This project also serves as a repository for useful functions and simple libraries for the Kinetis K20 microcontrollers. The Teensy 3.2 uses a MK20DX256VLH7 so everything contained in here is tailored to that, but minimal changes should be required for other devices.
This project is built using PlatformIO. Follow the instructions at the link here to get started.
Once setup, either upload using the PlatformIO dropdown menu or from the terminal.
or
# Build project and upload firmware to the all devices specified in platformio.ini
platformio run --target upload