Prepare for 0.25.0 release

Signed-off-by: deadprogram <ron@hybridgroup.com>

.github/workflows/build.yml

@@ -11,10 +11,13 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: tinygo/tinygo-dev
+    container: ghcr.io/tinygo-org/tinygo-dev
     steps:
+      - name: Work around CVE-2022-24765
+        # We're not on a multi-user machine, so this is safe.
+        run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: TinyGo version check
         run: tinygo version
       - name: Enforce Go Formatted Code

CHANGELOG.md

@@ -1,3 +1,159 @@
+0.25.0
+---
+
+- **core**
+    - add Sensor interface and Measurement type
+    - **delay**
+        - add new package for cycle-accurate delays
+
+- **new devices**
+    - **AS560x**
+        - Add support for ams AS560x on-axis magnetic rotary position sensors
+    - **onewire**
+        - first implementation of 1-wire protocol (#505)
+    - **mpu6886**
+        - initial implementation
+    - **ttp229**
+        - initial support for ttp229 (BSF)
+
+- **enhancements**
+    - **gps**
+        - make the date available in addition to the time (#532)
+    - **i2csoft**
+        - use cycle counting for delays
+    - **ili9341**
+        - add EnableTEOutput to be able to sync drawing with VSYNC
+        - add sleep mode
+        - unify rotation support
+    - **st7735**
+        - add DrawRGBBitmap8 method to draw raw RGB565 buffers
+        - add sleep mode
+        - unify rotation support
+    - **st7789**
+        - added DrawRGBBitmap8 (same as ili9341 & st7735)
+        - allow changing the color format using COLMOD
+        - make it possible to configure gamma
+        - support the chip select pin
+        - update saved rotation in SetRotation
+        - add sleep mode
+        - unify rotation support
+    - **sx126x/sx127x**
+        - Reduce spi buffer size, add missing select when using channels
+        - Remove heap alloc in interrupt, add non blocking channel send/receive, and other cleanups
+    - **wifinina**
+        - add generated strings, improved debugging system and messages
+        - add ResetIsHigh to control the behavior of the RESET pin for boards like the Arduino MKR 1010
+        - only add generated strings when using wifidebug tag
+
+- **bugfixes**
+    - **ds3231**
+        - Document incorrect leap year 2100
+        - Fix negative temperature conversion
+    - **ili9341**
+        - fix Size() for mirrored rotation
+    - **st7789**
+        - avoid heap allocations after the driver is created
+    - **net**
+        - Revert "(#501) make IP.String() method return something sensible"
+    - **wifinina**
+        - small timing adjustments in Configure() to better ensure device reset
+
+- **examples**
+    - **sdcard**
+        - remove tinyfs example and replace with link to tinyfs repo in docs
+    - **wifinina**
+        - improve connectToAP() and other needed minor corrections
+
+- **build**
+    - switch to ghcr.io for docker container
+    - run smoke tests in parallel
+    - **Makefile**
+        - add XTENSA=0 flag to skip Xtensa tests
+        - remove AVR=0 flag
+
+- **docs**
+    - remove full list of devices from README, better to keep it on the tinygo.org site
+    - update LICENSE year
+
+
+0.24.0
+---
+- **new devices**
+    - **lora**
+        - created shared RadioEvent
+        - move shared config for sx126x/sx127x to single package
+    - **lorawan**
+        - add initial LoRaWAN stack support
+        - Basic implementation of Lorawan Regional Settings and EU868/AU915 regions
+    - **qmi8658c**
+        - Add support for the QMI8658C sensor (#467)
+    - **sh1106**
+        - add support for SH1106 display driver
+    - **sx127x**
+        - Driver for Semtech sx127x radio modules
+
+- **enhancements**
+    - **bme280**
+        - improve config support
+        - add ReadAltitude() function copied from BMP280 driver
+    - **buzzer**
+        - make all note durations float64
+        - no tone during rest
+    - **dht22**
+        - update DHT22 receive to use runtime/interrupt
+    - **gps**
+        - add support for GLL sentence type, add original sentence to gps errors
+        - improve error handling
+        - improve parsing and add tests to verify
+    - **microbitmatrix**
+        - add link to schema for microbit V2
+        - add smoke test for microbitmatrix with microbit-v2
+        - add support for brightness of led pixels
+        - harmonize v1 and v2 implementation
+        - move Size() to version agnostic part
+    - **mpu6050**
+        - add functions to configure clock, and scaling for accelerometer and gyroscope
+    - **net/http**
+        - add PostForm()
+    - **sx126x**
+        - add Reset() and needed pin
+        - move RadioController into separate file for clarity
+        - pre-define all errors to avoid heap allocations
+        - refactor to RadioController interface to more easily handle non-STM32WL boards and remove duplicated code
+
+    - **vl53l1x**
+        - Add getter for the effective SPAD count
+    - **wifinina**
+        - add support for http server (#480)
+
+- **bugfixes**
+    - **lsm303agr**
+        - fix I2C address auto increment for multi data read
+    - **net**
+        - (#501) make IP.String() method return something sensible
+    - **mpu6050**
+        - return I2C error when configuring fails
+    - **sx126x**
+        - fix in SetBandwidth function
+        - actually set the frequency when calling SetFrequency()
+        - correct RX/TX pin mapping for TheThingsIndustries GNSE board
+
+- **examples**
+    - **LoRaWAN**
+        - example with LoRaWAN AT command set implementation
+        - basic example
+        - update all remaining examples for refactored API
+    - **sx126x**
+        - fix bandwidth,tx power in lora//lora_continuous example
+    - **sx127x**
+        - rx/tx example
+
+- **build**
+    - remove older format build tags
+    - update to actions/checkout@v3
+    - work around for CVE-2022-24765
+
+
 0.23.0
 ---
 - **new devices**

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2018-2022 The TinyGo Authors. All rights reserved.
+Copyright (c) 2018-2023 The TinyGo Authors. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are

Makefile

@@ -7,248 +7,11 @@ FMT_PATHS = ./
 fmt-check:
 	@unformatted=$$(gofmt -l $(FMT_PATHS)); [ -z "$$unformatted" ] && exit 0; echo "Unformatted:"; for fn in $$unformatted; do echo "  $$fn"; done; exit 1
 
+XTENSA ?= 1
 smoke-test:
 	@mkdir -p build
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adt7410/main.go
+	@go run ./smoketest.go -xtensa=$(XTENSA) smoketest.sh
-	@md5sum ./build/test.hex
+
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adxl345/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/amg88xx
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/apds9960/proximity/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/itsybitsy-m0/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/at24cx/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bh1750/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/blinkm/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmi160/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp180/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp280/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bmp388/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/sram/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/time/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/easystepper/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/espconsole/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/esphub/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/espstation/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/flash/console/spi
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/flash/console/qspi
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/gc9a01/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/gps/i2c/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/gps/uart/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/hcsr04/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/customchar/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/text/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/hd44780i2c/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/hts221/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hub75/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/basic
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/ili9341/basic
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/pyportal_boing
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/scroll
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/ili9341/scroll
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/slideshow
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis3dh/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/lps22hb/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/lsm303agr/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/lsm6ds3/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mag3110/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017-multiple/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp3008/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp2515/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/microbitmatrix/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit-v2 ./examples/microbitmatrix/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mma8653/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mpu6050/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=p1am-100 ./examples/p1am/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pico ./examples/pca9685/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setbuffer/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setpixel/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino ./examples/servo
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/shifter/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht3x/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/shtc3/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/i2c_128x32/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/spi_128x64/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1331/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7735/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7789/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/thermistor/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-bluefruit ./examples/tone
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/tm1637/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/fourwire/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/pyportal_touchpaint/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/vl53l1x/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/vl6180x/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13x/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd4in2/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/ntpclient/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/udpstation/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/tcpclient/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/webclient/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/ws2812
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.bin -target=m5stamp-c3          ./examples/ws2812
-	@md5sum ./build/test.bin
-	tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/is31fl3731/main.go
-	@md5sum ./build/test.hex
-ifneq ($(AVR), 0)
-	tinygo build -size short -o ./build/test.hex -target=arduino   ./examples/ws2812
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=digispark ./examples/ws2812
-	@md5sum ./build/test.hex
-endif
-	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bme280/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/microphone/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/buzzer/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/veml6070/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l293x/simple/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l293x/speed/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l9110x/simple/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l9110x/speed/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=nucleo-f103rb ./examples/shiftregister/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=hifive1b ./examples/ssd1351/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis2mdl/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/max72xx/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/dht/main.go
-	@md5sum ./build/test.hex
-	# tinygo build -size short -o ./build/test.hex -target=arduino ./examples/keypad4x4/main.go
-	# @md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/alarm/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/clkout/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/time/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/timer/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pico ./examples/qmi8658c/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/ina260/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=nucleo-l432kc ./examples/aht20/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/sdcard/console/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/sdcard/tinyfs/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=wioterminal ./examples/rtl8720dn/webclient/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=wioterminal ./examples/rtl8720dn/webserver/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=wioterminal ./examples/rtl8720dn/mqttsub/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/i2csoft/adt7410/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.elf -target=wioterminal ./examples/axp192/m5stack-core2-blinky/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/xpt2046/main.go
-	@md5sum ./build/test.uf2
-	tinygo build -size short -o ./build/test.elf -target=m5stack-core2 ./examples/ft6336/basic/
-	@md5sum ./build/test.elf
-	tinygo build -size short -o ./build/test.elf -target=m5stack-core2 ./examples/ft6336/touchpaint/
-	@md5sum ./build/test.elf
-	tinygo build -size short -o ./build/test.hex -target=nucleo-wl55jc ./examples/sx126x/lora_rxtx/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/ssd1289/main.go
-	@md5sum ./build/test.uf2
-	tinygo build -size short -o ./build/test.hex -target=pico ./examples/irremote/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=badger2040 ./examples/uc8151/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/scd4x/main.go
-	@md5sum ./build/test.uf2
-	tinygo build -size short -o ./build/test.uf2 -target=circuitplay-express ./examples/makeybutton/main.go
-	@md5sum ./build/test.uf2
 
 # rwildcard is a recursive version of $(wildcard) 
 # https://blog.jgc.org/2011/07/gnu-make-recursive-wildcard-function.html

README.md

@@ -50,102 +50,10 @@ func main() {
 }
 ```
 
-## Currently supported devices
+## Supported devices
 
-The following 90 devices are supported.
