platform: teensy41: add PJRC Teensy 4.1 platform support, Audio PLL scheduling, and UAC2 loopback

Kconfig.sof

@@ -60,9 +60,7 @@ rsource "Kconfig.xtos"
 
 rsource "src/Kconfig"
 
-if ZEPHYR_SOF_MODULE
-	rsource "Kconfig.zephyr-log"
-endif
+rsource "Kconfig.zephyr-log"
 
 menu "Debug"
 

app/CMakeLists.txt

@@ -22,11 +22,42 @@ endif()
 find_package(Zephyr HINTS $ENV{ZEPHYR_BASE})
 project(sample_sof)
 
+if(NOT ZEPHYR_SOF_MODULE)
+  add_subdirectory(../zephyr sof_zephyr)
+endif()
+
 target_sources(app PRIVATE
     src/main.c
   )
 
+target_sources_ifdef(CONFIG_USB_DEVICE_STACK_NEXT app PRIVATE
+    src/usbd_init.c
+  )
+
 zephyr_library_include_directories(app PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}/../src/arch/xtensa/include
     ${CMAKE_CURRENT_SOURCE_DIR}/../src/include
   )
+
+if(CONFIG_XTENSA)
+  zephyr_library_include_directories(app PUBLIC
+      ${CMAKE_CURRENT_SOURCE_DIR}/../src/arch/xtensa/include
+    )
+endif()
+
+if(CONFIG_SOF_FULL_ZEPHYR_APPLICATION AND NOT CONFIG_XTENSA)
+  target_include_directories(app PRIVATE
+      ${CMAKE_CURRENT_SOURCE_DIR}/src
+      ${CMAKE_CURRENT_SOURCE_DIR}/../zephyr/include
+      ${CMAKE_CURRENT_SOURCE_DIR}/../src/platform/${PLATFORM}/include
+      ${PROJECT_BINARY_DIR}/include/generated
+    )
+
+  target_link_libraries(app PRIVATE SOF -Wl,--start-group modules_sof sof_kernel -Wl,--end-group)
+  if(TARGET uuid_reg_h)
+    add_dependencies(app uuid_reg_h modules_sof sof_kernel)
+  endif()
+endif()
+
+if(COMMAND sof_append_relative_path_definitions)
+  sof_append_relative_path_definitions(app)
+endif()

app/Kconfig

@@ -7,6 +7,11 @@ choice COMPILER_CODEGEN_VLIW
 endchoice
 
 source "Kconfig.zephyr"
+osource "samples/subsys/usb/common/Kconfig.sample_usbd"
+
+if !ZEPHYR_SOF_MODULE
+rsource "../zephyr/Kconfig"
+endif
 
 if SOC_FAMILY_INTEL_ADSP
 	rsource "boards/intel_adsp/Kconfig.defconfig"

