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Teensy 4.1 Hardware Abstraction_

Last updated by i5ys0p on September 14, 2026

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The **Teensy 4.1** is a supported microcontroller for the OpenVCU project. With its 600 MHz Cortex-M7 processor and three native CAN buses, it provides industrial-grade processing power at a DIY-friendly price point, making it ideal for managing everything from a NetGain Hyper9 to custom digital gauge clusters.

## Base Pin Configuration

To maintain compatibility with the OpenVCU Hardware Abstraction Layer (HAL), we recommend adhering to the following default pin assignments when designing your custom PCB or breadboard prototype.

### CAN Bus Interfaces
*   **CAN1 (Pins 22/23):** Primary Inverter Communications (e.g., Hyper9, Cascadia)
*   **CAN2 (Pins 0/1):** Battery Management System (BMS)
*   **CAN3 (Pins 29/30):** Vehicle Body / Digital Dash Network

### Analog Inputs (Pedals)
For safety redundancy, the OpenVCU standard requires dual-potentiometer throttle pedals.
1.  `PIN_A0` (Pin 14): Throttle Position Sensor 1 (Primary)
2.  `PIN_A1` (Pin 15): Throttle Position Sensor 2 (Secondary/Verification)
3.  `PIN_A2` (Pin 16): Brake Pressure Transducer

> **CRITICAL WARNING:** The Teensy 4.1 is **NOT** 5V tolerant. All analog inputs from vehicle sensors (like a standard 0-5V automotive throttle pedal) MUST run through a voltage divider or logic level converter to bring the signal down to a maximum of 3.3V. Exposing the pins to 5V will instantly destroy the MCU.

## Software Configuration

When compiling the OpenVCU core for the Teensy, ensure your `config.h` selects the correct HAL profile to route the logic to the correct physical pins:

```cpp
// OpenVCU Configuration File
#define VCU_HARDWARE_PROFILE PROFILE_TEENSY_41
#define INVERTER_TYPE INVERTER_HYPER9
#define BMS_TYPE BMS_ORION_2

void setup() {
    // Initialize the core hardware layer
    System::init();
    
    // Start CAN1 for Inverter comms at 500kbps
    CAN_Bus::begin(1, 500000); 
}

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