrf: build/gen-device-svd
 	./build/gen-device-svd -source=https://github.com/NordicSemiconductor/nrfx/tree/master/mdk lib/nrfx/mdk/ src/device/nrf/
 	GO111MODULE=off $(GO) fmt ./src/device/nrf
 
+gen-device-nxp: build/gen-device-svd
+	./build/gen-device-svd -source=https://github.com/posborne/cmsis-svd/tree/master/data/NXP lib/cmsis-svd/data/NXP/ src/device/nxp/
+	GO111MODULE=off $(GO) fmt ./src/device/nxp
+
 gen-device-sam: build/gen-device-svd
 	./build/gen-device-svd -source=https://github.com/posborne/cmsis-svd/tree/master/data/Atmel lib/cmsis-svd/data/Atmel/ src/device/sam/
 	GO111MODULE=off $(GO) fmt ./src/device/sam
diff --git a/README.md b/README.md
index 1c8ab784f..24231630e 100644
--- a/README.md
+++ b/README.md
@@ -140,3 +140,5 @@ The original reasoning was: if [Python](https://micropython.org/) can run on mic
 This project is licensed under the BSD 3-clause license, just like the [Go project](https://golang.org/LICENSE) itself.
 
 Some code has been copied from the LLVM project and is therefore licensed under [a variant of the Apache 2.0 license](http://releases.llvm.org/10.0.0/LICENSE.TXT). This has been clearly indicated in the header of these files.
+
+Some code has been copied and/or ported from Paul Stoffregen's Teensy libraries and is therefore licensed under PJRC's license. This has been clearly indicated in the header of these files.
diff --git a/src/machine/board_teensy36.go b/src/machine/board_teensy36.go
new file mode 100644
index 000000000..1b78677b1
--- /dev/null
+++ b/src/machine/board_teensy36.go
@@ -0,0 +1,39 @@
+// +build nxp,mk66f18,teensy36
+
+package machine
+
+import (
+	"device/nxp"
+)
+
+//go:keep
+//go:section .flashconfig
+var FlashConfig = [16]byte{
+	0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+	0xFF, 0xFF, 0xFF, 0xFF, 0xDE, 0xF9, 0xFF, 0xFF,
+}
+
+func CPUFrequency() uint32 {
+	return 180000000
+}
+
+// LED on the Teensy
+const LED Pin = 13
+
+var _pinRegisters [64]pinRegisters
+
+func init() {
+	_pinRegisters[13].Bit = 5
+	_pinRegisters[13].PCR = &nxp.PORTC.PCR5
+	_pinRegisters[13].PDOR = nxp.GPIOC.PDOR.Bit(5)
+	_pinRegisters[13].PSOR = nxp.GPIOC.PSOR.Bit(5)
+	_pinRegisters[13].PCOR = nxp.GPIOC.PCOR.Bit(5)
+	_pinRegisters[13].PTOR = nxp.GPIOC.PTOR.Bit(5)
+	_pinRegisters[13].PDIR = nxp.GPIOC.PDIR.Bit(5)
+	_pinRegisters[13].PDDR = nxp.GPIOC.PDDR.Bit(5)
+}
+
+//go:inline
+func (p Pin) registers() pinRegisters {
+	return _pinRegisters[p]
+}
diff --git a/src/machine/machine_nxp.go b/src/machine/machine_nxp.go
new file mode 100644
index 000000000..b29d4328c
--- /dev/null
+++ b/src/machine/machine_nxp.go
@@ -0,0 +1,33 @@
+// +build nxp
+
+package machine
+
+import (
+	"device/arm"
+	"device/nxp"
+)
+
+type PinMode uint8
+
+const (
+	PinInput PinMode = iota
+	PinOutput
+)
+
+// Stop enters STOP (deep sleep) mode
+func Stop() {
+	// set SLEEPDEEP to enable deep sleep
+	nxp.SystemControl.SCR.SetBits(nxp.SystemControl_SCR_SLEEPDEEP)
+
+	// enter STOP mode
+	arm.Asm("wfi")
+}
+
+// Wait enters WAIT (sleep) mode
+func Wait() {
+	// clear SLEEPDEEP bit to disable deep sleep
+	nxp.SystemControl.SCR.ClearBits(nxp.SystemControl_SCR_SLEEPDEEP)
+
+	// enter WAIT mode
+	arm.Asm("wfi")
+}
diff --git a/src/machine/machine_nxpmk66f18.go b/src/machine/machine_nxpmk66f18.go
new file mode 100644
index 000000000..ab15ed136
--- /dev/null
+++ b/src/machine/machine_nxpmk66f18.go
@@ -0,0 +1,56 @@
+// +build nxp,mk66f18
+
+package machine
+
+import (
+	"device/nxp"
+	"runtime/volatile"
+)
+
+const (
+	PortControlRegisterSRE = nxp.PORT_PCR0_SRE
+	PortControlRegisterDSE = nxp.PORT_PCR0_DSE
+	PortControlRegisterODE = nxp.PORT_PCR0_ODE
+)
+
+func PortControlRegisterMUX(v uint8) uint32 {
+	return (uint32(v) << nxp.PORT_PCR0_MUX_Pos) & nxp.PORT_PCR0_MUX_Msk
+}
+
+type pinRegisters struct {
+	Bit  uintptr
+	PCR  *volatile.Register32
+	PDOR *volatile.BitRegister
+	PSOR *volatile.BitRegister
+	PCOR *volatile.BitRegister
+	PTOR *volatile.BitRegister
+	PDIR *volatile.BitRegister
+	PDDR *volatile.BitRegister
+}
+
+// Configure this pin with the given configuration.