+There are currently 96 devices supported. For the complete list, please see:
-
+https://tinygo.org/docs/reference/devices/
-| Device Name                                                                                                                                                                                         | Interface Type |
-|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------|
-| [ADT7410 I2C Temperature Sensor](https://www.analog.com/media/en/technical-documentation/data-sheets/ADT7410.pdf)                                                                                   | I2C |
-| [ADXL345 accelerometer](http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf)                                                                                             | I2C |
-| [AHT20 I2C Temperature and Humidity Sensor](http://www.aosong.com/userfiles/files/media/AHT20%20%E8%8B%B1%E6%96%87%E7%89%88%E8%AF%B4%E6%98%8E%E4%B9%A6%20A0%2020201222.pdf)                         | I2C |
-| [AMG88xx 8x8 Thermal camera sensor](https://cdn-learn.adafruit.com/assets/assets/000/043/261/original/Grid-EYE_SPECIFICATIONS%28Reference%29.pdf)                                                   | I2C |
-| [APA102 RGB LED](https://cdn-shop.adafruit.com/product-files/2343/APA102C.pdf)                                                                                                                      | SPI |
-| [APDS9960 Digital proximity, ambient light, RGB and gesture sensor](https://cdn.sparkfun.com/assets/learn_tutorials/3/2/1/Avago-APDS-9960-datasheet.pdf)                                            | I2C |
-| [AT24CX 2-wire serial EEPROM](https://www.openimpulse.com/blog/wp-content/uploads/wpsc/downloadables/24C32-Datasheet.pdf)                                                                           | I2C |
-| [AXP192 single Cell Li-Battery and Power System Management](https://github.com/m5stack/M5-Schematic/blob/master/Core/AXP192%20Datasheet_v1.1_en_draft_2211.pdf)                                     | I2C |
-| [BBC micro:bit LED matrix](https://github.com/bbcmicrobit/hardware/blob/master/SCH_BBC-Microbit_V1.3B.pdf)                                                                                          | GPIO |
-| [BH1750 ambient light sensor](https://www.mouser.com/ds/2/348/bh1750fvi-e-186247.pdf)                                                                                                               | I2C |
-| [BlinkM RGB LED](http://thingm.com/fileadmin/thingm/downloads/BlinkM_datasheet.pdf)                                                                                                                 | I2C |
-| [BME280 humidity/pressure sensor](https://cdn-shop.adafruit.com/datasheets/BST-BME280_DS001-10.pdf)                                                                                                 | I2C |
-| [BMI160 accelerometer/gyroscope](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi160-ds000.pdf)                                                                    | SPI |
-| [BMP180 barometer](https://cdn-shop.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf)                                                                                                                | I2C |
-| [BMP280 temperature/barometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmp280-ds001.pdf)                                                                      | I2C |
-| [BMP388 pressure sensor](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmp388-ds001.pdf)                                                                            | I2C |
-| [Buzzer](https://en.wikipedia.org/wiki/Buzzer#Piezoelectric)                                                                                                                                        | GPIO |
-| [DHTXX thermometer and humidity sensor](https://cdn-shop.adafruit.com/datasheets/Digital+humidity+and+temperature+sensor+AM2302.pdf)                                                                | GPIO |
-| [DS1307 real time clock](https://datasheets.maximintegrated.com/en/ds/DS1307.pdf)                                                                                                                   | I2C |
-| [DS3231 real time clock](https://datasheets.maximintegrated.com/en/ds/DS3231.pdf)                                                                                                                   | I2C |
-| [ESP32 as WiFi Coprocessor with Arduino nina-fw](https://github.com/arduino/nina-fw)                                                                                                                | SPI |
-| [ESP8266/ESP32 AT Command set for WiFi/TCP/UDP](https://github.com/espressif/esp32-at)                                                                                                              | UART |
-| [FT6336 touch controller](https://focuslcds.com/content/FT6236.pdf)                                                                                                                                 | I2C |
-| [GPS module](https://www.u-blox.com/en/product/neo-6-series)                                                                                                                                        | I2C/UART |
-| [HC-SR04 Ultrasonic distance sensor](https://cdn.sparkfun.com/datasheets/Sensors/Proximity/HCSR04.pdf)                                                                                              | GPIO |
-| [HD44780 LCD controller](https://www.sparkfun.com/datasheets/LCD/HD44780.pdf)                                                                                                                       | GPIO/I2C |
-| [HTS221 digital humidity and temperature sensor](https://www.st.com/resource/en/datasheet/hts221.pdf)                                                                                               | I2C |
-| [HUB75 RGB led matrix](https://cdn-learn.adafruit.com/downloads/pdf/32x16-32x32-rgb-led-matrix.pdf)                                                                                                 | SPI |
-| [software I2C driver](https://www.ti.com/lit/an/slva704/slva704.pdf)                                                                                                                                | GPIO |
-| [ILI9341 TFT color display](https://cdn-shop.adafruit.com/datasheets/ILI9341.pdf)                                                                                                                   | SPI |
-| [INA260 Volt/Amp/Power meter](https://www.ti.com/lit/ds/symlink/ina260.pdf)                                                                                                                         | I2C |
-| [Infrared remote control](https://en.wikipedia.org/wiki/Consumer_IR)                                                                                                                                | GPIO |
-| [IS31FL3731 matrix LED driver](https://www.lumissil.com/assets/pdf/core/IS31FL3731_DS.pdf)                                                                                                          | I2C |
-| [4x4 Membrane Keypad](https://cdn.sparkfun.com/assets/f/f/a/5/0/DS-16038.pdf)                                                                                                                       | GPIO |
-| [L293x motor driver](https://www.ti.com/lit/ds/symlink/l293d.pdf)                                                                                                                                   | GPIO/PWM |
-| [L9110x motor driver](https://www.elecrow.com/download/datasheet-l9110.pdf)                                                                                                                         | GPIO/PWM |
-| [LIS2MDL magnetometer](https://www.st.com/resource/en/datasheet/lis2mdl.pdf)                                                                                                                        | I2C |
-| [LIS3DH accelerometer](https://www.st.com/resource/en/datasheet/lis3dh.pdf)                                                                                                                         | I2C |
-| [LPS22HB MEMS nano pressure sensor](https://www.st.com/resource/en/datasheet/dm00140895.pdf)                                                                                                        | I2C |
-| [LSM6DS3 accelerometer](https://www.st.com/resource/en/datasheet/lsm6ds3.pdf)                                                                                                                       | I2C |
-| [LSM6DSOX accelerometer](https://www.st.com/resource/en/datasheet/lsm6dsox.pdf)                                                                                                                     | I2C |
-| [LSM6DS3TR accelerometer](https://www.st.com/resource/en/datasheet/lsm6ds3tr.pdf)                                                                                                                   | I2C |
-| [LSM303AGR accelerometer](https://www.st.com/resource/en/datasheet/lsm303agr.pdf)                                                                                                                   | I2C |
-| [LSM9DS1 accelerometer](https://www.st.com/resource/en/datasheet/lsm9ds1.pdf)                                                                                                                       | I2C |
-| [Makey Button](https://makeymakey.com/)                                                                                                                                                             | GPIO |
-| [MAG3110 magnetometer](https://www.nxp.com/docs/en/data-sheet/MAG3110.pdf)                                                                                                                          | I2C |
-| [MAX7219 & MAX7221 display driver](https://datasheets.maximintegrated.com/en/ds/MAX7219-MAX7221.pdf)                                                                                                | SPI |
-| [MCP2515 Stand-Alone CAN Controller with SPI Interface](https://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Family-Data-Sheet-DS20001801K.pdf)                                                 | SPI |
-| [MCP3008 analog to digital converter (ADC)](http://ww1.microchip.com/downloads/en/DeviceDoc/21295d.pdf)                                                                                             | SPI |
-| [MCP23017 port expander](https://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf)                                                                                                            | I2C |
-| [Microphone - PDM](https://cdn-learn.adafruit.com/assets/assets/000/049/977/original/MP34DT01-M.pdf)                                                                                                | I2S/PDM |
-| [MMA8653 accelerometer](https://www.nxp.com/docs/en/data-sheet/MMA8653FC.pdf)                                                                                                                       | I2C |
-| [MPU6050 accelerometer/gyroscope](https://store.invensense.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf)                                                                                 | I2C |
-| [P1AM-100 Base Controller](https://facts-engineering.github.io/modules/P1AM-100/P1AM-100.html)                                                                                                      | SPI |
-| [PCD8544 display](http://eia.udg.edu/~forest/PCD8544_1.pdf)                                                                                                                                         | SPI |
-| [PCF8563 real time clock](https://www.nxp.com/docs/en/data-sheet/PCF8563.pdf)                                                                                                                       | I2C |
-| [QMI8658C accelerometer/gyroscope](https://www.qstcorp.com/upload/pdf/202202/%EF%BC%88%E5%B7%B2%E4%BC%A0%EF%BC%89QMI8658C%20datasheet%20rev%200.9.pdf)                                              | I2C |
-| [Resistive Touchscreen (4-wire)](http://ww1.microchip.com/downloads/en/Appnotes/doc8091.pdf)                                                                                                        | GPIO |
-| [RTL8720DN 2.4G/5G Dual Bands Wireless and BLE5.0](https://www.seeedstudio.com/Realtek8720DN-2-4G-5G-Dual-Bands-Wireless-and-BLE5-0-Combo-Module-p-4442.html)                                       | UART |
-| [SCD4x CO2 Sensor](https://sensirion.com/media/documents/C4B87CE6/627C2DCD/CD_DS_SCD40_SCD41_Datasheet_D1.pdf)                                                                                      | I2C |
-| [Semihosting](https://wiki.segger.com/Semihosting)                                                                                                                                                  | Debug |
-| [Servo](https://learn.sparkfun.com/tutorials/hobby-servo-tutorial/all)                                                                                                                              | PWM |
-| [Shift register (PISO)](https://en.wikipedia.org/wiki/Shift_register#Parallel-in_serial-out_\(PISO\))                                                                                               | GPIO |
-| [Shift registers (SIPO)](https://en.wikipedia.org/wiki/Shift_register#Serial-in_parallel-out_(SIPO))                                                                                                | GPIO |
-| [SHT3x Digital Humidity Sensor](https://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/2_Humidity_Sensors/Datasheets/Sensirion_Humidity_Sensors_SHT3x_Datasheet_digital.pdf) | I2C |
-| [SHTC3 Digital Humidity Sensor (RH/T)](https://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/2_Humidity_Sensors/Datasheets/Sensirion_Humidity_Sensors_SHTC3_Datasheet.pdf)  | I2C |
-| [SPI NOR Flash Memory](https://en.wikipedia.org/wiki/Flash_memory#NOR_flash)                                                                                                                        | SPI/QSPI |
-| [SPI SDCARD/MMC](https://en.wikipedia.org/wiki/SD_card)                                                                                                                                             | SPI |
-| [SSD1306 OLED display](https://cdn-shop.adafruit.com/datasheets/SSD1306.pdf)                                                                                                                        | I2C / SPI |
-| [SSD1331 TFT color display](https://www.crystalfontz.com/controllers/SolomonSystech/SSD1331/381/)                                                                                                   | SPI |
-| [SSD1351 OLED display](https://download.mikroe.com/documents/datasheets/ssd1351-revision-1.3.pdf)                                                                                                   | SPI |
-| [ST7735 TFT color display](https://www.crystalfontz.com/controllers/Sitronix/ST7735R/319/)                                                                                                          | SPI |
-| [ST7789 TFT color display](https://cdn-shop.adafruit.com/product-files/3787/3787_tft_QT154H2201__________20190228182902.pdf)                                                                        | SPI |
-| [Stepper motor "Easystepper" controller](https://en.wikipedia.org/wiki/Stepper_motor)                                                                                                               | GPIO |
-| [Thermistor](https://www.farnell.com/datasheets/33552.pdf)                                                                                                                                          | ADC |
-| [TM1637 7-segment LED display](https://www.mcielectronics.cl/website_MCI/static/documents/Datasheet_TM1637.pdf)                                                                                     | I2C |
-| [TMP102 I2C Temperature Sensor](https://download.mikroe.com/documents/datasheets/tmp102-data-sheet.pdf)                                                                                             | I2C |
-| [UC8151 All-in-one driver IC for ESL](https://www.buydisplay.com/download/ic/UC8151C.pdf)                                                                                                           | I2C |
-| [VEML6070 UV light sensor](https://www.vishay.com/docs/84277/veml6070.pdf)                                                                                                                          | I2C |
-| [VL53L1X time-of-flight distance sensor](https://www.st.com/resource/en/datasheet/vl53l1x.pdf)                                                                                                      | I2C |
-| [VL6180X time-of-flight distance sensor](https://www.st.com/resource/en/datasheet/vl6180x.pdf)                                                                                                      | I2C |
-| [Waveshare 2.13" (B & C) e-paper display](https://www.waveshare.com/w/upload/d/d3/2.13inch-e-paper-b-Specification.pdf)                                                                             | SPI |
-| [Waveshare 2.13" e-paper display](https://www.waveshare.com/w/upload/e/e6/2.13inch_e-Paper_Datasheet.pdf)                                                                                           | SPI |
-| [Waveshare 2.9" e-paper display (V1)](https://www.waveshare.com/w/upload/e/e6/2.9inch_e-Paper_Datasheet.pdf)                                                                                        | SPI |
-| [Waveshare 4.2" e-paper B/W display](https://www.waveshare.com/w/upload/6/6a/4.2inch-e-paper-specification.pdf)                                                                                     | SPI |
-| [Waveshare GC9A01 TFT round display](https://www.waveshare.com/w/upload/5/5e/GC9A01A.pdf)                                                                                                           | SPI |
-| [WS2812 RGB LED](https://cdn-shop.adafruit.com/datasheets/WS2812.pdf)                                                                                                                               | GPIO |
-| [XPT2046 touch controller](http://grobotronics.com/images/datasheets/xpt2046-datasheet.pdf)                                                                                                         | GPIO |
-| [Semtech SX126x Lora](https://www.semtech.com/products/wireless-rf/lora-connect/sx1261)                                                                                                             | SPI |
-| [SSD1289 TFT color display](http://aitendo3.sakura.ne.jp/aitendo_data/product_img/lcd/tft2/M032C1289TP/3.2-SSD1289.pdf)                                                                             | GPIO |
 
 ## Contributing
 

as560x/as5600.go

@@ -0,0 +1,172 @@
+//	Product: https://ams.com/as5600
+//	Datasheet: https://ams.com/documents/20143/36005/AS5600_DS000365_5-00.pdf
+
+package as560x // import tinygo.org/x/drivers/ams560x
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+// AS5600 includes MPOS & MANG in addition to ZPOS to set a 'narrower angle range'
+// ZPOS enables setting the 'zero position' of the device to any RAW_ANGLE value.
+// MPOS ('max position') & MANG 'max angle' enable a 'partial range' on the AS5600.
+// The value in ANGLE is scaled & adjusted by the device according to ZPOS and MPOS/MANG.
+// The entire 12-bit range is 'compressed' into the RAW_ANGLE range of ZPOS->MPOS
+// (or ZPOS->ZPOS+MANG) thus enabling a higher resolution for a partial range.
+// if ZPOS > MPOS (or ZPOS + MANG > 4095) i.e. the incremental range 'crosses zero'
+// then the device will automatically compensate for the correct range.
+// For RAW_ANGLE values outside of the partial range, ANGLE will be 'capped' at either
+// 0 or 4095, depending on 'which end of the partial range is closer.'
+
+// AS5600Device represents an ams AS5600 device driver accessed over I2C
+type AS5600Device struct {
+	// promote BaseDevice
+	BaseDevice
+}
+
+// NewAS5600 creates a new AS5600Device given an I2C bus
+func NewAS5600(bus drivers.I2C) AS5600Device {
+	// Create base device
+	baseDev := newBaseDevice(bus)
+	// Add AS5600 specific registers
+	baseDev.registers[MPOS] = newI2CRegister(MPOS, 0, 0xfff, 2, reg_read|reg_write|reg_program)
+	baseDev.registers[MANG] = newI2CRegister(MANG, 0, 0xfff, 2, reg_read|reg_write|reg_program)
+	// Add AS5600 specific 'virtual registers'
+	conf, ok := baseDev.registers[CONF]
+	if ok {
+		baseDev.registers[PWMF] = newVirtualRegister(conf, 6, 0b11)
+		baseDev.registers[OUTS] = newVirtualRegister(conf, 4, 0b11)
+	}
+	// Return the device
+	return AS5600Device{baseDev}
+}
+
+// Configure sets up the AMS AS5600 sensor device with the given configuration.
+func (d *AS5600Device) Configure(cfg Config) error {
+	// Call the BaseDevice method to do the actual Configure
+	d.BaseDevice.Configure(cfg)
+	// For AS5600 devices we need to calculate the maxAngle on startup from ZPOS/MPOS/MANG
+	// These could have been permanently BURN'ed (by writing BURN register with BURN_ANGLE/BURN_SETTING)
+	// or may have already been written in previous runs without a power cycle since.