app/boards/teensy41.conf

@@ -0,0 +1,88 @@
+# Target Platform & SOF Core
+CONFIG_PLATFORM_TEENSY41=y
+CONFIG_SOF_FULL_ZEPHYR_APPLICATION=y
+CONFIG_IPC_MAJOR_4=y
+CONFIG_COMP_BASEFW_IPC4=n
+CONFIG_CROSS_CORE_STREAM=n
+CONFIG_STATIC_PIPELINE=y
+CONFIG_ZEPHYR_NATIVE_DRIVERS=y
+CONFIG_SYS_HEAP_BIG_ONLY=y
+CONFIG_BUILD_OUTPUT_HEX=y
+CONFIG_BUILD_OUTPUT_BIN=y
+
+# Zephyr DAI & DMA Drivers for NXP i.MX RT1062
+CONFIG_DAI=y
+CONFIG_DAI_NXP_SAI=y
+CONFIG_DAI_NXP_SPDIF=y
+CONFIG_PINCTRL=y
+CONFIG_DMA=y
+CONFIG_DMA_MCUX_EDMA=y
+CONFIG_DMA_TCD_QUEUE_SIZE=8
+CONFIG_DMA_MCUX_USE_DTCM_FOR_DMA_DESCRIPTORS=n
+
+# Audio Processing Modules & ARM SIMD Optimizations
+CONFIG_COMP_VOLUME=y
+CONFIG_VOLUME_ARM_SIMD=y
+CONFIG_COMP_IIR=y
+CONFIG_EQ_IIR_ARM_SIMD=y
+CONFIG_FILTER_ARM_SIMD=y
+CONFIG_COMP_FIR=y
+CONFIG_COMP_DRC=y
+CONFIG_DRC_ARM_SIMD=y
+CONFIG_COMP_CROSSOVER=y
+CONFIG_COMP_DCBLOCK=y
+CONFIG_DCBLOCK_ARM_SIMD=y
+CONFIG_COMP_MULTIBAND_DRC=y
+CONFIG_COMP_TDFB=y
+CONFIG_COMP_USB_AUDIO=y
+CONFIG_COMP_LEVEL_MULTIPLIER=y
+CONFIG_COMP_SEL=y
+CONFIG_COMP_MUX=y
+CONFIG_COMP_MIXIN_MIXOUT=y
+CONFIG_MIXIN_MIXOUT_ARM_SIMD=y
+CONFIG_FORMAT_CONVERT_ARM_SIMD=y
+
+# USB Device Stack Next & UAC2 Class
+CONFIG_USB_DEVICE_STACK_NEXT=y
+CONFIG_CDC_ACM_SERIAL_INITIALIZE_AT_BOOT=n
+CONFIG_USBD_AUDIO2_CLASS=y
+CONFIG_UDC_ENABLE_SOF=y
+CONFIG_UDC_NXP_EHCI=y
+CONFIG_UDC_BUF_COUNT=64
+CONFIG_UDC_BUF_POOL_SIZE=16384
+CONFIG_UDC_WORKQUEUE_PRIORITY=-10
+CONFIG_UDC_NXP_EVENT_COUNT=16
+CONFIG_UDC_WORKQUEUE_STACK_SIZE=2048
+CONFIG_LL_THREAD_PRIORITY=0
+
+# USB Device Identification
+CONFIG_SAMPLE_USBD_VID=0x16C0
+CONFIG_SAMPLE_USBD_PID=0x04D2
+CONFIG_SAMPLE_USBD_MANUFACTURER="PJRC"
+CONFIG_SAMPLE_USBD_PRODUCT="SOF Teensy 4.1 Audio A"
+
+# System Resources & Memory
+CONFIG_MAIN_STACK_SIZE=8192
+CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=4096
+CONFIG_USBD_THREAD_STACK_SIZE=4096
+CONFIG_ISR_STACK_SIZE=4096
+CONFIG_HW_STACK_PROTECTION=n
+CONFIG_HEAP_MEM_POOL_SIZE=8192
+CONFIG_TICKLESS_KERNEL=n
+CONFIG_SYS_CLOCK_TICKS_PER_SEC=1000
+
+# Logging
+CONFIG_LOG=y
+CONFIG_LOG_DEFAULT_LEVEL=3
+CONFIG_LOG_MAX_LEVEL=4
+CONFIG_SOF_LOG_LEVEL_INF=y
+CONFIG_DAI_LOG_LEVEL_INF=y
+CONFIG_USBD_UAC2_LOG_LEVEL_INF=y
+CONFIG_UDC_DRIVER_LOG_LEVEL_INF=y
+CONFIG_LOG_MODE_DEFERRED=y
+CONFIG_LOG_BUFFER_SIZE=4096
+CONFIG_LOG_MODE_OVERFLOW=y
+CONFIG_LOG_BACKEND_UART=n
+CONFIG_LOG_PROCESS_THREAD=n
+CONFIG_EARLY_CONSOLE=n
+CONFIG_SCHEDULE_LL_STATS_LOG=n