+func (p Pin) Configure(config PinConfig) {
+	switch config.Mode {
+	case PinInput:
+		panic("todo")
+
+	case PinOutput:
+		p.registers().PDDR.Set()
+		p.registers().PCR.SetBits(PortControlRegisterSRE | PortControlRegisterDSE | PortControlRegisterMUX(1))
+		p.registers().PCR.ClearBits(PortControlRegisterODE)
+	}
+}
+
+// Set changes the value of the GPIO pin. The pin must be configured as output.
+func (p Pin) Set(value bool) {
+	if value {
+		p.registers().PSOR.Set()
+	} else {
+		p.registers().PCOR.Set()
+	}
+}
+
+// Get returns the current value of a GPIO pin.
+func (p Pin) Get() bool {
+	return p.registers().PDIR.Get()
+}
diff --git a/src/runtime/runtime_nxp.go b/src/runtime/runtime_nxp.go
new file mode 100644
index 000000000..08f6635c4
--- /dev/null
+++ b/src/runtime/runtime_nxp.go
@@ -0,0 +1,5 @@
+// +build nxp
+
+package runtime
+
+type timeUnit int64
diff --git a/src/runtime/runtime_nxpmk66f18.go b/src/runtime/runtime_nxpmk66f18.go
new file mode 100644
index 000000000..99617a402
--- /dev/null
+++ b/src/runtime/runtime_nxpmk66f18.go
@@ -0,0 +1,342 @@
+// Derivative work of Teensyduino Core Library
+// http://www.pjrc.com/teensy/
+// Copyright (c) 2017 PJRC.COM, LLC.
+//
+// Permission is hereby granted, free of charge, to any person obtaining
+// a copy of this software and associated documentation files (the
+// "Software"), to deal in the Software without restriction, including
+// without limitation the rights to use, copy, modify, merge, publish,
+// distribute, sublicense, and/or sell copies of the Software, and to
+// permit persons to whom the Software is furnished to do so, subject to
+// the following conditions:
+//
+// 1. The above copyright notice and this permission notice shall be
+// included in all copies or substantial portions of the Software.
+//
+// 2. If the Software is incorporated into a build system that allows
+// selection among a list of target devices, then similar target
+// devices manufactured by PJRC.COM must be included in the list of
+// target devices and selectable in the same manner.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+// BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+// ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+// CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+// +build nxp,mk66f18
+
+package runtime
+
+import (
+	"device/arm"
+	"device/nxp"
+	"machine"
+	"runtime/volatile"
+)
+
+const (
+	WDOG_UNLOCK_SEQ1 = 0xC520
+	WDOG_UNLOCK_SEQ2 = 0xD928
+
+	DEFAULT_FTM_MOD      = 61440 - 1
+	DEFAULT_FTM_PRESCALE = 1
+)
+
+var (
+	SIM_SOPT2_IRC48SEL = nxp.SIM_SOPT2_PLLFLLSEL(3)
+	SMC_PMCTRL_HSRUN   = nxp.SMC_PMCTRL_RUNM(3)
+	SMC_PMSTAT_HSRUN   = nxp.SMC_PMSTAT_PMSTAT(0x80)
+)
+
+//go:section .resetHandler
+//go:export Reset_Handler
+func main() {
+	nxp.WDOG.UNLOCK.Set(WDOG_UNLOCK_SEQ1)
+	nxp.WDOG.UNLOCK.Set(WDOG_UNLOCK_SEQ2)