+	mpos, err := d.ReadRegister(MPOS)
+	if nil != err {
+		return err
+	}
+	mang, err := d.ReadRegister(MANG)
+	if nil != err {
+		return err
+	}
+	// Read ZPOS for side effect of caching only so that next calculateEffectiveMaxAngle() can't fail
+	if _, err = d.ReadRegister(ZPOS); nil != err {
+		return err
+	}
+	if mpos != 0 {
+		// If MPOS is set, use MPOS regardless of MANG
+		err = d.calculateEffectiveMaxAngle(MPOS, mpos)
+	} else if mang != 0 {
+		// If MANG is set and MPOS == 0, use MANG
+		err = d.calculateEffectiveMaxAngle(MANG, mang)
+	} else {
+		// if neither is set, we have no narrow range
+		d.maxAngle = NATIVE_ANGLE_RANGE
+	}
+	return err
+}
+
+// calculateEffectiveMaxAngle calculates d.maxAngle after one of ZPOS/MPOS/MANG have been written
+func (d *AS5600Device) calculateEffectiveMaxAngle(register uint8, value uint16) error {
+
+	var zpos, mpos uint16 = 0, 0
+	var err error = nil
+
+	switch register {
+	case MANG:
+		d.maxAngle = value // The easy case
+		return nil
+	case ZPOS:
+		zpos = value
+		mpos, err = d.ReadRegister(MPOS)
+	case MPOS:
+		mpos = value
+		zpos, err = d.ReadRegister(ZPOS)
+	default:
+		panic("calculateEffectiveMaxAngle() can only work from ZPOS, MPOS or MANG")
+	}
+
+	if nil != err {
+		return err
+	}
+	// MANG is effectively MPOS-ZPOS
+	mang := int(mpos) - int(zpos)
+	// correct for mpos < zpos
+	if mang < 0 {
+		mang += NATIVE_ANGLE_RANGE
+	}
+	d.maxAngle = uint16(mang)
+	return nil
+}
+
+// WriteRegister writes the given value for the given register to the AS560x device via I2C
+func (d *AS5600Device) WriteRegister(address uint8, value uint16) error {
+	// Call the BaseDevice method to do the actual write
+	if err := d.BaseDevice.WriteRegister(address, value); err != nil {
+		return err
+	}
+	// When either ZPOS/MANG/MPOS are set we need to recalculate maxAngle
+	// We also may need to invalidate some cached values for the other two registers
+	recalc := false
+	switch address {
+	case ZPOS:
+		// Setting a new ZPOS invalidates MPOS but not MANG
+		d.registers[MPOS].invalidate()
+		recalc = true
+	case MPOS:
+		// Setting a new MPOS invalidates MANG but not ZPOS
+		d.registers[MANG].invalidate()
+		recalc = true
+	case MANG:
+		// Setting a new MANG invalidates MPOS but not ZPOS
+		d.registers[MPOS].invalidate()
+		recalc = true
+	}
+	if recalc {
+		// Datasheet tells us to wait at least 1ms before reading back
+		time.Sleep(time.Millisecond * 10) // conservative wait
+		return d.calculateEffectiveMaxAngle(address, value)
+	}
+	return nil
+}
+
+// GetMaxPosition returns the 'max position' (MPOS) in different units
+func (d *AS5600Device) GetMaxPosition(units AngleUnit) (uint16, float32, error) {
+	mpos, err := d.ReadRegister(MPOS)
+	if nil != err {
+		return 0, 0.0, err
+	}
+	// Convert to requested units
+	i, f := convertFromNativeAngle(mpos, NATIVE_ANGLE_RANGE, units)
+	return i, f, nil
+}
+
+// SetMaxPosition sets the 'max position' (MPOS) in different units
+func (d *AS5600Device) SetMaxPosition(mpos float32, units AngleUnit) error {
+	return d.WriteRegister(MPOS, convertToNativeAngle(mpos, units))
+}
+
+// GetMaxAngle returns the 'max position' (MANG) in different units
+func (d *AS5600Device) GetMaxAngle(units AngleUnit) (uint16, float32, error) {
+	mang, err := d.ReadRegister(MANG)
+	if nil != err {
+		return 0, 0.0, err
+	}
+	// Convert to requested units
+	i, f := convertFromNativeAngle(mang, NATIVE_ANGLE_RANGE, units)
+	return i, f, nil
+}
+
+// SetMaxAngle sets the 'max angle' (MANG) in different units
+func (d *AS5600Device) SetMaxAngle(mang float32, units AngleUnit) error {
+	return d.WriteRegister(MANG, convertToNativeAngle(mang, units))
+}

as560x/as5601.go

@@ -0,0 +1,22 @@
+//	Product: https://ams.com/as5601
+//	Datasheet: https://ams.com/documents/20143/36005/AS5601_DS000395_3-00.pdf
+
+package as560x // import tinygo.org/x/drivers/ams560x
+
+import "tinygo.org/x/drivers"
+
+// AS5601Device represents an ams AS5601 device driver accessed over I2C
+type AS5601Device struct {
+	BaseDevice // promote base device
+}
+
+// NewAS5601 creates a new AS5601Device given an I2C bus
+func NewAS5601(bus drivers.I2C) AS5601Device {
+	// Create base device
+	baseDev := newBaseDevice(bus)
+	// Add AS5601 specific registers
+	baseDev.registers[ABN] = newI2CRegister(ABN, 0, 0b1111, 1, reg_read|reg_write|reg_program)
+	baseDev.registers[PUSHTHR] = newI2CRegister(PUSHTHR, 0, 0xff, 1, reg_read|reg_write|reg_program)
+	// Return the device
+	return AS5601Device{baseDev}
+}

as560x/as560x.go

@@ -0,0 +1,198 @@
+// Package as560x implements drivers for the ams AS5600/AS5601 on-axis magnetic rotary position sensors
+//
+// Product Pages:
+//	AS5600: https://ams.com/as5600
+//	AS5601: https://ams.com/as5601
+//
+// Datasheets:
+//	AS5600: https://ams.com/documents/20143/36005/AS5600_DS000365_5-00.pdf
+//	AS5601: https://ams.com/documents/20143/36005/AS5601_DS000395_3-00.pdf
+//
+
+package as560x // import tinygo.org/x/drivers/ams560x
+
+import (
+	"errors"
+
+	"tinygo.org/x/drivers"
+)
+
+// Config holds the configuration for the AMS AS560x sensor devices.
+type Config struct {
+	// Address is the I2C address of the AS560x device. If left zero this will default to 0x36
+	Address uint8
+}
+
+// MagnetStrength is an enum to indicate the magnetic field strength detected by the AS560x sensors.
+type MagnetStrength int
+
+const (
+	// MagnetTooWeak indicates that the magnet strength is too weak (AGC maximum gain overflow) - move it closer
+	MagnetTooWeak MagnetStrength = iota - 1
+	// MagnetOk indicates that the magnet strength is about right.
+	MagnetOk
+	// MagnetTooStrong indicates that the magnet strength is too strong (AGC minimum gain overflow) - move it further away
+	MagnetTooStrong
+)
+
+// AngleUnit is an enum to allow the use of different units when reading/writing angles from the AS560x sensors.
+type AngleUnit int
+
+const (
+	// ANGLE_NATIVE uses the device's native angle measurement. i.e. 12-bit integer, 0 <= angle <= 0xfff (4095)
+	ANGLE_NATIVE AngleUnit = iota
+	// ANGLE_DEGREES_INT measures angles in degrees using integer arithmetic for speed. i.e. 0 <= angle < 360
+	ANGLE_DEGREES_INT
+	// ANGLE_DEGREES_FLOAT measures angles in degrees using floating point (slower). i.e. 0.0 <= angle < 360.0
+	ANGLE_DEGREES_FLOAT
+	// ANGLE_RADIANS measures angles in radians using floating point (slower). i.e. 0.0 <= angle < 2 * PI
+	ANGLE_RADIANS
+)
+
+const (
+	// NATIVE_ANGLE_MAX is the maximum valid value for a native angle for a AS560x device
+	NATIVE_ANGLE_MAX = (1 << 12) - 1 + iota
+	// NATIVE_ANGLE_RANGE is the number of unique values for native angles for a AS560x device
+	NATIVE_ANGLE_RANGE
+)
+
+var (
+	errRegisterNotFound = errors.New("Register not found")
+	errMaxBurnAngle     = errors.New("Max BURN_ANGLE limit reached")
+)
+
+// BaseDevice handles the common behaviour between AS5600 & AS5601 devices
+type BaseDevice struct {
+	bus       drivers.I2C
+	address   uint8
+	registers map[uint8]*i2cRegister
+	maxAngle  uint16
+}
+
+// newBaseDevice creates a new base device given an I2C bus.
+func newBaseDevice(bus drivers.I2C) BaseDevice {
+	// Add all 'base' registers, common to both AS5600 & AS5601
+	conf := newI2CRegister(CONF, 0, 0x3fff, 2, reg_read|reg_write|reg_program)
+	status := newI2CRegister(STATUS, 0, 0xff, 1, reg_read)
+	regs := map[uint8]*i2cRegister{
+		ZPOS:      newI2CRegister(ZPOS, 0, 0xfff, 2, reg_read|reg_write|reg_program),
+		CONF:      conf,
+		RAW_ANGLE: newI2CRegister(RAW_ANGLE, 0, 0xfff, 2, reg_read),
+		ANGLE:     newI2CRegister(ANGLE, 0, 0xfff, 2, reg_read),
+		STATUS:    status,
+		AGC:       newI2CRegister(AGC, 0, 0xff, 1, reg_read),
+		MAGNITUDE: newI2CRegister(MAGNITUDE, 0, 0xfff, 2, reg_read),
+		BURN:      newI2CRegister(BURN, 0, 0xff, 1, reg_write),
+		// Add common 'virtual registers' These are bitfields within the common registers above
+		// A virtual register provides a convenient way to access the fields of a registers
+		// by handling all of the necessary bitfield shifting and masking operations
+		WD:   newVirtualRegister(conf, 13, 0b1),
+		FTH:  newVirtualRegister(conf, 10, 0b111),
+		SF:   newVirtualRegister(conf, 8, 0b11),
+		HYST: newVirtualRegister(conf, 2, 0b11),
+		PM:   newVirtualRegister(conf, 0, 0b11),
+		MD:   newVirtualRegister(status, 5, 0b1),
+		ML:   newVirtualRegister(status, 4, 0b1),
+		MH:   newVirtualRegister(status, 3, 0b1),
+	}
+	return BaseDevice{bus, DefaultAddress, regs, NATIVE_ANGLE_RANGE}
+}
+
+// Configure sets up the AMS AS560x sensor device with the given configuration.
+func (d *BaseDevice) Configure(cfg Config) {
+	if cfg.Address == 0 {
+		cfg.Address = DefaultAddress
+	}
+	d.address = cfg.Address
+}
+
+// ReadRegister reads the value for the given register from the AS560x device via I2C
+func (d *BaseDevice) ReadRegister(address uint8) (uint16, error) {
+	reg, ok := d.registers[address]
+	if !ok {
+		return 0, errRegisterNotFound
+	}
+	return reg.read(d.bus, d.address)
+}
+
+// WriteRegister writes the given value for the given register to the AS560x device via I2C
+func (d *BaseDevice) WriteRegister(address uint8, value uint16) error {
+	reg, ok := d.registers[address]
+	if !ok {
+		return errRegisterNotFound
+	}
+	return reg.write(d.bus, d.address, value)
+}
+
+// GetZeroPosition returns the 'zero position' (ZPOS) in various units
+func (d *BaseDevice) GetZeroPosition(units AngleUnit) (uint16, float32, error) {
+	zpos, err := d.ReadRegister(ZPOS)
+	if nil != err {
+		return 0, 0.0, err
+	}
+	// Convert to requested units
+	i, f := convertFromNativeAngle(zpos, NATIVE_ANGLE_RANGE, units)
+	return i, f, nil
+}
+
+// SetZeroPosition sets the 'zero position' (ZPOS) in various units
+func (d *BaseDevice) SetZeroPosition(zpos float32, units AngleUnit) error {
+	return d.WriteRegister(ZPOS, convertToNativeAngle(zpos, units))
+}
+
+// RawAngle reads the (unscaled & unadjusted) RAW_ANGLE register in various units
+func (d *BaseDevice) RawAngle(units AngleUnit) (uint16, float32, error) {
+	angle, err := d.ReadRegister(RAW_ANGLE)
+	if nil != err {
+		return 0, 0.0, err
+	}
+	// Convert to requested units
+	i, f := convertFromNativeAngle(angle, NATIVE_ANGLE_RANGE, units)
+	return i, f, nil
+}
+
+// Angle reads the (scaled & adjusted) ANGLE register in various units
+func (d *BaseDevice) Angle(units AngleUnit) (uint16, float32, error) {
+	// ZPOS enables setting the 'zero position' of the device to any RAW_ANGLE value
+	// ANGLE is RAW_ANGLE adjusted relative to ZPOS.
+	angle, err := d.ReadRegister(ANGLE)
+	if nil != err {
+		return 0, 0.0, err
+	}
+	// Convert to requested units
+	i, f := convertFromNativeAngle(angle, d.maxAngle, units)
+	return i, f, nil
+}
+
+// MagnetStatus reads the STATUS register and reports magnet position characteristics
+func (d *BaseDevice) MagnetStatus() (detected bool, strength MagnetStrength, err error) {
+	status, err := d.ReadRegister(STATUS)
+	if nil != err {
+		return false, MagnetOk, err
+	}
+	detected = (status & STATUS_MD) != 0
+	strength = MagnetOk
+	if (status & STATUS_ML) != 0 {
+		strength = MagnetTooWeak
+	} else if (status & STATUS_MH) != 0 {
+		strength = MagnetTooStrong
+	}
+	return
+}
+
+// Burn is a convenience method to program the device permanently by writing to the BURN register (limited number of times use!)
+func (d *BaseDevice) Burn(burnCmd BURN_CMD) error {
+	if BURN_ANGLE == burnCmd {
+		// BURN_ANGLE can only be executed up to 3 times.
+		// We can check this in advance by reading ZMCO before writing to the BURN register.
+		numBurns, err := d.ReadRegister(ZMCO)
+		if nil != err {
+			return err
+		}
+		if numBurns >= BURN_ANGLE_COUNT_MAX {
+			// We're outta BURNs :(
+			return errMaxBurnAngle
+		}
+	}
+	return d.WriteRegister(BURN, uint16(burnCmd))
+}

as560x/helpers.go

@@ -0,0 +1,95 @@
+package as560x // import tinygo.org/x/drivers/ams560x
+
+import "math"
+
+// convertFromNativeAngle converts and scales an angle from the device's native 12-bit range to the requested units
+func convertFromNativeAngle(angle uint16, maxAngle uint16, units AngleUnit) (uint16, float32) {
+	// MANG == 0 & MANG == NATIVE_ANGLE_RANGE (1 << 12) mean the same thing: use full circle range
+	// but the latter makes the maths/code simpler
+	if 0 == maxAngle {
+		maxAngle = NATIVE_ANGLE_RANGE
+	}
+	switch units {
+	case ANGLE_NATIVE:
+		// For native angles, scaling has already been done by the device
+		return angle, float32(angle)
+	case ANGLE_DEGREES_INT:
+		// Convert to degrees using integer arithmetic. Less accuracy but faster
+		var deg int = 0
+		if NATIVE_ANGLE_RANGE == maxAngle {
+			// Simplify the conversion when using the full range
+			deg = int(angle) * 360 >> 12
+		} else {
+			// Using an integer degrees scale with a narrower native range is pointless since we don't
+			// benefit at all from the increase in native resolution, in fact we LOSE precision.