app/boards/teensy41.overlay

@@ -0,0 +1,99 @@
+/*
+ * Copyright (c) 2026 Sound Open Firmware (SOF) Project
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/dt-bindings/usb/audio.h>
+
+/ {
+	uac2_card: usb_audio2 {
+		compatible = "zephyr,uac2";
+		status = "okay";
+		full-speed;
+		high-speed;
+		audio-function = <AUDIO_FUNCTION_IO_BOX>;
+
+		uac_aclk: aclk {
+			compatible = "zephyr,uac2-clock-source";
+			clock-type = "internal-programmable";
+			frequency-control = "host-programmable";
+			sampling-frequencies = <48000>;
+			sof-synchronized;
+		};
+
+		/* Playback from Host (ISO OUT) */
+		i2s_out_terminal: i2s_out_terminal {
+			compatible = "zephyr,uac2-input-terminal";
+			clock-source = <&uac_aclk>;
+			terminal-type = <USB_TERMINAL_STREAMING>;
+			front-left;
+			front-right;
+		};
+
+		i2s_fu: i2s_fu {
+			compatible = "zephyr,uac2-feature-unit";
+			data-source = <&i2s_out_terminal>;
+			mute-control = "host-programmable";
+			volume-control = "host-programmable";
+		};
+
+		i2s_speaker: i2s_speaker {
+			compatible = "zephyr,uac2-output-terminal";
+			data-source = <&i2s_fu>;
+			clock-source = <&uac_aclk>;
+			terminal-type = <OUTPUT_TERMINAL_SPEAKER>;
+			assoc-terminal = <&i2s_mic>;
+		};
+
+		/* Capture to Host (ISO IN) */
+		i2s_mic: i2s_mic {
+			compatible = "zephyr,uac2-input-terminal";
+			clock-source = <&uac_aclk>;
+			terminal-type = <INPUT_TERMINAL_MICROPHONE>;
+			front-left;
+			front-right;
+		};
+
+		i2s_in_fu: i2s_in_fu {
+			compatible = "zephyr,uac2-feature-unit";
+			data-source = <&i2s_mic>;
+			mute-control = "host-programmable";
+			volume-control = "host-programmable";
+		};
+
+		i2s_in_terminal: i2s_in_terminal {
+			compatible = "zephyr,uac2-output-terminal";
+			data-source = <&i2s_in_fu>;
+			clock-source = <&uac_aclk>;
+			terminal-type = <USB_TERMINAL_STREAMING>;
+		};
+
+		/* Audio Streaming Interfaces */
+		as_i2s_out: as_i2s_out {
+			compatible = "zephyr,uac2-audio-streaming";
+			linked-terminal = <&i2s_out_terminal>;
+			subslot-size = <2>;
+			bit-resolution = <16>;
+		};
+
+		as_i2s_in: as_i2s_in {
+			compatible = "zephyr,uac2-audio-streaming";
+			linked-terminal = <&i2s_in_terminal>;
+			subslot-size = <2>;
+			bit-resolution = <16>;
+		};
+	};
+};
+
+&flexcan1 {
+	status = "disabled";
+};
+
+&sai1_dai {
+	status = "okay";
+};
+
+&spdif {
+	status = "okay";
+};

app/src/main.c

@@ -8,6 +8,15 @@
 #include <sof/boot_test.h>
 #include <zephyr/logging/log.h>
 
+#if defined(CONFIG_PLATFORM_TEENSY41)
+#include <zephyr/device.h>
+#include <zephyr/usb/usbd.h>
+#include <zephyr/usb/class/usbd_uac2.h>
+#include <sample_usbd.h>
+#include <sof/platform.h>
+#include <sof/audio/pipeline/static_pipeline.h>
+#endif
+
 LOG_MODULE_REGISTER(main, LOG_LEVEL_DBG);
 
 /* define qemu boot tests if any qemu target is defined, add targets to end */
@@ -41,6 +50,31 @@ static int sof_app_main(void)
 
 	LOG_INF("SOF initialized");
 
+#if defined(CONFIG_PLATFORM_TEENSY41)
+	ret = sof_static_topology_init(&g_teensy41_static_topology);
+	if (ret < 0) {
+		LOG_ERR("Static topology initialization failed: %d", ret);
+		return ret;
+	}
+
+	const struct device *uac2_dev = DEVICE_DT_GET_ONE(zephyr_uac2);
+
+	if (device_is_ready(uac2_dev)) {
+		usbd_uac2_set_ops(uac2_dev, sof_static_uac2_get_ops(), NULL);
+	} else {
+		LOG_ERR("UAC2 device not ready");
+	}
+
+	struct usbd_context *sample_usbd = sample_usbd_init_device(NULL);
+
+	if (sample_usbd) {
+		usbd_enable(sample_usbd);
+		LOG_INF("SOF USB UAC2 device and static pipelines started");
+	} else {
+		LOG_ERR("Failed to initialize USB device context");
+	}
+#endif
+
 #ifdef CONFIG_ARCH_POSIX_LIBFUZZER
 	/* Workaround for an apparent timing bug in libfuzzer+asan.
 	 * If the initial/main thread is allowed to return, ASAN will

app/src/sample_usbd.h

@@ -0,0 +1,16 @@
+/*
+ * Copyright (c) 2023 Nordic Semiconductor ASA.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_SAMPLES_SUBSYS_USB_COMMON_SAMPLE_USBD_H
+#define ZEPHYR_SAMPLES_SUBSYS_USB_COMMON_SAMPLE_USBD_H
+
+#include <stdint.h>
+#include <zephyr/usb/usbd.h>
+
+struct usbd_context *sample_usbd_init_device(usbd_msg_cb_t msg_cb);
+struct usbd_context *sample_usbd_setup_device(usbd_msg_cb_t msg_cb);
+
+#endif /* ZEPHYR_SAMPLES_SUBSYS_USB_COMMON_SAMPLE_USBD_H */