+	arm.Asm("nop")
+	arm.Asm("nop")
+	startupEarlyHook()
+
+	// enable clocks to always-used peripherals
+	nxp.SIM.SCGC3.Set(nxp.SIM_SCGC3_ADC1 | nxp.SIM_SCGC3_FTM2 | nxp.SIM_SCGC3_FTM3)
+	nxp.SIM.SCGC5.Set(0x00043F82) // clocks active to all GPIO
+	nxp.SIM.SCGC6.Set(nxp.SIM_SCGC6_RTC | nxp.SIM_SCGC6_FTM0 | nxp.SIM_SCGC6_FTM1 | nxp.SIM_SCGC6_ADC0 | nxp.SIM_SCGC6_FTF)
+	nxp.SystemControl.CPACR.Set(0x00F00000)
+	nxp.LMEM.PCCCR.Set(0x85000003)
+
+	// release I/O pins hold, if we woke up from VLLS mode
+	if nxp.PMC.REGSC.HasBits(nxp.PMC_REGSC_ACKISO) {
+		nxp.PMC.REGSC.SetBits(nxp.PMC_REGSC_ACKISO)
+	}
+
+	// since this is a write once register, make it visible to all F_CPU's
+	// so we can into other sleep modes in the future at any speed
+	nxp.SMC.PMPROT.Set(nxp.SMC_PMPROT_AHSRUN | nxp.SMC_PMPROT_AVLP | nxp.SMC_PMPROT_ALLS | nxp.SMC_PMPROT_AVLLS)
+
+	preinit()
+
+	// copy the vector table to RAM default all interrupts to medium priority level
+	// for (i=0; i < NVIC_NUM_INTERRUPTS + 16; i++) _VectorsRam[i] = _VectorsFlash[i];
+	for i := uint32(0); i <= nxp.IRQ_max; i++ {
+		arm.SetPriority(i, 128)
+	}
+	// SCB_VTOR = (uint32_t)_VectorsRam;	// use vector table in RAM
+
+	// hardware always starts in FEI mode
+	//  C1[CLKS] bits are written to 00
+	//  C1[IREFS] bit is written to 1
+	//  C6[PLLS] bit is written to 0
+	// MCG_SC[FCDIV] defaults to divide by two for internal ref clock
+	// I tried changing MSG_SC to divide by 1, it didn't work for me
+	// enable capacitors for crystal
+	nxp.OSC.CR.Set(nxp.OSC_CR_SC8P | nxp.OSC_CR_SC2P | nxp.OSC_CR_ERCLKEN)
+	// enable osc, 8-32 MHz range, low power mode
+	nxp.MCG.C2.Set(uint8(nxp.MCG_C2_RANGE(2) | nxp.MCG_C2_EREFS))
+	// switch to crystal as clock source, FLL input = 16 MHz / 512
+	nxp.MCG.C1.Set(uint8(nxp.MCG_C1_CLKS(2) | nxp.MCG_C1_FRDIV(4)))
+	// wait for crystal oscillator to begin
+	for !nxp.MCG.S.HasBits(nxp.MCG_S_OSCINIT0) {
+	}
+	// wait for FLL to use oscillator
+	for nxp.MCG.S.HasBits(nxp.MCG_S_IREFST) {
+	}
+	// wait for MCGOUT to use oscillator
+	for (nxp.MCG.S.Get() & nxp.MCG_S_CLKST_Msk) != nxp.MCG_S_CLKST(2) {
+	}
+
+	// now in FBE mode
+	//  C1[CLKS] bits are written to 10
+	//  C1[IREFS] bit is written to 0
+	//  C1[FRDIV] must be written to divide xtal to 31.25-39 kHz
+	//  C6[PLLS] bit is written to 0
+	//  C2[LP] is written to 0
+	// we need faster than the crystal, turn on the PLL (F_CPU > 120000000)
+	nxp.SMC.PMCTRL.Set(SMC_PMCTRL_HSRUN) // enter HSRUN mode
+	for nxp.SMC.PMSTAT.Get() != SMC_PMSTAT_HSRUN {
+	} // wait for HSRUN
+	nxp.MCG.C5.Set(nxp.MCG_C5_PRDIV(1))
+	nxp.MCG.C6.Set(nxp.MCG_C6_PLLS | nxp.MCG_C6_VDIV(29))
+
+	// wait for PLL to start using xtal as its input
+	for !nxp.MCG.S.HasBits(nxp.MCG_S_PLLST) {
+	}
+	// wait for PLL to lock
+	for !nxp.MCG.S.HasBits(nxp.MCG_S_LOCK0) {
+	}
+	// now we're in PBE mode
+
+	// now program the clock dividers