+			// Alas, we have to return something
+			// First get maxAngle on the degrees scale
+			degMang, _ := convertFromNativeAngle(maxAngle, NATIVE_ANGLE_RANGE, units)
+			// Now scale angle
+			deg = int(angle) * int(degMang) / NATIVE_ANGLE_RANGE
+		}
+		return uint16(deg), float32(deg)
+	case ANGLE_DEGREES_FLOAT:
+		// Convert to degrees using floating point. More accuracy at expense of speed
+		var degF float32 = 0.0
+		if NATIVE_ANGLE_RANGE == maxAngle {
+			// Simplify the conversion when using the full range
+			degF = float32(angle) * 360.0 / NATIVE_ANGLE_RANGE
+		} else {
+			// Scale to degrees using a narrower native range
+			// First get maxAngle on the degrees scale
+			_, degMangF := convertFromNativeAngle(maxAngle, NATIVE_ANGLE_RANGE, units)
+			// Now scale angle
+			degF = float32(angle) * degMangF / NATIVE_ANGLE_RANGE
+		}
+		return uint16(degF), degF
+	case ANGLE_RADIANS:
+		// Convert to radians. Can only be done using floating point.
+		var rad float32 = 0.0
+		if NATIVE_ANGLE_RANGE == maxAngle {
+			// Simplify the conversion when using the full range
+			rad = float32(angle) * 2 * math.Pi / NATIVE_ANGLE_RANGE
+		} else {
+			// Scale to radians using a narrower native range
+			// First get maxAngle on the radians scale
+			_, radMang := convertFromNativeAngle(maxAngle, NATIVE_ANGLE_RANGE, units)
+			// Now scale angle
+			rad = float32(angle) * radMang / NATIVE_ANGLE_RANGE
+		}
+		return uint16(rad), rad
+	default:
+		panic("Unknown angle measurement unit")
+	}
+}
+
+// convertToNativeAngle converts an angle from the requested units to the device's native 12-bit range.
+func convertToNativeAngle(angle float32, units AngleUnit) uint16 {
+	var pos uint16 = 0
+	switch units {
+	case ANGLE_NATIVE:
+		pos = uint16(angle)
+	case ANGLE_DEGREES_INT:
+		fallthrough
+	case ANGLE_DEGREES_FLOAT:
+		// Convert from degrees
+		angle = float32(math.Mod(float64(angle), 360.0))
+		if angle < 0.0 {
+			angle += 360.0
+		}
+		pos = uint16(math.Round(float64(angle) * NATIVE_ANGLE_RANGE / 360.0))
+	case ANGLE_RADIANS:
+		// Convert from radians
+		const circRad = 2.0 * math.Pi
+		angle = float32(math.Mod(float64(angle), circRad))
+		if angle < 0.0 {
+			angle += circRad
+		}
+		pos = uint16(math.Round(float64(angle) * NATIVE_ANGLE_RANGE / circRad))
+	default:
+		panic("Unknown angle measurement unit")
+	}
+	if pos > NATIVE_ANGLE_MAX {
+		pos = NATIVE_ANGLE_MAX
+	}
+	return pos
+}

as560x/i2c_register.go

@@ -0,0 +1,169 @@
+package as560x // import tinygo.org/x/drivers/ams560x
+
+import (
+	"encoding/binary"
+	"errors"
+
+	"tinygo.org/x/drivers"
+)
+
+// registerAttributes is a bitfield of attributes for a register
+type registerAttributes uint8
+
+const (
+	// reg_read indicates that the register is readable
+	reg_read registerAttributes = 1 << iota
+	// reg_write indicates that the register is writeable
+	reg_write
+	// reg_program indicates that the register can be permanently programmed ('BURNed')
+	reg_program
+)
+
+var (
+	errRegisterNotReadable  = errors.New("Register is not readable")
+	errRegisterNotWriteable = errors.New("Register is not writeable")
+)
+
+// i2cRegister encapsulates the address, structure and read/write logic for a register on a AS560x device
+type i2cRegister struct {
+	// host is the 'host register' for virtual registers. Physical/root registers have this set to self
+	host *i2cRegister
+	// address is the i2c address of the register. For 2-byte (word) addresses it's the low byte which holds the MSBs
+	address uint8
+	// shift is the number of bits the value is 'left shifted' into the register byte/word (0-15)
+	shift uint16
+	// mask is a bitwise mask applied to the register AFTER 'right shifting' to mask the register value
+	mask uint16
+	// num_bytes is the width of the register in bytes, 1 or 2.
+	num_bytes uint8
+	// attributes holds the register attributes. A bitfield of REG_xyz constants
+	attributes registerAttributes
+	// cached indicates whether we are holding a cached value of the register in value
+	cached bool
+	// value can be used as a 'cache' of the register's value for writeable registers.
+	value uint16
+}
+
+// newI2CRegister returns a pointer to a new i2cRegister with no cached value
+func newI2CRegister(address uint8, shift uint16, mask uint16, num_bytes uint8, attributes registerAttributes) *i2cRegister {
+	reg := &i2cRegister{
+		address:    address,
+		shift:      shift,
+		mask:       mask,
+		num_bytes:  num_bytes,
+		attributes: attributes,
+	}
+	// root registers host themselves
+	reg.host = reg
+	return reg
+}
+
+// newVirtualRegister returns a pointer to a new i2cRegister with the given host register and shift/mask.
+func newVirtualRegister(host *i2cRegister, shift uint16, mask uint16) *i2cRegister {
+	return &i2cRegister{
+		host:       host,
+		address:    host.address,
+		shift:      shift,
+		mask:       mask,
+		num_bytes:  host.num_bytes,
+		attributes: host.attributes,
+	}
+}
+
+// invalidate invalidates any cached value for the register and forces an I2C read on the next read()
+func (r *i2cRegister) invalidate() {
+	r.host.cached = false
+	r.host.value = 0
+}
+
+// readShiftAndMask is an internal method to read a value for the register over the given I2C bus from the device with the given address applying the given shift and mask
+func (r *i2cRegister) readShiftAndMask(bus drivers.I2C, deviceAddress uint8, shift uint16, mask uint16) (uint16, error) {
+	if r.host.attributes&reg_read == 0 {
+		return 0, errRegisterNotReadable
+	}
+
+	// Only read over I2C if we don't have the host register value cached
+	var val uint16 = r.host.value
+	if !r.host.cached {
+		// To avoid an alloc we always use an array of 2 bytes
+		var buffer [2]byte
+		var buf []byte
+		if r.host.num_bytes < 2 {
+			buf = buffer[:1]
+		} else {
+			buf = buffer[:]
+		}
+		// Read the host register over I2C
+		err := bus.ReadRegister(deviceAddress, r.host.address, buf)
+		if nil != err {
+			return 0, err
+		}
+		// Unpack data from I2C
+		if r.host.num_bytes > 1 {
+			val = binary.BigEndian.Uint16(buf)
+		} else {
+			val = uint16(buf[0])
+		}
+		// cache this value if the host register is writeable. Note we cache the entire buffer without applying shift/mask
+		if r.host.attributes&reg_write != 0 {
+			r.host.value = val
+			r.host.cached = true
+		}
+	}
+	// Shift and mask the value before returning
+	val >>= shift
+	val &= mask
+	return val, nil
+}
+
+// read reads a value for the register over the given I2C bus from the device with the given address.
+func (r *i2cRegister) read(bus drivers.I2C, deviceAddress uint8) (uint16, error) {
+	return r.readShiftAndMask(bus, deviceAddress, r.shift, r.mask)
+}
+
+// write writes a value for the register over the given I2C bus to the device with the given address.
+func (r *i2cRegister) write(bus drivers.I2C, deviceAddress uint8, value uint16) error {
+	if r.host.attributes&reg_write == 0 {
+		return errRegisterNotWriteable
+	}
+	var newValue uint16 = 0
+	// Data sheet tells us to do a read first, modify only the desired bits and then write back
+	// since (quote:) 'Blank fields may contain factory settings'
+	// We will also need to do this anyway to support virtualRegister mappings on some registers
+	// (e.g. CONF/STATUS)
+	if (r.host.attributes & reg_read) > 0 { // not all registers are readable, e.g. BURN
+		// read the host register's entire host byte/word, regardless of shift & mask
+		readValue, error := r.readShiftAndMask(bus, deviceAddress, 0, 0xffff)
+		if error != nil {
+			return error
+		}
+		// Zero-out ONLY the relevant bits in newValue we just read
+		readValue &= (0xffff ^ (r.mask << r.shift))
+		newValue = readValue
+	}
+	// Mask the new value and shift it into place
+	value &= r.mask
+	value <<= r.shift
+	// OR the masked & shifted value back into newValue to be written
+	newValue |= value
+	// Pack newValue into a byte buffer to write. To avoid an alloc we always use an array of 2 bytes
+	var buffer [2]byte
+	var buf []byte
+	if r.host.num_bytes < 2 {
+		buf = buffer[:1]
+		buf[0] = uint8(newValue & 0xff)
+	} else {
+		buf = buffer[:]
+		binary.BigEndian.PutUint16(buf, newValue)
+	}
+
+	// Write the register from the buffer over I2C
+	err := bus.WriteRegister(deviceAddress, r.host.address, buf)
+	// after successful I2C write, cache this value if the host register (if also readable)
+	// Note we cache the entire buffer without applying shift/mask
+	if nil == err && r.host.attributes&reg_read != 0 {
+		r.host.value = newValue
+		r.host.cached = true
+	}
+	return err
+}

as560x/registers.go

@@ -0,0 +1,208 @@
+package as560x // import tinygo.org/x/drivers/ams560x
+
+// DefaultAddress is the default I2C address of the AMS AS560x sensors (0x36).
+const DefaultAddress uint8 = 0x36
+
+// AS560x common device registers
+const (
+	// ZMCO contains the number of times a BURN_ANGLE command has been executed (max 3 burns)
+	ZMCO = 0x00
+	// ZPOS is the zero (start) position in RAW_ANGLE terms.
+	ZPOS = 0x01
+	// CONF supports custom config. Raw 14-bit register. See datasheet for mapping or use 'virtual registers' below.
+	CONF = 0x07
+	// STATUS indicates magnet position. Encapsulates MD, ML & MH. See also 'virtual registers' below.
+	STATUS = 0x0b
+	// RAW_ANGLE is the raw unscaled & unadjusted angle (12 bit: 0-4095/0xfff)
+	RAW_ANGLE = 0x0c
+	// ANGLE is RAW_ANGLE scaled & adjusted according to ZPOS (and MPOS/MANG on AS5600). (12 bit: 0-4095/0xfff)
+	ANGLE = 0x0e
+	// AGC is the Automatic Gain Control based on temp, airgap etc. 0-255 @ 5V, 0-128 @ 3.3V.
+	AGC = 0x1a
+	// MAGNITUDE indicates the magnitude value of the internal CORDIC output. See datasheet for more info.
+	MAGNITUDE = 0x1b
+	// BURN performs permanent programming of some registers. See BURN_XYZ cmd constants below for commands.
+	BURN = 0xff
+)
+
+// AS5600 specific registers
+const (
+	// MPOS is the maximum position in RAW_ANGLE terms. With ZPOS, defines a 'narrower angle' for higher resolution.
+	MPOS = 0x03
+	// MANG is the maximum angle. With ZPOS, defines a 'narrower angle' for higher resolution.
+	MANG = 0x05
+)
+
+// AS5601 specific registers
+const (
+	// ABN. See datasheet for mapping
+	ABN = 0x09
+	// PUSHTHR. Configures push-button function. See datasheet and AGC
+	PUSHTHR = 0x0a
+)
+
+// 'Virtual Registers' (VRs) are bitfields within the registers above.
+// These are not real register addresses recognized by the chip,
+// but they are recognized by the driver for convenience.
+
+// virtualRegisterStartAddress defines the start of the virtual register address range.
+const virtualRegisterStartAddress = 0xa0
+
+const (
+	// VRs for CONF
+
+	// WD is a Virtual Register for the Watchdog timer. See WATCHDOG_TIMER consts.
+	WD = iota + virtualRegisterStartAddress
+	// FTH is a Virtual Register for the Fast Filter Threshold. See FAST_FILTER_THRESHOLD consts.
+	FTH
+	// SF is a Virtual Register for the Slow Filter. See SLOW_FILTER_RESPONSE consts.
+	SF
+	// PWMF is a Virtual Register for PWM Frequency (AS5600 ONLY). See PWM_FREQUENCY consts.
+	PWMF
+	// OUTS is a Virtual Register for the Output Stage (AS5600 ONLY). See OUTPUT_STAGE consts.
+	OUTS
+	// HYST is a Virtual Register for Hysteresis. See HYSTERESIS consts.
+	HYST
+	// PM is a Virtual Register for the Power Mode. See POWER_MODE consts.
+	PM
+
+	// VRs for STATUS (0 = unset, 1 = set)
+
+	// MD is a Virtual Register for the 'Magnet was detected' flag.
+	MD
+	// ML is a Virtual Register for the 'AGC maximum gain overflow' a.k.a 'magnet too weak' flag.
+	ML
+	// MH is a Virtual Register for the 'AGC minimum gain overflow' a.k.a 'magnet too strong' flag.
