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+## iMXRT1062 Driver
+
+A GrblHAL driver for the NXP iMXRT1062 processor on a [Teensy 4.x board](https://www.pjrc.com/store/teensy40.html).
+
+This driver compiles and uploads from the Arduino IDE and is partially dependent on the Arduino framework. [Teensyduino](https://www.pjrc.com/teensy/td_download.html) is required and must be added to the Arduino IDE.
+
+See the Wiki-page for [compiling grblHAL](https://github.com/terjeio/grblHAL/wiki/Compiling-GrblHAL) for instructions for how to import the project, configure the driver and compile.
+
+Available driver options can be found [here](main/my_machine.h).
+
+---
+
+2020-08-11 : added [plugin support](../../plugins) for networking, SD card and I2C keypad.
+
+---
+
+Initial default pin assignments can be found in [driver.h](main/driver.h).
+
+#### Networking plugin
+
+The networking plugin is for Teensy 4.1 and needs the [teensy41_ethernet lwIP library](https://github.com/ddrown/teensy41_ethernet) forked by ddrown.
+
+Telnet and websocket protocols are currently supported, http is on the long term roadmap.
+
+#### SD card plugin
+
+The SD card plugin needs the [uSDFS library](https://github.com/WMXZ-EU/uSDFS) by WMXZ-EU.
+
+Important: edit the [utility/sd_config.h](https://github.com/WMXZ-EU/uSDFS/blob/master/src/utility/sd_config.h) file and change
+
+`#define USE_MSC 1	// will be used in sd_msc.cpp`
+
+to
+
+`#define USE_MSC 0	// will be used in sd_msc.cpp`
+
+or add the MSC library as well \(not needed\).
+
+---
+
+Download the libraries above as zip files and add to your Arduino installation with _Sketch > Include Library > Add .ZIP Library..._
+
+---
+#### Board maps:
+
+|                      |Processor|Ethernet|SD card|Keypad|EEPROM|N_AXIS|Ganged axes<sup>1</sup>|Encoders|Digital I/O|Analog I/O|
+|----------------------|---------|--------|-------|------|------|------|-----------------------|--------|-----------|----------|
+|Generic|All|no|no|yes|yes<sup>2</sup>|3|||||
+|[BOARD_T40X101](https://github.com/phil-barrett/grbl-teensy-4)|Teensy 4.0|no|no|yes|yes<sup>2</sup>|max 4|max 1|max 1|||
+|[BOARD_T41U5XBB](https://github.com/phil-barrett/grbl-teensy-4)|Teensy 4.1|yes|yes|yes|yes<sup>2</sup>|max 5|max 2|max 1|4/3 or 1/3<sup>3</sup>||
+
+<sup>1</sup> Each enabled reduces N_AXIS with one. Currently the board map file must be edited to enable ganged/auto squared axes.  
+<sup>2</sup> I<sup>2</sup>C EEPROM \(or FRAM\) is [optional](https://github.com/terjeio/grblHAL/blob/master/plugins/eeprom/README.md) and must be added to the board. FRAM is recommended when the [Odometer plugin](https://github.com/terjeio/grblHAL/blob/master/plugins/odometer/README.md) is added to the build.  
+<sup>3</sup> Number of digital input pins available is reduced when the [Encoder plugin](https://github.com/terjeio/grblHAL/blob/master/plugins/encoder/README.md) is added to the build.
+
+---
+2021-01-03