+	// config divisors: 180 MHz core, 60 MHz bus, 25.7 MHz flash, USB = IRC48M
+	nxp.SIM.CLKDIV1.Set(nxp.SIM_CLKDIV1_OUTDIV1(0) | nxp.SIM_CLKDIV1_OUTDIV2(2) | nxp.SIM_CLKDIV1_OUTDIV4(6))
+	nxp.SIM.CLKDIV2.Set(nxp.SIM_CLKDIV2_USBDIV(0))
+
+	// switch to PLL as clock source, FLL input = 16 MHz / 512
+	nxp.MCG.C1.Set(nxp.MCG_C1_CLKS(0) | nxp.MCG_C1_FRDIV(4))
+	// wait for PLL clock to be used
+	for (nxp.MCG.S.Get() & nxp.MCG_S_CLKST_Msk) != nxp.MCG_S_CLKST(3) {
+	}
+	// now we're in PEE mode
+	// trace is CPU clock, CLKOUT=OSCERCLK0
+	// USB uses IRC48
+	nxp.SIM.SOPT2.Set(nxp.SIM_SOPT2_USBSRC | SIM_SOPT2_IRC48SEL | nxp.SIM_SOPT2_TRACECLKSEL | nxp.SIM_SOPT2_CLKOUTSEL(6))
+
+	// If the RTC oscillator isn't enabled, get it started.  For Teensy 3.6
+	// we don't do this early.  See comment above about slow rising power.
+	if !nxp.RTC.CR.HasBits(nxp.RTC_CR_OSCE) {
+		nxp.RTC.SR.Set(0)
+		nxp.RTC.CR.Set(nxp.RTC_CR_SC16P | nxp.RTC_CR_SC4P | nxp.RTC_CR_OSCE)
+	}
+
+	// initialize the SysTick counter
+	nxp.SysTick.RVR.Set((machine.CPUFrequency() / 1000) - 1)
+	nxp.SysTick.CVR.Set(0)
+	nxp.SysTick.CSR.Set(nxp.SysTick_CSR_CLKSOURCE | nxp.SysTick_CSR_TICKINT | nxp.SysTick_CSR_ENABLE)
+	nxp.SystemControl.SHPR3.Set(0x20200000) // Systick = priority 32
+
+	arm.Asm("CPSIE i")
+	initTeensyInternal()
+	startupLateHook()
+
+	// initAll()
+	runMain()
+	// abort()
+
+	for {
+
+	}
+}
+
+// ported _init_Teensyduino_internal_ from pins_teensy.c from teensy3 core libraries
+func initTeensyInternal() {
+	arm.EnableIRQ(nxp.IRQ_PORTA)
+	arm.EnableIRQ(nxp.IRQ_PORTB)
+	arm.EnableIRQ(nxp.IRQ_PORTC)
+	arm.EnableIRQ(nxp.IRQ_PORTD)
+	arm.EnableIRQ(nxp.IRQ_PORTE)
+
+	nxp.FTM0.CNT.Set(0)
+	nxp.FTM0.MOD.Set(DEFAULT_FTM_MOD)
+	nxp.FTM0.C0SC.Set(0x28) // MSnB:MSnA = 10, ELSnB:ELSnA = 10
+	nxp.FTM0.C1SC.Set(0x28)
+	nxp.FTM0.C2SC.Set(0x28)
+	nxp.FTM0.C3SC.Set(0x28)
+	nxp.FTM0.C4SC.Set(0x28)
+	nxp.FTM0.C5SC.Set(0x28)
+	nxp.FTM0.C6SC.Set(0x28)
+	nxp.FTM0.C7SC.Set(0x28)
+
+	nxp.FTM3.C0SC.Set(0x28)
+	nxp.FTM3.C1SC.Set(0x28)
+	nxp.FTM3.C2SC.Set(0x28)
+	nxp.FTM3.C3SC.Set(0x28)
+	nxp.FTM3.C4SC.Set(0x28)
+	nxp.FTM3.C5SC.Set(0x28)
+	nxp.FTM3.C6SC.Set(0x28)
+	nxp.FTM3.C7SC.Set(0x28)
+
+	nxp.FTM0.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(DEFAULT_FTM_PRESCALE))
+	nxp.FTM1.CNT.Set(0)
+	nxp.FTM1.MOD.Set(DEFAULT_FTM_MOD)
+	nxp.FTM1.C0SC.Set(0x28)
+	nxp.FTM1.C1SC.Set(0x28)
+	nxp.FTM1.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(DEFAULT_FTM_PRESCALE))
+
+	// nxp.FTM2.CNT.Set(0)
+	// nxp.FTM2.MOD.Set(DEFAULT_FTM_MOD)
+	// nxp.FTM2.C0SC.Set(0x28)
+	// nxp.FTM2.C1SC.Set(0x28)
+	// nxp.FTM2.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(DEFAULT_FTM_PRESCALE))
+
+	nxp.FTM3.CNT.Set(0)
+	nxp.FTM3.MOD.Set(DEFAULT_FTM_MOD)
+	nxp.FTM3.C0SC.Set(0x28)
+	nxp.FTM3.C1SC.Set(0x28)
+	nxp.FTM3.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(DEFAULT_FTM_PRESCALE))