+	MH
+)
+
+// POWER_MODE values for the PM component of CONF (and the PM VR)
+const (
+	// PM_NOM is the normal 'always on' power mode. No polling, max 6.5mA current
+	PM_NOM = iota
+	// PM_LPM1 is Low Power Mode 1. 5ms polling, max 3.4mA current
+	PM_LPM1
+	// PM_LPM2 is Low Power Mode 2. 20ms polling, max 1.8mA current
+	PM_LPM2
+	// PM_LPM3 is Low Power Mode 3. 100ms polling, max 1.5mA current
+	PM_LPM3
+)
+
+// HYSTERESIS values for the HYST component of CONF (and the HYST VR)
+const (
+	// HYST_OFF disables any hysteresis of the output
+	HYST_OFF = iota
+	// HYST_1LSB enables output hysteresis using 1 LSB
+	HYST_1LSB
+	// HYST_2LSB enables output hysteresis using 2 LSBs
+	HYST_2LSB
+	// HYST_3LSB enables output hysteresis using 3 LSBs
+	HYST_3LSB
+)
+
+// OUTPUT_STAGE values for the OUTS component of CONF (and the OUTS VR - AS5600 ONLY)
+const (
+	// OS_ANALOG_FULL_RANGE enables analog output with full range (0%-100% VDD)
+	OS_ANALOG_FULL_RANGE = iota
+	// OS_ANALOG_REDUCED_RANGE enables analog output with reduced range (10%-90% VDD)
+	OS_ANALOG_REDUCED_RANGE
+	// OS_DIGITAL_PWM enables digital PWM output. Frequency determined by PWMF
+	OS_DIGITAL_PWM
+)
+
+// PWM_FREQUENCY values for the PWMF component of CONF (and the PWMF VR - ASS5600 ONLY)
+const (
+	// PWMF_115_HZ enables PWM at 115 Hz
+	PWMF_115_HZ = iota
+	// PWMF_230_HZ enables PWM at 230 Hz
+	PWMF_230_HZ
+	// PWMF_460_HZ enables PWM at 460 Hz
+	PWMF_460_HZ
+	// PWMF_920_HZ enables PWM at 920 Hz
+	PWMF_920_HZ
+)
+
+// SLOW_FILTER_RESPONSE values for the SF (slow filter) component of CONF (and the SF VR)
+const (
+	// SF_16X enables a 16x Slow Filter step response
+	SF_16X = iota
+	// SF_8X enables a 8x Slow Filter step response
+	SF_8X
+	// SF_4X enables a 4x Slow Filter step response
+	SF_4X
+	// SF_2X enables a 2x Slow Filter step response
+	SF_2X
+)
+
+// FAST_FILTER_THRESHOLD values for the FTH (fast filter threshold) component of CONF (and the FTH VR)
+const (
+	// FTH_NONE disables the fast filter (slow filter only)
+	FTH_NONE = iota
+	// FTH_6LSB enables a fast filter threshold with 6 LSBs
+	FTH_6LSB
+	// FTH_7LSB enables a fast filter threshold with 7 LSBs
+	FTH_7LSB
+	// FTH_9LSB enables a fast filter threshold with 9 LSBs
+	FTH_9LSB
+	// FTH_18LSB enables a fast filter threshold with 18 LSBs
+	FTH_18LSB
+	// FTH_21LSB enables a fast filter threshold with 21 LSBs
+	FTH_21LSB
+	// FTH_24LSB enables a fast filter threshold with 24 LSBs
+	FTH_24SB
+	// FTH_10LSB enables a fast filter threshold with 10 LSBs
+	FTH_10LSB
+)
+
+// WATCHDOG_TIMER values for the WD component of CONF (and the WD VR)
+const (
+	// WD_OFF disables the Watchdog Timer
+	WD_OFF = iota
+	// WD_ON enables the Watchdog Timer (automatic entry into LPM3 low-power mode enabled)
+	WD_ON
+)
+
+// constants for the raw STATUS register bitfield value.
+const (
+	// STATUS_MH is set in STATUS when the magnet field is too strong (AGC minimum gain overflow)
+	STATUS_MH = 1 << (iota + 3)
+	// STATUS_ML is set in STATUS when the magnet field is too weak (AGC maximum gain overflow)
+	STATUS_ML
+	// STATUS_MD is set n STATUS when the magnet is detected. Doesn't seem to work with some units.
+	STATUS_MD
+)
+
+// ABN_MAPPING values for the ABN register (AS5601 ONLY)
+const (
+	// ABN_8 configures 8 output positions (61 Hz)
+	ABN_8 = iota
+	// ABN_16 configures 16 output positions (122 Hz)
+	ABN_16
+	// ABN_32 configures 32 output positions (244 Hz)
+	ABN_32
+	// ABN_64 configures 64 output positions (488 Hz)
+	ABN_64
+	// ABN_128 configures 128 output positions (976 Hz)
+	ABN_128
+	// ABN_256 configures 256 output positions (1.95 KHz)
+	ABN_256
+	// ABN_512 configures 512 output positions (3.9 KHz)
+	ABN_512
+	// ABN_1024 configures 1024 output positions (7.8 KHz)
+	ABN_1024
+	// ABN_2048 configures 2048 output positions (15.6 KHz)
+	ABN_2048
+)
+
+// BURN_CMD is a command to write to the BURN register.
+type BURN_CMD uint16
+
+const (
+	// BURN_ANGLE is the value to write to BURN to permanently program ZPOS & MPOS (Max 3 times!)
+	BURN_ANGLE BURN_CMD = 0x80
+	// BURN_SETTING is the value to write to BURN to permanently program MANG & CONF (ONCE ONLY!)
+	BURN_SETTING BURN_CMD = 0x40
+)
+
+// BURN_ANGLE_COUNT_MAX is a constant for the maximum number of times a BURN_ANGLE command can be executed. Compare this with ZMCO
+const BURN_ANGLE_COUNT_MAX uint16 = 3

bmp180/bmp180.go

@@ -6,6 +6,7 @@
 package bmp180 // import "tinygo.org/x/drivers/bmp180"
 
 import (
+	"math"
 	"time"
 
 	"tinygo.org/x/drivers"
@@ -123,6 +124,21 @@ func (d *Device) ReadPressure() (pressure int32, err error) {
 	return 1000 * (p + ((x1 + x2 + 3791) >> 4)), nil
 }
 
+// ReadAltitude returns the current altitude in meters based on the
+// current barometric pressure and estimated pressure at sea level.
+// Calculation is based on code from Adafruit BME280 library
+//
+// https://github.com/adafruit/Adafruit_BME280_Library
+func (d *Device) ReadAltitude() (int32, error) {
+	mPa, err := d.ReadPressure()
+	if err != nil {
+		return 0, err
+	}
+	atmP := float32(mPa) / 100000
+
+	return int32(44330.0 * (1.0 - math.Pow(float64(atmP/SEALEVEL_PRESSURE), 0.1903))), nil
+}
+
 // rawTemp returns the sensor's raw values of the temperature
 func (d *Device) rawTemp() (int32, error) {
 	d.bus.WriteRegister(uint8(d.Address), REG_CTRL, []byte{CMD_TEMP})

bmp180/registers.go

@@ -28,3 +28,7 @@ const (
 	// ULTRAHIGHRESOLUTION is the highest oversampling mode of the pressure measurement.
 	ULTRAHIGHRESOLUTION
 )
+
+const (
+	SEALEVEL_PRESSURE float32 = 1013.25 // in hPa
+)

delay/sleep.c

@@ -0,0 +1,54 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+// Loop the given times, where one loop takes four CPU cycles.
+bool tinygo_drivers_sleep(uint32_t cycles) {
+    // In this function, a [n] comment indicates the number of cycles an
+    // instruction or a set of instructions take. This is typically 1 for most
+    // arithmetic instructions, and a bit more for branches.
+#if __ARM_ARCH_6M__ || __ARM_ARCH_7M__ || __ARM_ARCH_7EM__
+    // Inline assembly for Cortex-M0/M0+/M3/M4/M7.
+    // The Cortex-M0 (but not M0+) takes one more cycle, so is off by 12.5%.
+    // Others should be basically cycle-accurate (with a slight overhead to
+    // calculate the number of cycles). Unfortunately, there doesn't appear to
+    // be a preprocessor macro to detect the Cortex-M0 specifically (although we
+    // could rely on macros like NRF51).
+
+    // Each loop takes 8 cycles (5 nops, 1 sub, and 2 for the branch).
+    uint32_t loops = (cycles + 7) / 8;
+    __asm__ __volatile__(
+        "1:\n\t"
+        "nop\n\t"               // [5] nops
+        "nop\n\t"
+        "nop\n\t"
+        "nop\n\t"
+        "nop\n\t"
+        "subs %[loops], #1\n\t" // [1]
+        "bne 1b"                // [1-4], at least 2 cycles if taken
+        : [loops]"+r"(loops)
+    );
+    return true;
+#elif __XTENSA__
+    // Inline assembly for Xtensa.
+    // I don't know exactly how many cycles a branch takes, so I've taken a
+    // conservative guess and assume it takes only one cycle. In practice, it's
+    // probably more than that.
+    uint32_t loops = (cycles + 7) / 8;
+    __asm__ __volatile__(
+        "1:\n\t"
+        "nop\n\t"                         // [6] nops
+        "nop\n\t"
+        "nop\n\t"
+        "nop\n\t"
+        "nop\n\t"
+        "nop\n\t"
+        "addi %[loops], %[loops], -1\n\t" // [1]
+        "bnez %[loops], 1b"               // [1?]
+        : [loops]"+r"(loops)
+    );
+    return true;
+#else
+    // Unknown architecture, so fall back to time.Sleep.
+    return false;
+#endif
+}

delay/sleep.go

@@ -0,0 +1,57 @@
+package delay
+
+import (
+	"machine"
+	"time"
+)
+
+/*
+#include <stdint.h>
+#include <stdbool.h>
+bool tinygo_drivers_sleep(uint32_t ticks);
+*/
+import "C"
+
+// Sleep for a very precise short duration by busy-waiting for the given time.
+// This is not an efficient way to sleep: it will needlessly burn cycles while
+// sleeping. But it is useful for sleeping for a very short duration, for
+// example for bit-banged protocols.
+//
+// Longer durations (longer than a few milliseconds) will be handled by calling
+// time.Sleep instead.
+//
+// This function should be called with a constant duration value, in which case
+// the call will typically be fully inlined and only take up around nine
+// instructions for the entire loop.
+//
+//go:inline
+func Sleep(duration time.Duration) {
+	if time.Duration(uint32(duration)&0xff_ffff) != duration {
+		// This is a long duration (more than 16ms) which shouldn't be done by
+		// busy-waiting.
+		time.Sleep(duration)
+		return
+	}
+
+	// Calculate the number of cycles we should sleep:
+	//   cycles = duration * freq / 1e9
+	// Avoiding a 64-bit division:
+	//   cycles = duration * (freq/1000_000) / 1000
+	//
+	// This assumes:
+	//   * The CPU frequency is a constant and can trivially be
+	//     const-propagated, therefore the divide by 1000_000 is done at compile
+	//     time.
+	//   * The CPU frequency is a multiple of 1000_000, which is true for most
+	//     chips (examples: 16MHz, 48MHz, 120MHz, etc).
+	//   * The division by 1000 can be done efficiently (Cortex-M3 and up), or
+	//     can be fully const-propagated.
+	//   * The CPU frequency is lower than 256MHz. If it is higher, long sleep
+	//     times (1-16ms) may not work correctly.
+	cycles := uint32(duration) * (machine.CPUFrequency() / 1000_000) / 1000
+	slept := C.tinygo_drivers_sleep(cycles)
+	if !slept {
+		// Fallback for platforms without inline assembly support.
+		time.Sleep(duration)
+	}
+}

displayer.go

@@ -12,3 +12,19 @@ type Displayer interface {
 	// Display sends the buffer (if any) to the screen.
 	Display() error
 }
+
+// Rotation is how much a display has been rotated. Displays can be rotated, and
+// sometimes also mirrored.
+type Rotation uint8
+
+// Clockwise rotation of the screen.
+const (
+	Rotation0 = iota
+	Rotation90
+	Rotation180
+	Rotation270
+	Rotation0Mirror
+	Rotation90Mirror
+	Rotation180Mirror
+	Rotation270Mirror
+)

ds18b20/ds18b20.go

@@ -0,0 +1,89 @@
+// Package ds18b20 provides a driver for the DS18B20 digital thermometer
+//
+// Datasheet:
+// https://www.analog.com/media/en/technical-documentation/data-sheets/DS18B20.pdf
+package ds18b20 // import "tinygo.org/x/drivers/ds18b20"
+
+import (
+	"errors"
+)
+
+// Device ROM commands
+const (
+	CONVERT_TEMPERATURE uint8 = 0x44
+	READ_SCRATCHPAD     uint8 = 0xBE
+	WRITE_SCRATCHPAD    uint8 = 0x4E
+)
+
+type OneWireDevice interface {
+	Write(uint8)
+	Read() uint8
+	Select([]uint8) error
+	Сrc8([]uint8, int) uint8
+}
+
+// Device wraps a connection to an 1-Wire devices.
+type Device struct {
+	owd OneWireDevice
+}
+
+// Errors list
+var (
+	errReadTemperature = errors.New("Error: DS18B20. Read temperature error: CRC mismatch.")
+)
+
+func New(owd OneWireDevice) Device {
+	return Device{
+		owd: owd,
+	}
+}
+
+// Configure. Initializes the device, left for compatibility reasons.
+func (d Device) Configure() {}
+
+// ThermometerResolution sets thermometer resolution from 9 to 12 bits
+func (d Device) ThermometerResolution(romid []uint8, resolution uint8) {
+	if 9 <= resolution && resolution <= 12 {
+		d.owd.Select(romid)
+		d.owd.Write(WRITE_SCRATCHPAD)               // send three data bytes to scratchpad (TH, TL, and config)
+		d.owd.Write(0xFF)                           // to TH
+		d.owd.Write(0x00)                           // to TL
+		d.owd.Write(((resolution - 9) << 5) | 0x1F) // to resolution config
+	}
+}
+
+// RequestTemperature sends request to device
+func (d Device) RequestTemperature(romid []uint8) {
+	d.owd.Select(romid)
+	d.owd.Write(CONVERT_TEMPERATURE)
+}
+
+// ReadTemperatureRaw returns the raw temperature.
+// ScratchPad memory map:
+// byte 0: Temperature LSB
+// byte 1: Temperature MSB
+func (d Device) ReadTemperatureRaw(romid []uint8) ([]uint8, error) {
+	spb := make([]uint8, 9) // ScratchPad buffer
+	d.owd.Select(romid)
+	d.owd.Write(READ_SCRATCHPAD)
+	for i := 0; i < 9; i++ {
+		spb[i] = d.owd.Read()
+	}
+	if d.owd.Сrc8(spb, 8) != spb[8] {
+		return nil, errReadTemperature
+	}
+	return spb[:2:2], nil
+}
+
+// ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
+func (d Device) ReadTemperature(romid []uint8) (int32, error) {
+	raw, err := d.ReadTemperatureRaw(romid)
+	if err != nil {
+		return 0, err
+	}
+	t := int32(uint16(raw[0]) | uint16(raw[1])<<8)
+	if t&0x8000 == 0x8000 {
+		t -= 0x10000
+	}
+	return (t * 625 / 10), nil
+}

ds3231/ds3231.go

@@ -73,7 +73,17 @@ func (d *Device) SetRunning(isRunning bool) error {
 	return nil
 }
 
-// SetTime sets the date and time in the DS3231
+// SetTime sets the date and time in the DS3231. The DS3231 hardware supports
+// only a 2-digit year field, so the current year will be stored as an offset
+// from the year 2000, which supports the year 2000 until 2100.
+//
+// The DS3231 also supports a one-bit 'century' flag which is set by the chip
+// when the year field rolls over from 99 to 00. The current code interprets
+// this flag to be the year 2100, which appears to extend the range of years
+// until the year 2200. However the DS3231 does not incorporate the 'century'
+// flag in its leap year calculation, so it will incorrectly identify the year
+// 2100 as a leap year, causing it to increment from 2100-02-28 to 2100-02-29
+// instead of 2100-03-01.
 func (d *Device) SetTime(dt time.Time) error {
 	data := []byte{0}
 	err := d.bus.ReadRegister(uint8(d.Address), REG_STATUS, data)
@@ -92,6 +102,10 @@ func (d *Device) SetTime(dt time.Time) error {
 	data[2] = uint8ToBCD(uint8(dt.Hour()))
 
 	year := uint8(dt.Year() - 2000)
+	// This code interprets the centuryFlag to be the year 2100. Warning: The
+	// DS3231 does not incorporate the centuryFlag in its leap year calculation.
+	// It will increment from 2100-02-28 to 2100-02-29, which is incorrect because
+	// the year 2100 is not a leap year in the Gregorian calendar.
 	centuryFlag := uint8(0)
 	if year >= 100 {
 		year -= 100
@@ -140,7 +154,27 @@ func (d *Device) ReadTemperature() (int32, error) {
 	if err != nil {
 		return 0, err
 	}
-	return int32(data[0])*1000 + int32((data[1]>>6)*25)*10, nil
+	return milliCelsius(data[0], data[1]), nil
+}
+
+// milliCelsius converts the raw temperature bytes (msb and lsb) from the DS3231
+// into a 32-bit signed integer in units of milli Celsius (1/1000 deg C).
+//
+// According to the DS3231 datasheet: "Temperature is represented as a 10-bit
+// code with a resolution of 0.25 deg C and is accessible at location 11h and
+// 12h. The temperature is encoded in two's complement format. The upper 8 bits,
+// the integer portion, are at location 11h and the lower 2 bits, the fractional
+// portion, are in the upper nibble at location 12h."
+//
+// In other words, the msb and lsb bytes should be treated as a signed 16-bit
+// integer in units of (1/256 deg C). It is possible to convert this into a
+// 16-bit signed integer in units of centi Celsius (1/100 deg C) with no loss of
+// precision or dynamic range. But for backwards compatibility, let's instead
+// convert this into a 32-bit signed integer in units of milli Celsius.
+func milliCelsius(msb uint8, lsb uint8) int32 {
+	t256 := int16(uint16(msb)<<8 | uint16(lsb))
+	t1000 := int32(t256) / 64 * 250
+	return t1000
 }
 
 // uint8ToBCD converts a byte to BCD for the DS3231

ds3231/ds3231_test.go

@@ -0,0 +1,76 @@
+package ds3231
+
+import (
+	"testing"
+)
+
+func TestPositiveMilliCelsius(t *testing.T) {
+	t1000 := milliCelsius(0, 0)
+	if t1000 != 0 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(0, 0b01000000)
+	if t1000 != 250 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(0, 0b10000000)
+	if t1000 != 500 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(0, 0b11000000)
+	if t1000 != 750 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(1, 0b00000000)
+	if t1000 != 1000 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(2, 0b00000000)
+	if t1000 != 2000 {
+		t.Fatal(t1000)
+	}
+
+	// highest temperature is 127.750C
+	t1000 = milliCelsius(0x7f, 0b11000000)
+	if t1000 != 127750 {
+		t.Fatal(t1000)
+	}
+}
+
+func TestNegativeMilliCelsius(t *testing.T) {
+	t1000 := milliCelsius(0xff, 0b11000000)
+	if t1000 != -250 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(0xff, 0b10000000)
+	if t1000 != -500 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(0xff, 0b01000000)
+	if t1000 != -750 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(0xff, 0b00000000)
+	if t1000 != -1000 {
+		t.Fatal(t1000)
+	}
+
+	t1000 = milliCelsius(0xfe, 0b00000000)
+	if t1000 != -2000 {
+		t.Fatal(t1000)
+	}
+
+	// lowest temperature is -128.000C
+	t1000 = milliCelsius(0x80, 0b00000000)
+	if t1000 != -128000 {
+		t.Fatal(t1000)
+	}
+}

examples/as560x/main.go

@@ -0,0 +1,66 @@
+package main
+
+import (
+	"machine"
+	"machine/usb/hid/mouse"
+	"math"
+	"time"
+
+	"tinygo.org/x/drivers/as560x"
+)
+
+func main() {
+	// Let's use the AS5600 to make the world's most useless mouse with just a single X-axis & no buttons (!)
+	machine.I2C0.Configure(machine.I2CConfig{
+		Frequency: machine.TWI_FREQ_400KHZ,
+		SDA:       machine.GPIO4,
+		SCL:       machine.GPIO5,
+	})
+	as5600 := as560x.NewAS5600(machine.I2C0)
+	as5600.Configure(as560x.Config{})
+	mouse := mouse.New()
+
+	lastAngle := -1
+	for {
+		time.Sleep(time.Millisecond * 10)
+		// Get the magnet status of the AS5600
+		magnetDetected, magnetStrength, err := as5600.MagnetStatus()
+		if err != nil {
+			continue
+		}
+		// Get the raw angle from the AS5600
+		angle, _, err := as5600.RawAngle(as560x.ANGLE_NATIVE)
+		if err != nil {
+			continue
+		}
+		str := ""
+		if !magnetDetected {
+			str += "NOT "
+		}
+		str += "detected. Strength is "
+		switch magnetStrength {
+		case as560x.MagnetTooWeak:
+			str += "too weak"
+		case as560x.MagnetTooStrong:
+			str += "too strong"
+		default:
+			str += "ok"
+		}
+		println("Raw angle:", angle, "Magnet was", str)
+		if lastAngle != -1 {
+			diff := int(angle) - lastAngle
+			// correct the zero crossover glitch
+			if diff < -0xc00 {
+				diff += 0xfff
+			} else if diff > 0xc00 {
+				diff -= 0xfff
+			}
+			// debounce the noise (could use the sensor's filters/hysteresis instead?)
+			if math.Abs(float64(diff)) > 2 {
+				// move the mouse x-axis in response to the AS5600
+				mouse.Move(diff, 0)
+			}
+		}
+		lastAngle = int(angle)
+	}
+}

examples/bmp180/main.go

@@ -27,6 +27,9 @@ func main() {
 		pressure, _ := sensor.ReadPressure()
 		println("Pressure", float32(pressure)/100000, "hPa")
 
+		altitude, _ := sensor.ReadAltitude()
+		println("Altitude", altitude, "meters")
+
 		time.Sleep(2 * time.Second)
 	}
 }

examples/delay/delay.go

@@ -0,0 +1,17 @@
+package main
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers/delay"
+)
+
+func main() {
+	time.Sleep(time.Second) // wait for a serial console
+	start := time.Now()
+	for i := 0; i < 2000; i++ {
+		delay.Sleep(50 * time.Microsecond)
+	}
+	duration := time.Since(start)
+	println("sleep of 2000*50µs (100ms) took:", duration.String())
+}

examples/ds18b20/main.go

@@ -0,0 +1,58 @@
+package main
+
+import (
+	"encoding/hex"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/onewire"
+
+	"tinygo.org/x/drivers/ds18b20"
+)
+
+func main() {
+	// Define pin for DS18B20
+	pin := machine.D2
+
+	ow := onewire.New(pin)
+	romIDs, err := ow.Search(onewire.SEARCH_ROM)
+	if err != nil {
+		println(err)
+	}
+	sensor := ds18b20.New(ow)
+
+	for {
+		time.Sleep(3 * time.Second)
+
+		println()
+		println("Device:", machine.Device)
+
+		println()
+		println("Request Temperature.")
+		for _, romid := range romIDs {
+			println("Sensor RomID: ", hex.EncodeToString(romid))
+			sensor.RequestTemperature(romid)
+		}
+
+		// wait 750ms or more for DS18B20 convert T
+		time.Sleep(1 * time.Second)
+
+		println()
+		println("Read Temperature")
+		for _, romid := range romIDs {
+			raw, err := sensor.ReadTemperatureRaw(romid)
+			if err != nil {
+				println(err)
+			}
+			println()
+			println("Sensor RomID: ", hex.EncodeToString(romid))
+			println("Temperature Raw value: ", hex.EncodeToString(raw))
+
+			t, err := sensor.ReadTemperature(romid)
+			if err != nil {
+				println(err)
+			}
+			println("Temperature in celsius milli degrees (°C/1000): ", t)
+		}
+	}
+}

examples/lora/lorawan/atcmd/README.md

@@ -0,0 +1,52 @@
+# AT-CMD implementation of at-lora command set
+
+This example implements the AT command set as used by Seeed in the LoRa-E5 series of boards, but in the form of a TinyGo program that provides a serial interface. 
+
+See https://files.seeedstudio.com/products/317990687/res/LoRa-E5%20AT%20Command%20Specification_V1.0%20.pdf for more information.
+
+```
+$ tinygo monitor
+Connected to /dev/ttyACM0. Press Ctrl-C to exit.
++AT: OK
++VER: 0.0.1 (sx127x v18)
+```
+
+# Building
+
+Run the following commands from the main `drivers` directory.
+
+## Simulator
+
+Builds/flashes atcmd console application with simulator instead of actual LoRa radio.
+
+```
+tinygo flash -target pico ./examples/lora/lorawan/atcmd/
+```
+
+## PyBadge with LoRa Featherwing 
+
+Builds/flashes atcmd console application on PyBadge using LoRa Featherwing (RFM95/SX1276).
+
+```
+tinygo flash -target pybadge -tags featherwing ./examples/lora/lorawan/atcmd/
+```
+
+## LoRa-E5 
+
+Builds/flashes atcmd console application on Lora-E5 using onboard SX126x.
+
+```
+tinygo flash -target lorae5 ./examples/lora/lorawan/atcmd/
+```
+
+## Joining a Public Lorawan Network
+
+```
+AT+ID=DevEui,0101010101010101
+AT+ID=AppEui,0123012301230213
+AT+KEY=APPKEY,AEAEAEAEAEAEAEAAEAEAEAEAEAEAAEAE
+AT+LW=NET,ON  
+AT+JOIN
+```
+
+AT+LW=NET,(ON|OFF) command changes Lora Sync Word to connect on public network(ON) or private networks(OFF)

examples/lora/lorawan/atcmd/commands.go

@@ -0,0 +1,496 @@
+package main
+
+import (
+	"encoding/hex"
+	"strings"
+
+	"tinygo.org/x/drivers/examples/lora/lorawan/common"
+	"tinygo.org/x/drivers/lora/lorawan"
+)
+
+// Use to test if connection to module is OK.
+func quicktest() {
+	writeCommandOutput("AT", "OK")
+}
+
+// Check firmware version.
+func version() {
+	writeCommandOutput("VER", common.CurrentVersion()+" ("+common.FirmwareVersion()+")")
+}
+
+// Use to check the ID of the LoRaWAN module, or change the ID.
+func id(args string) error {
+	cmd := "ID"
+
+	// look for comma in args
+	param, val, hasComma := strings.Cut(args, ",")
+	if hasComma {
+		// set
+		data := strings.Trim(val, "\"'")
+
+		// convert data from hex formatted string
+		data = strings.ReplaceAll(data, " ", "")
+		hexdata, err := hex.DecodeString(data)
+		if err != nil {
+			writeCommandOutput(cmd, err.Error())
+
+			return err
+		}
+
+		switch param {
+		case "DevAddr":
+			if err := session.SetDevAddr(hexdata); err != nil {
+				writeCommandOutput(cmd, err.Error())
+
+				return err
+			}
+
+			writeCommandOutput(cmd, "DevAddr, "+session.GetDevAddr())
+		case "DevEui":
+			if err := otaa.SetDevEUI(hexdata); err != nil {
+				writeCommandOutput(cmd, err.Error())
+
+				return err
+			}
+
+			writeCommandOutput(cmd, "DevEui, "+otaa.GetDevEUI())
+		case "AppEui":
+			if err := otaa.SetAppEUI(hexdata); err != nil {
+				writeCommandOutput(cmd, err.Error())
+
+				return err
+			}
+
+			writeCommandOutput(cmd, "AppEui, "+otaa.GetAppEUI())
+		default:
+			return errInvalidCommand
+		}
+
+		return nil
+	}
+
+	// get
+	switch param {
+	case "DevAddr":
+		writeCommandOutput(cmd, "DevAddr, "+session.GetDevAddr())
+	case "DevEui":
+		writeCommandOutput(cmd, "DevEui, "+otaa.GetDevEUI())
+	case "AppEui":
+		writeCommandOutput(cmd, "AppEui, "+otaa.GetAppEUI())
+	default:
+		writeCommandOutput(cmd, "DevAddr, "+session.GetDevAddr())
+		writeCommandOutput(cmd, "DevEui, "+otaa.GetDevEUI())
+		writeCommandOutput(cmd, "AppEui, "+otaa.GetAppEUI())
+	}
+
+	return nil
+}
+
+// Use to reset the module. If module returns error, then reset function is invalid.
+func reset() error {
+	radio.Reset()
+
+	writeCommandOutput("RESET", "OK")
+	return nil
+}
+
+// Use to send string format frame which is no need to be confirmed by the server.
+func msg(data string) error {
+	cmd := "MSG"
+	writeCommandOutput(cmd, "Start")
+
+	if err := radio.Tx([]byte(data), defaultTimeout); err != nil {
+		writeCommandOutput(cmd, err.Error())
+
+		return err
+	}
+
+	writeCommandOutput(cmd, "Done")
+	return nil
+}
+
+// Use to send string format frame which must be confirmed by the server
+func cmsg(data string) error {
+	cmd := "CMSG"
+	writeCommandOutput(cmd, "Start")
+
+	if err := radio.Tx([]byte(data), defaultTimeout); err != nil {
+		writeCommandOutput(cmd, err.Error())
+
+		return err
+	}
+
+	// TODO: confirmation
+
+	writeCommandOutput(cmd, "Done")
+	return nil
+}
+
+// Use to send hex format frame which is no need to be confirmed by the server
+func msghex(data string) error {
+	cmd := "MSGHEX"
+	writeCommandOutput(cmd, "Start")
+
+	writeCommandOutput(cmd, "Done")
+	return nil
+}
+
+// Use to send hex format frame which must be confirmed by the server.