+
+	nxp.SIM.SCGC2.SetBits(nxp.SIM_SCGC2_TPM1)
+	nxp.SIM.SOPT2.SetBits(nxp.SIM_SOPT2_TPMSRC(2))
+	nxp.TPM1.CNT.Set(0)
+	nxp.TPM1.MOD.Set(32767)
+	nxp.TPM1.C0SC.Set(0x28)
+	nxp.TPM1.C1SC.Set(0x28)
+	nxp.TPM1.SC.Set(nxp.FTM_SC_CLKS(1) | nxp.FTM_SC_PS(0))
+
+	// 	analog_init();
+
+	// #if !defined(TEENSY_INIT_USB_DELAY_BEFORE)
+	// 	#if TEENSYDUINO >= 142
+	// 		#define TEENSY_INIT_USB_DELAY_BEFORE 25
+	// 	#else
+	// 		#define TEENSY_INIT_USB_DELAY_BEFORE 50
+	// 	#endif
+	// #endif
+
+	// #if !defined(TEENSY_INIT_USB_DELAY_AFTER)
+	// 	#if TEENSYDUINO >= 142
+	// 		#define TEENSY_INIT_USB_DELAY_AFTER 275
+	// 	#else
+	// 		#define TEENSY_INIT_USB_DELAY_AFTER 350
+	// 	#endif
+	// #endif
+
+	// 	// for background about this startup delay, please see these conversations
+	// 	// https://forum.pjrc.com/threads/36606-startup-time-(400ms)?p=113980&viewfull=1#post113980
+	// 	// https://forum.pjrc.com/threads/31290-Teensey-3-2-Teensey-Loader-1-24-Issues?p=87273&viewfull=1#post87273
+
+	// 	delay(TEENSY_INIT_USB_DELAY_BEFORE);
+	// 	usb_init();
+	// 	delay(TEENSY_INIT_USB_DELAY_AFTER);
+}
+
+func startupEarlyHook() {
+	// TODO allow override
+	// > programs using the watchdog timer or needing to initialize hardware as
+	// > early as possible can implement startup_early_hook()
+
+	nxp.WDOG.STCTRLH.Set(nxp.WDOG_STCTRLH_ALLOWUPDATE)
+}
+
+func startupLateHook() {
+	// TODO allow override
+}
+
+//go:noinline
+func runMain() {
+	// this is a separate function to ensure that Reset_Handler fits in 0x230 bytes regardless of whether (user) main requires scheduling
+	callMain()
+}
+
+func putchar(c byte) {
+}
+
+// ???
+const asyncScheduler = false
+
+// microseconds per tick
+const tickMicros = 1000
+
+// number of ticks since boot
+var tickMilliCount uint32
+
+//go:export SysTick_Handler
+func tickHandler() {
+	volatile.StoreUint32(&tickMilliCount, volatile.LoadUint32(&tickMilliCount)+1)
+}
+
+// ticks are in microseconds
+func ticks() timeUnit {
+	m := arm.DisableInterrupts()
+	current := nxp.SysTick.CVR.Get()
+	count := tickMilliCount
+	istatus := nxp.SystemControl.ICSR.Get()
+	arm.EnableInterrupts(m)
+
+	if istatus&nxp.SystemControl_ICSR_PENDSTSET != 0 && current > 50 {
+		count++
+	}
+
+	current = ((machine.CPUFrequency() / tickMicros) - 1) - current
+	return timeUnit(count*tickMicros + current/(machine.CPUFrequency()/1000000))
+}
+
+// sleepTicks spins for a number of microseconds
+func sleepTicks(d timeUnit) {
+	// TODO actually sleep
+
+	if d <= 0 {
+		return
+	}
+
+	start := ticks()
+	ms := d / 1000
+
+	for {
+		for ticks()-start >= 1000 {
+			ms--
+			if ms <= 0 {
+				return
+			}
+			start += 1000
+		}
+		// Gosched()
+	}
+}
+
+func Sleep(d int64) {
+	sleepTicks(timeUnit(d))
+}
+
+// func abort() {
+// 	for {
+// 		// keep polling some communication while in fault
+// 		// mode, so we don't completely die.
+// 		if nxp.SIM.SCGC4.HasBits(nxp.SIM_SCGC4_USBOTG) usb_isr();
+// 		if nxp.SIM.SCGC4.HasBits(nxp.SIM_SCGC4_UART0) uart0_status_isr();
+// 		if nxp.SIM.SCGC4.HasBits(nxp.SIM_SCGC4_UART1) uart1_status_isr();
+// 		if nxp.SIM.SCGC4.HasBits(nxp.SIM_SCGC4_UART2) uart2_status_isr();
+// 	}
+// }
diff --git a/src/runtime/volatile/register_nxpmk66f18.go b/src/runtime/volatile/register_nxpmk66f18.go
new file mode 100644
index 000000000..272205a4d
--- /dev/null
+++ b/src/runtime/volatile/register_nxpmk66f18.go
@@ -0,0 +1,84 @@
+// +build nxp,mk66f18
+
+package volatile
+
+import "unsafe"
+
+const registerBase = 0x40000000
+const registerEnd = 0x40100000
+const bitbandBase = 0x42000000
+const ptrBytes = unsafe.Sizeof(uintptr(0))
+
+//go:inline
+func bitbandAddress(reg uintptr, bit uintptr) uintptr {
+	if bit > ptrBytes*8 {
+		panic("invalid bit position")
+	}
+	if reg < registerBase || reg >= registerEnd {
+		panic("register is out of range")
+	}
+	return (reg-registerBase)*ptrBytes*8 + bit*ptrBytes + bitbandBase
+}
+
+// Special types that causes loads/stores to be volatile (necessary for
+// memory-mapped registers).
+type BitRegister struct {
+	Reg uint32
+}
+
+// Get returns the of the mapped register bit. It is the volatile equivalent of:
+//
+//     *r.Reg
+//
+//go:inline
+func (r *BitRegister) Get() bool {
+	return LoadUint32(&r.Reg) != 0
+}
+
+// Set sets the mapped register bit. It is the volatile equivalent of:
+//
+//     *r.Reg = 1
+//
+//go:inline
+func (r *BitRegister) Set() {
+	StoreUint32(&r.Reg, 1)
+}
+
+// Clear clears the mapped register bit. It is the volatile equivalent of:
+//
+//     *r.Reg = 0
+//
+//go:inline
+func (r *BitRegister) Clear() {
+	StoreUint32(&r.Reg, 0)
+}
+
+// Bit maps bit N of register R to the corresponding bitband address. Bit panics
+// if R is not an AIPS or GPIO register or if N is out of range (greater than
+// the number of bits in a register minus one).
+//
+// go:inline
+func (r *Register8) Bit(bit uintptr) *BitRegister {
+	ptr := bitbandAddress(uintptr(unsafe.Pointer(&r.Reg)), bit)
+	return (*BitRegister)(unsafe.Pointer(ptr))
+}
+
+// Bit maps bit N of register R to the corresponding bitband address. Bit panics
+// if R is not an AIPS or GPIO register or if N is out of range (greater than
+// the number of bits in a register minus one).
+//
+// go:inline
+func (r *Register16) Bit(bit uintptr) *BitRegister {
+	ptr := bitbandAddress(uintptr(unsafe.Pointer(&r.Reg)), bit)
+	return (*BitRegister)(unsafe.Pointer(ptr))
+}
+
+// Bit maps bit N of register R to the corresponding bitband address. Bit panics
+// if R is not an AIPS or GPIO register or if N is out of range (greater than
+// the number of bits in a register minus one).
+//
+// go:inline
+func (r *Register32) Bit(bit uintptr) *BitRegister {
+	ptr := bitbandAddress(uintptr(unsafe.Pointer(&r.Reg)), bit)
+	return (*BitRegister)(unsafe.Pointer(ptr))
+}
diff --git a/targets/nxpmk66f18.ld b/targets/nxpmk66f18.ld
new file mode 100644
index 000000000..74e22761f
--- /dev/null
+++ b/targets/nxpmk66f18.ld
@@ -0,0 +1,94 @@
+
+/* Unused, but here to silence a linker warning. */
+ENTRY(Reset_Handler)
+
+/* define memory layout */
+MEMORY
+{
+	FLASH_TEXT (rx) : ORIGIN = 0x00000000, LENGTH = 1024K
+	RAM (rwx)       : ORIGIN = 0x1FFF0000, LENGTH = 256K
+}
+
+_stack_size = 2K;
+
+/* define output sections */
+SECTIONS
+{
+    /* Program code and read-only data goes to FLASH_TEXT. */
+    .text :
+    {
+        /* vector table MUST start at 0x0 */
+		. = 0;
+        _vector_table = .;
+        KEEP(*(.isr_vector))
+
+        /* this works as long as reset handler doesn't overflow past 0x400 */
+        *(.resetHandler)
+
+        /* flash configuration MUST be at 0x400 */
+        . = 0x400;
+		KEEP(*(.flashconfig))
+
+        /* everything else */
+        *(.text)
+        *(.text*)
+        *(.rodata)
+        *(.rodata*)
+        . = ALIGN(4);
+    } >FLASH_TEXT = 0xFF
+
+    /* Put the stack at the bottom of RAM, so that the application will
+     * crash on stack overflow instead of silently corrupting memory.