+func cmsghex(data string) error {
+	cmd := "CMSGHEX"
+	writeCommandOutput(cmd, "Start")
+
+	writeCommandOutput(cmd, "Done")
+	return nil
+}
+
+// Use to send string format LoRaWAN proprietary frames
+func pmsg(data string) error {
+	cmd := "PMSG"
+	writeCommandOutput(cmd, "Start")
+
+	writeCommandOutput(cmd, "Done")
+	return nil
+}
+
+// Use to send hex format LoRaWAN proprietary frames.
+func pmsghex(data string) error {
+	cmd := "PMSGHEX"
+	writeCommandOutput(cmd, "Start")
+
+	writeCommandOutput(cmd, "Done")
+
+	return nil
+}
+
+// Set PORT number which will be used by MSG/CMSG/MSGHEX/CMSGHEX command to send
+// message, port number should range from 1 to 255. User should refer to LoRaWAN
+// specification to choose port.
+func port(p string) error {
+	cmd := "PMSG"
+	writeCommandOutput(cmd, p)
+
+	return nil
+}
+
+// Set ADR function of LoRaWAN module
+func adr(state string) error {
+	cmd := "ADR"
+	writeCommandOutput(cmd, state)
+
+	return nil
+}
+
+// Use LoRaWAN defined DRx to set datarate of LoRaWAN AT modem.
+func dr(rate string) error {
+	cmd := "DR"
+	writeCommandOutput(cmd, rate)
+
+	return nil
+}
+
+// Channel Configuration
+func ch(channel string) error {
+	cmd := "CH"
+	writeCommandOutput(cmd, channel)
+
+	return nil
+}
+
+// Set and Check Power
+func power(setting string) error {
+	cmd := "POWER"
+	writeCommandOutput(cmd, setting)
+
+	return nil
+}
+
+// Unconfirmed message repeats times.
+func rept(setting string) error {
+	cmd := "REPT"
+	writeCommandOutput(cmd, setting)
+
+	return nil
+}
+
+// Confirmed message retry times. Valid range 0~254,
+// if retry times is less than 2, only one message will
+// be sent. Random delay 3 - 10s between each retry
+// (band duty cycle limitation has the priority)
+func retry(setting string) error {
+	cmd := "RETRY"
+	writeCommandOutput(cmd, setting)
+
+	return nil
+}
+
+func rxwin2(setting string) error {
+	cmd := "RXWIN2"
+	writeCommandOutput(cmd, setting)
+
+	return nil
+}
+
+func rxwin1(setting string) error {
+	cmd := "RXWIN1"
+	writeCommandOutput(cmd, setting)
+
+	return nil
+}
+
+func key(setting string) error {
+	cmd := "KEY"
+
+	// look for comma in args
+	param, val, hasComma := strings.Cut(setting, ",")
+	if hasComma {
+		// set
+		data := strings.Trim(val, "\"'")
+
+		// convert data from hex formatted string
+		data = strings.ReplaceAll(data, " ", "")
+		hexdata, err := hex.DecodeString(data)
+		if err != nil {
+			writeCommandOutput(cmd, err.Error())
+
+			return err
+		}
+
+		switch param {
+		case "APPKEY":
+			if err := otaa.SetAppKey(hexdata); err != nil {
+				writeCommandOutput(cmd, err.Error())
+
+				return err
+			}
+
+			writeCommandOutput(cmd, "APPKEY, "+otaa.GetAppKey())
+		default:
+			return errInvalidCommand
+		}
+	}
+
+	// cannot get keys
+	return errInvalidCommand
+}
+
+func fdefault(setting string) error {
+	cmd := "FDEFAULT"
+	writeCommandOutput(cmd, "OK")
+
+	return nil
+}
+
+func mode(setting string) error {
+	cmd := "MODE"
+	writeCommandOutput(cmd, setting)
+
+	return nil
+}
+
+func join(setting string) error {
+	// TODO: check that DevEUI, AppEUI, and AppKey have values
+
+	cmd := "JOIN"
+	writeCommandOutput(cmd, "Starting")
+	if err := lorawan.Join(otaa, session); err != nil {
+		writeCommandOutput(cmd, err.Error())
+
+		return err
+	}
+
+	writeCommandOutput(cmd, "Network joined")
+	writeCommandOutput(cmd, "DevEui, "+otaa.GetDevEUI())
+	writeCommandOutput(cmd, "AppEui, "+otaa.GetAppEUI())
+	writeCommandOutput(cmd, "DevAddr, "+session.GetDevAddr())
+	writeCommandOutput(cmd, "NetID, "+otaa.GetNetID())
+	writeCommandOutput(cmd, "NwkSKey, "+session.GetNwkSKey())
+	writeCommandOutput(cmd, "AppSKey, "+session.GetAppSKey())
+	writeCommandOutput(cmd, "Done")
+	return nil
+}
+
+func beacon(setting string) error {
+	cmd := "BEACON"
+	writeCommandOutput(cmd, "Starting")
+
+	writeCommandOutput(cmd, "Done")
+
+	return nil
+}
+
+func class(setting string) error {
+	cmd := "CLASS"
+	writeCommandOutput(cmd, "Starting")
+
+	writeCommandOutput(cmd, "Done")
+
+	return nil
+}
+
+func delay(setting string) error {
+	cmd := "DELAY"
+	writeCommandOutput(cmd, setting)
+
+	return nil
+}
+
+func lw(setting string) error {
+	cmd := "LW"
+
+	param, val, hasComma := strings.Cut(setting, ",")
+	if hasComma {
+		if param == "NET" {
+			if val == "ON" {
+				lorawan.SetPublicNetwork(true)
+			} else {
+				lorawan.SetPublicNetwork(false)
+			}
+		}
+	}
+	writeCommandOutput(cmd, setting)
+
+	return nil
+}
+
+func wdt(setting string) error {
+	cmd := "WDT"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func lowpower(setting string) error {
+	cmd := "LOWPOWER"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func vdd(setting string) error {
+	cmd := "VDD"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func temp(setting string) error {
+	cmd := "TEMP"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func rtc(setting string) error {
+	cmd := "RTC"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func eeprom(setting string) error {
+	cmd := "EEPROM"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func uartcmd(setting string) error {
+	cmd := "UART"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func test(setting string) error {
+	cmd := "TEST"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func log(setting string) error {
+	cmd := "LOG"
+	writeCommandOutput(cmd, "Not implemented")
+
+	return nil
+}
+
+func send(data string) error {
+	cmd := "SEND"
+	writeCommandOutput(cmd, "Start")
+
+	// remove leading/trailing quotes
+	data = strings.Trim(data, "\"'")
+
+	if err := radio.Tx([]byte(data), defaultTimeout); err != nil {
+		writeCommandOutput(cmd, err.Error())
+
+		return err
+	}
+
+	writeCommandOutput(cmd, "Done")
+	return nil
+}
+
+func sendhex(data string) error {
+	cmd := "SENDHEX"
+	writeCommandOutput(cmd, "Start")
+
+	// remove leading/trailing quotes
+	data = strings.Trim(data, "\"'")
+
+	// convert data from hex formatted string
+	data = strings.ReplaceAll(data, " ", "")
+	payload, err := hex.DecodeString(data)
+	if err != nil {
+		writeCommandOutput(cmd, err.Error())
+
+		return err
+	}
+
+	if err := radio.Tx(payload, defaultTimeout); err != nil {
+		writeCommandOutput(cmd, err.Error())
+
+		return err
+	}
+
+	writeCommandOutput(cmd, "Done")
+	return nil
+}
+
+func recv(setting string) error {
+	cmd := "RECV"
+
+	data, err := common.Lorarx()
+	if err != nil {
+		writeCommandOutput(cmd, "ERROR "+err.Error())
+		return err
+	}
+	writeCommandOutput(cmd, string(data))
+
+	return nil
+}
+
+func recvhex(setting string) error {
+	cmd := "RECVHEX"
+
+	data, err := common.Lorarx()
+	if err != nil {
+		writeCommandOutput(cmd, "ERROR "+err.Error())
+		return err
+	}
+	writeCommandOutput(cmd, string(data))
+
+	return nil
+}
+
+func crlf() {
+	uart.Write([]byte("\r\n"))
+}
+
+func writeCommandOutput(cmd, data string) {
+	uart.Write([]byte("+" + cmd + ": "))
+	uart.Write([]byte(data))
+	crlf()
+}

examples/lora/lorawan/atcmd/main.go

@@ -0,0 +1,79 @@
+// AT command set console running on the device UART to communicate with
+// an attached LoRa device.
+//
+// Computer <-> UART <-> MCU <-> SPI <-> SX126x/SX127x
+//
+// Connect using default baudrate for this hardware, 8-N-1 with your terminal program.
+// For details on the AT command set, see:
+// https://files.seeedstudio.com/products/317990687/res/LoRa-E5%20AT%20Command%20Specification_V1.0%20.pdf
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/examples/lora/lorawan/common"
+	"tinygo.org/x/drivers/lora"
+	"tinygo.org/x/drivers/lora/lorawan"
+	"tinygo.org/x/drivers/lora/lorawan/region"
+)
+
+// change these to test a different UART or pins if available
+var (
+	uart  = machine.Serial
+	tx    = machine.UART_TX_PIN
+	rx    = machine.UART_RX_PIN
+	input = make([]byte, 0, 64)
+
+	radio   lora.Radio
+	session *lorawan.Session
+	otaa    *lorawan.Otaa
+
+	defaultTimeout uint32 = 1000
+)
+
+func main() {
+	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
+
+	var err error
+	radio, err = common.SetupLora()
+	if err != nil {
+		fail(err.Error())
+	}
+
+	session = &lorawan.Session{}
+	otaa = &lorawan.Otaa{}
+	lorawan.UseRadio(radio)
+
+	lorawan.UseRegionSettings(region.EU868())
+
+	for {
+		if uart.Buffered() > 0 {
+			data, _ := uart.ReadByte()
+
+			switch data {
+			case 13:
+				// return key
+				if err := parse(input); err != nil {
+					uart.Write([]byte("ERROR: "))
+					uart.Write([]byte(err.Error()))
+					crlf()
+				}
+				input = input[:0]
+			default:
+				// just capture the character
+				input = append(input, data)
+			}
+		}
+		time.Sleep(10 * time.Millisecond)
+	}
+}
+
+func fail(msg string) {
+	for {
+		uart.Write([]byte(msg))
+		crlf()
+
+		time.Sleep(time.Minute)
+	}
+}

examples/lora/lorawan/atcmd/parser.go

@@ -0,0 +1,115 @@
+package main
+
+import (
+	"errors"
+	"strings"
+)
+
+var (
+	errInvalidCommand = errors.New("Invalid command")
+)
+
+func parse(data []byte) error {
+	switch {
+	case len(data) < 2, string(data[0:2]) != "AT":
+		return errInvalidCommand
+	case len(data) == 2:
+		// just the AT command by itself
+		quicktest()
+	case len(data) < 6 || data[2] != '+':
+		return errInvalidCommand
+	default:
+		// parse the rest of the command
+		cmd, args, _ := strings.Cut(string(data[3:]), "=")
+		return parseCommand(cmd, args)
+	}
+
+	return nil
+}
+
+func parseCommand(cmd, args string) error {
+	switch cmd {
+	case "VER":
+		version()
+	case "ID":
+		id(args)
+	case "RESET":
+		reset()
+	case "MSG":
+		msg(args)
+	case "CMSG":
+		cmsg(args)
+	case "MSGHEX":
+		msghex(args)
+	case "CMSGHEX":
+		cmsghex(args)
+	case "PMSG":
+		pmsg(args)
+	case "PMSGHEX":
+		pmsg(args)
+	case "PORT":
+		port(args)
+	case "ADR":
+		adr(args)
+	case "DR":
+		dr(args)
+	case "CH":
+		ch(args)
+	case "POWER":
+		power(args)
+	case "REPT":
+		rept(args)
+	case "RETRY":
+		retry(args)
+	case "RXWIN2":
+		rxwin2(args)
+	case "RXWIN1":
+		rxwin1(args)
+	case "KEY":
+		key(args)
+	case "FDEFAULT":
+		fdefault(args)
+	case "MODE":
+		mode(args)
+	case "JOIN":
+		join(args)
+	case "BEACON":
+		join(args)
+	case "CLASS":
+		class(args)
+	case "DELAY":
+		delay(args)
+	case "LW":
+		lw(args)
+	case "WDT":
+		wdt(args)
+	case "LOWPOWER":
+		lowpower(args)
+	case "VDD":
+		vdd(args)
+	case "TEMP":
+		temp(args)
+	case "RTC":
+		rtc(args)
+	case "EEPROM":
+		eeprom(args)
+	case "UART":
+		uartcmd(args)
+	case "TEST":
+		test(args)
+	case "LOG":
+		log(args)
+	case "RECV":
+		recv(args)
+	case "RECVHEX":
+		recvhex(args)
+	case "SEND":
+		send(args)
+	case "SENDHEX":
+		sendhex(args)
+	default:
+		return errInvalidCommand
+	}
+
+	return nil
+}

examples/lora/lorawan/basic-demo/README.md

@@ -0,0 +1,44 @@
+# Simple Lorawan example
+
+This demo code will connect Lorawan network and send sample uplink message
+
+You may change your Lorawan keys (AppEUI, DevEUI, AppKEY) in key-default.go
+
+
+```
+$ tinygo monitor
+Connected to /dev/ttyACM0. Press Ctrl-C to exit.
+Lorawan Simple Demo
+Start Lorawan Join sequence
+loraConnect: Connected !