+     * See: http://blog.japaric.io/stack-overflow-protection/ */
+    .stack (NOLOAD) :
+    {
+        . = ALIGN(4);
+        . += _stack_size;
+        _stack_top = .;
+    } >RAM
+
+    /* Start address (in flash) of .data, used by startup code. */
+    _sidata = LOADADDR(.data);
+
+	/* todo add .usbdescriptortable .dmabuffers .usbbuffers */
+
+    /* Globals with initial value */
+    .data :
+    {
+        . = ALIGN(4);
+        _sdata = .;        /* used by startup code */
+        *(.data)
+        *(.data*)
+        . = ALIGN(4);
+        _edata = .;        /* used by startup code */
+    } >RAM AT>FLASH_TEXT
+
+    /* Zero-initialized globals  */
+    .bss :
+    {
+        . = ALIGN(4);
+        _sbss = .;         /* used by startup code */
+        *(.bss)
+        *(.bss*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = .;         /* used by startup code */
+    } >RAM
+
+    /DISCARD/ :
+    {
+        *(.ARM.exidx)      /* causes 'no memory region specified' error in lld */
+        *(.ARM.exidx.*)    /* causes spurious 'undefined reference' errors */
+
+        /* all this makes it much harder to debug via disassembly */
+        *(.debug*)
+        *(.ARM.*)
+        *(.comment*)
+    }
+}
+
+/* For the memory allocator. */
+_heap_start = _ebss;
+_heap_end = ORIGIN(RAM) + LENGTH(RAM);
+_globals_start = _sdata;
+_globals_end = _ebss;
diff --git a/targets/teensy36.json b/targets/teensy36.json
new file mode 100644
index 000000000..fecd3c357
--- /dev/null
+++ b/targets/teensy36.json
@@ -0,0 +1,18 @@
+{
+	"inherits": ["cortex-m"],
+	"llvm-target": "armv7em-none-eabi",
+	"cpu": "cortex-m4",
+	"build-tags": ["teensy36", "teensy", "mk66f18", "nxp"],
+	"cflags": [
+		"--target=armv7em-none-eabi",
+		"-Qunused-arguments",
+		"-mfloat-abi=hard",
+		"-mfpu=fpv4-sp-d16"
+	],
+	"linkerscript": "targets/nxpmk66f18.ld",
+	"extra-files": [
+		"src/device/nxp/mk66f18.s"
+	],
+	"flash-command": "teensy_loader_cli -mmcu=mk66fx1m0 -v -w {hex}"
+}
+
diff --git a/tools/gen-device-svd/gen-device-svd.go b/tools/gen-device-svd/gen-device-svd.go
index f376a6932..ee1a86bbb 100755
--- a/tools/gen-device-svd/gen-device-svd.go
+++ b/tools/gen-device-svd/gen-device-svd.go
@@ -16,6 +16,7 @@ import (
 )
 
 var validName = regexp.MustCompile("^[a-zA-Z0-9_]+$")
+var enumBitSpecifier = regexp.MustCompile("^#[x01]+$")
 
 type SVDFile struct {
 	XMLName     xml.Name `xml:"device"`
@@ -41,6 +42,7 @@ type SVDRegister struct {
 	Name          string      `xml:"name"`
 	Description   string      `xml:"description"`
 	Dim           *string     `xml:"dim"`
+	DimIndex      *string     `xml:"dimIndex"`
 	DimIncrement  string      `xml:"dimIncrement"`
 	Size          *string     `xml:"size"`
 	Fields        []*SVDField `xml:"fields>field"`
@@ -484,13 +486,24 @@ func parseBitfields(groupName, regName string, fieldEls []*SVDField, bitfieldPre
 		}
 		for _, enumEl := range fieldEl.EnumeratedValues {
 			enumName := enumEl.Name
+			if strings.EqualFold(enumName, "reserved") || !validName.MatchString(enumName) {
+				continue
+			}
 			if !unicode.IsUpper(rune(enumName[0])) && !unicode.IsDigit(rune(enumName[0])) {
 				enumName = strings.ToUpper(enumName)
 			}
 			enumDescription := strings.Replace(enumEl.Description, "\n", " ", -1)
 			enumValue, err := strconv.ParseUint(enumEl.Value, 0, 32)
 			if err != nil {
-				panic(err)
+				if enumBitSpecifier.MatchString(enumEl.Value) {
+					// NXP SVDs use the form #xx1x, #x0xx, etc for values
+					enumValue, err = strconv.ParseUint(strings.Replace(enumEl.Value[1:], "x", "0", -1), 2, 32)
+					if err != nil {
+						panic(err)
+					}
+				} else {
+					panic(err)
+				}
 			}
 			fields = append(fields, Bitfield{
 				name:        fmt.Sprintf("%s_%s%s_%s_%s", groupName, bitfieldPrefix, regName, fieldName, enumName),
@@ -545,6 +558,59 @@ func (r *Register) dim() int {
 	return int(dim)
 }
 
+func (r *Register) dimIndex() []string {
+	defer func() {
+		if err := recover(); err != nil {
+			fmt.Println("register", r.name())
+			panic(err)
+		}
+	}()
+
+	dim := r.dim()
+	if r.element.DimIndex == nil {
+		if dim <= 0 {
+			return nil
+		}
+
+		idx := make([]string, dim)
+		for i := range idx {
+			idx[i] = strconv.FormatInt(int64(i), 10)
+		}
+		return idx
+	}
+
+	t := strings.Split(*r.element.DimIndex, "-")
+	if len(t) == 2 {
+		x, err := strconv.ParseInt(t[0], 0, 32)
+		if err != nil {
+			panic(err)
+		}
+		y, err := strconv.ParseInt(t[1], 0, 32)
+		if err != nil {
+			panic(err)
+		}
+
+		if x < 0 || y < x || y-x != int64(dim-1) {
+			panic("invalid dimIndex")
+		}
+
+		idx := make([]string, dim)
+		for i := x; i <= y; i++ {
+			idx[i-x] = strconv.FormatInt(i, 10)
+		}
+		return idx
+	} else if len(t) > 2 {
+		panic("invalid dimIndex")
+	}
+
+	s := strings.Split(*r.element.DimIndex, ",")
+	if len(s) != dim {
+		panic("invalid dimIndex")
+	}
+
+	return s
+}
+
 func (r *Register) size() int {
 	if r.element.Size != nil {
 		size, err := strconv.ParseInt(*r.element.Size, 0, 32)
@@ -568,10 +634,10 @@ func parseRegister(groupName string, regEl *SVDRegister, baseAddress uint64, bit
 			// a "spaced array" of registers, special processing required
 			// we need to generate a separate register for each "element"
 			var results []*PeripheralField
-			for i := uint64(0); i < uint64(reg.dim()); i++ {
-				regAddress := reg.address() + (i * dimIncrement)
+			for i, j := range reg.dimIndex() {
+				regAddress := reg.address() + (uint64(i) * dimIncrement)
 				results = append(results, &PeripheralField{
-					name:        strings.ToUpper(strings.Replace(reg.name(), "%s", strconv.FormatUint(i, 10), -1)),
+					name:        strings.ToUpper(strings.Replace(reg.name(), "%s", j, -1)),
 					address:     regAddress,
 					description: reg.description(),
 					array:       -1,
@@ -589,11 +655,12 @@ func parseRegister(groupName string, regEl *SVDRegister, baseAddress uint64, bit
 		regName = strings.ToUpper(regName)
 	}
 
+	bitfields := parseBitfields(groupName, regName, regEl.Fields, bitfieldPrefix)
 	return []*PeripheralField{&PeripheralField{
 		name:        regName,
 		address:     reg.address(),
 		description: reg.description(),
-		bitfields:   parseBitfields(groupName, regName, regEl.Fields, bitfieldPrefix),
+		bitfields:   bitfields,
 		array:       reg.dim(),
 		elementSize: reg.size(),
 	}}
@@ -770,7 +837,7 @@ var (
 			if register.array != -1 {
 				regType = fmt.Sprintf("[%d]%s", register.array, regType)
 			}
-			fmt.Fprintf(w, "\t%s %s\n", register.name, regType)
+			fmt.Fprintf(w, "\t%s %s // 0x%X\n", register.name, regType, register.address-peripheral.BaseAddress)
 
 			// next address
 			if lastCluster {