+```
+
+# Building
+
+## Simulator
+
+```
+tinygo flash -target pico ./examples/lora/lorawan/basic-demo
+```
+
+## PyBadge with LoRa Featherwing 
+
+```
+tinygo flash -target pybadge -tags featherwing ./examples/lora/lorawan/basic-demo
+```
+
+## LoRa-E5 
+
+```
+tinygo flash -target lorae5 ./examples/lora/lorawan/basic-demo
+```
+
+
+## Enable debugging
+
+You can also enable some debug logs with ldflags :
+
+```
+$ tinygo build -ldflags="-X 'main.debug=true'" -target=lorae5
+```
+

examples/lora/lorawan/basic-demo/keys-default.go

@@ -0,0 +1,17 @@
+//go:build !customkeys
+
+package main
+
+import (
+	"tinygo.org/x/drivers/lora/lorawan"
+)
+
+// These are sample keys, so the example builds
+// Either change here, or create a new go file and use customkeys build tag
+func setLorawanKeys() {
+	otaa.SetAppEUI([]uint8{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00})
+	otaa.SetDevEUI([]uint8{0xB3, 0xD5, 0x41, 0x00, 0x0A, 0xF1, 0xA4, 0x45})
+	otaa.SetAppKey([]uint8{0x12, 0x22, 0xA3, 0xFF, 0x0C, 0x7B, 0x76, 0x7B, 0x8F, 0xD3, 0x12, 0x4F, 0xCE, 0x7A, 0x32, 0x16})
+	lorawan.SetPublicNetwork(true)
+
+}

examples/lora/lorawan/basic-demo/main.go

@@ -0,0 +1,109 @@
+// Simple code for connecting to Lorawan network and uploading sample payload
+package main
+
+import (
+	"errors"
+	"strconv"
+	"time"
+
+	"tinygo.org/x/drivers/examples/lora/lorawan/common"
+	"tinygo.org/x/drivers/lora"
+	"tinygo.org/x/drivers/lora/lorawan"
+	"tinygo.org/x/drivers/lora/lorawan/region"
+)
+
+var debug string
+
+const (
+	LORAWAN_JOIN_TIMEOUT_SEC    = 180
+	LORAWAN_RECONNECT_DELAY_SEC = 15
+	LORAWAN_UPLINK_DELAY_SEC    = 60
+)
+
+var (
+	radio   lora.Radio
+	session *lorawan.Session
+	otaa    *lorawan.Otaa
+)
+
+func loraConnect() error {
+	start := time.Now()
+	var err error
+	for time.Since(start) < LORAWAN_JOIN_TIMEOUT_SEC*time.Second {
+		println("Trying to join network")
+		err = lorawan.Join(otaa, session)
+		if err == nil {
+			println("Connected to network !")
+			return nil
+		}
+		println("Join error:", err, "retrying in", LORAWAN_RECONNECT_DELAY_SEC, "sec")
+		time.Sleep(time.Second * LORAWAN_RECONNECT_DELAY_SEC)
+	}
+
+	err = errors.New("Unable to join Lorawan network")
+	println(err.Error())
+	return err
+}
+
+func failMessage(err error) {
+	println("FATAL:", err)
+	for {
+	}
+}
+
+func main() {
+	println("*** Lorawan basic join and uplink demo ***")
+
+	// Board specific Lorawan initialization
+	var err error
+	radio, err = common.SetupLora()
+	if err != nil {
+		failMessage(err)
+	}
+
+	// Required for LoraWan operations
+	session = &lorawan.Session{}
+	otaa = &lorawan.Otaa{}
+
+	// Connect the lorawan with the Lora Radio device.
+	lorawan.UseRadio(radio)
+
+	lorawan.UseRegionSettings(region.EU868())
+
+	// Configure AppEUI, DevEUI, APPKey, and public/private Lorawan Network
+	setLorawanKeys()
+
+	if debug != "" {
+		println("main: Network joined")
+		println("main: DevEui, " + otaa.GetDevEUI())
+		println("main: AppEui, " + otaa.GetAppEUI())
+		println("main: DevAddr, " + otaa.GetAppKey())
+	}
+
+	// Try to connect Lorawan network
+	if err := loraConnect(); err != nil {
+		failMessage(err)
+	}
+
+	if debug != "" {
+		println("main: NetID, " + otaa.GetNetID())
+		println("main: NwkSKey, " + session.GetNwkSKey())
+		println("main: AppSKey, " + session.GetAppSKey())
+		println("main: Done")
+	}
+	// Try to periodicaly send an uplink sample message
+	upCount := 1
+	for {
+		payload := "Hello TinyGo #" + strconv.Itoa(upCount)
+
+		if err := lorawan.SendUplink([]byte(payload), session); err != nil {
+			println("Uplink error:", err)
+		} else {
+			println("Uplink success, msg=", payload)
+		}
+
+		println("Sleeping for", LORAWAN_UPLINK_DELAY_SEC, "sec")
+		time.Sleep(time.Second * LORAWAN_UPLINK_DELAY_SEC)
+		upCount++
+	}
+}

examples/lora/lorawan/common/featherwing.go

@@ -0,0 +1,14 @@
+//go:build featherwing
+
+package common
+
+import "machine"
+
+var (
+	// We assume LoRa Featherwing module with sx127x is connected to PyBadge
+	rstPin  = machine.D11
+	csPin   = machine.D10
+	dio0Pin = machine.D6
+	dio1Pin = machine.D9
+	spi     = machine.SPI0
+)

examples/lora/lorawan/common/lgt92.go

@@ -0,0 +1,13 @@
+//go:build lgt92
+
+package common
+
+import "machine"
+
+var (
+	rstPin  = machine.PB0
+	csPin   = machine.PA15
+	dio0Pin = machine.PC13
+	dio1Pin = machine.PB10
+	spi     = machine.SPI0
+)

examples/lora/lorawan/common/radio.go

@@ -0,0 +1,10 @@
+package common
+
+import (
+	"errors"
+)
+
+var (
+	errRadioNotFound = errors.New("radio not found")
+	errRxTimeout     = errors.New("radio RX timeout")
+)

examples/lora/lorawan/common/sim.go

@@ -0,0 +1,40 @@
+//go:build !featherwing && !lgt92 && !stm32wlx && !sx126x
+
+package common
+
+import "tinygo.org/x/drivers/lora"
+
+// do simulator setup here
+func SetupLora() (lora.Radio, error) {
+	return &SimLoraRadio{}, nil
+}
+
+type SimLoraRadio struct {
+}
+
+func (sr *SimLoraRadio) Reset() {
+}
+
+func (sr *SimLoraRadio) Tx(pkt []uint8, timeoutMs uint32) error {
+	return nil
+}
+
+func (sr *SimLoraRadio) Rx(timeoutMs uint32) ([]uint8, error) {
+	return nil, nil
+}
+
+func (sr *SimLoraRadio) SetFrequency(freq uint32)    {}
+func (sr *SimLoraRadio) SetIqMode(mode uint8)        {}
+func (sr *SimLoraRadio) SetCodingRate(cr uint8)      {}
+func (sr *SimLoraRadio) SetBandwidth(bw uint8)       {}
+func (sr *SimLoraRadio) SetCrc(enable bool)          {}
+func (sr *SimLoraRadio) SetSpreadingFactor(sf uint8) {}
+func (sr *SimLoraRadio) LoraConfig(cnf lora.Config)  {}
+
+func FirmwareVersion() string {
+	return "simulator " + CurrentVersion()
+}
+
+func Lorarx() ([]byte, error) {
+	return nil, nil
+}

examples/lora/lorawan/common/stm32wlx.go

@@ -0,0 +1,49 @@
+//go:build stm32wlx
+
+package common
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/lora"
+	"tinygo.org/x/drivers/sx126x"
+)
+
+const (
+	FREQ                      = 868100000
+	LORA_DEFAULT_RXTIMEOUT_MS = 1000
+	LORA_DEFAULT_TXTIMEOUT_MS = 5000
+)
+
+var (
+	loraRadio *sx126x.Device
+)
+
+var spi = machine.SPI3
+
+func newRadioControl() sx126x.RadioController {
+	return sx126x.NewRadioControl()
+}
+
+// do sx126x setup here
+func SetupLora() (lora.Radio, error) {
+	loraRadio = sx126x.New(spi)
+	loraRadio.SetDeviceType(sx126x.DEVICE_TYPE_SX1262)
+
+	// Create radio controller for target
+	loraRadio.SetRadioController(newRadioControl())
+
+	if state := loraRadio.DetectDevice(); !state {
+		return nil, errRadioNotFound
+	}
+
+	return loraRadio, nil
+}
+
+func FirmwareVersion() string {
+	return "sx126x"
+}
+
+func Lorarx() ([]byte, error) {
+	return loraRadio.Rx(LORA_DEFAULT_RXTIMEOUT_MS)
+}

examples/lora/lorawan/common/sx126x.go

@@ -0,0 +1,53 @@
+//go:build !stm32wlx && sx126x
+
+package common
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/lora"
+	"tinygo.org/x/drivers/sx126x"
+)
+
+const (
+	FREQ                      = 868100000
+	LORA_DEFAULT_RXTIMEOUT_MS = 1000
+	LORA_DEFAULT_TXTIMEOUT_MS = 5000
+)
+
+var (
+	loraRadio *sx126x.Device
+)
+
+var (
+	spi                        = machine.SPI0
+	nssPin, busyPin, dio1Pin   = machine.GP17, machine.GP10, machine.GP11
+	rxPin, txLowPin, txHighPin = machine.GP13, machine.GP12, machine.GP12
+)
+
+func newRadioControl() sx126x.RadioController {
+	return sx126x.NewRadioControl(nssPin, busyPin, dio1Pin, rxPin, txLowPin, txHighPin)
+}
+
+// do sx126x setup here
+func SetupLora() (lora.Radio, error) {
+	loraRadio = sx126x.New(spi)
+	loraRadio.SetDeviceType(sx126x.DEVICE_TYPE_SX1262)
+
+	// Create radio controller for target
+	loraRadio.SetRadioController(newRadioControl())
+
+	if state := loraRadio.DetectDevice(); !state {
+		return nil, errRadioNotFound
+	}
+
+	return loraRadio, nil
+}
+
+func FirmwareVersion() string {
+	return "sx126x"
+}
+
+func Lorarx() ([]byte, error) {
+	return loraRadio.Rx(LORA_DEFAULT_RXTIMEOUT_MS)
+}

examples/lora/lorawan/common/sx127x.go

@@ -0,0 +1,47 @@
+//go:build featherwing || lgt92
+
+package common
+
+import (
+	"strconv"
+
+	"machine"
+
+	"tinygo.org/x/drivers/lora"
+	"tinygo.org/x/drivers/sx127x"
+)
+
+const (
+	FREQ                      = 868100000
+	LORA_DEFAULT_RXTIMEOUT_MS = 1000
+	LORA_DEFAULT_TXTIMEOUT_MS = 5000
+)
+
+var (
+	loraRadio *sx127x.Device
+)
+
+// do sx127x setup here
+func SetupLora() (lora.Radio, error) {
+	rstPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	spi.Configure(machine.SPIConfig{Frequency: 500000, Mode: 0})
+
+	loraRadio = sx127x.New(spi, rstPin)
+	loraRadio.SetRadioController(sx127x.NewRadioControl(csPin, dio0Pin, dio1Pin))
+	loraRadio.Reset()
+
+	if state := loraRadio.DetectDevice(); !state {
+		return nil, errRadioNotFound
+	}
+
+	return loraRadio, nil
+}
+
+func FirmwareVersion() string {
+	v := loraRadio.GetVersion()
+	return "sx127x v" + strconv.Itoa(int(v))
+}
+
+func Lorarx() ([]byte, error) {
+	return loraRadio.Rx(LORA_DEFAULT_RXTIMEOUT_MS)
+}

examples/lora/lorawan/common/version.go

@@ -0,0 +1,7 @@
+package common
+
+const VERSION = "0.0.1"
+
+func CurrentVersion() string {
+	return VERSION
+}

examples/mpu6886/main.go

@@ -0,0 +1,22 @@
+// Connects to an MPU6886 I2C accelerometer/gyroscope.
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/mpu6886"
+)
+
+func main() {
+	machine.I2C0.Configure(machine.I2CConfig{})
+
+	accel := mpu6886.New(machine.I2C0)
+	accel.Configure(mpu6886.Config{})
+
+	for {
+		x, y, z, _ := accel.ReadAcceleration()
+		println(x, y, z)
+		time.Sleep(time.Millisecond * 100)
+	}
+}

examples/onewire/main.go

@@ -0,0 +1,40 @@
+package main
+
+import (
+	"encoding/hex"
+	"time"
+	"tinygo.org/x/drivers/onewire"
+)
+
+func main() {
+
+	pin := machine.D2
+
+	ow := onewire.New(pin)
+
+	for {
+		time.Sleep(3 * time.Second)
+
+		println()
+		println("Device:", machine.Device)
+
+		romIDs, err := ow.Search(onewire.SEARCH)
+		if err != nil {
+			println(err)
+		}
+		for _, romid := range romIDs {
+			println(hex.EncodeToString(romid))
+		}
+
+		if len(romIDs) == 1 {
+			// only 1 device on bus
+			r, err := ow.ReadAddress()
+			if err != nil {
+				println(err)
+			}
+			println(hex.EncodeToString(r))
+
+		}
+
+	}
+}

examples/sdcard/tinyfs/console/console.go

@@ -1,542 +0,0 @@
-//go:build tinygo
-
-package console
-
-import (
-	"fmt"
-	"io"
-	"machine"
-	"os"
-	"strconv"
-	"strings"
-	"time"
-
-	"tinygo.org/x/tinyfs"
-)
-
-const consoleBufLen = 64
-
-const startBlock = 0
-const blockCount = 0
-
-var (
-	debug = false
-
-	input [consoleBufLen]byte
-
-	console  = machine.Serial
-	readyLED = machine.LED
-
-	flashdev tinyfs.BlockDevice
-	fs       tinyfs.Filesystem
-
-	currdir = "/"
-
-	commands = map[string]cmdfunc{
-		"":        noop,
-		"dbg":     dbg,
-		"help":    help,
-		"lsblk":   lsblk,
-		"mount":   mount,
-		"umount":  umount,
-		"format":  format,
-		"xxd":     xxd,
-		"ls":      ls,
-		"samples": samples,
-		"mkdir":   mkdir,
-		"cat":     cat,
-		"create":  create,
-		"write":   write,
-		"rm":      rm,
-	}
-)
-
-type cmdfunc func(argv []string)
-
-const (
-	StateInput = iota
-	StateEscape
-	StateEscBrc
-	StateCSI
-)
-
-func RunFor(dev tinyfs.BlockDevice, filesys tinyfs.Filesystem) {
-	flashdev = dev
-	fs = filesys
-
-	readyLED.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	readyLED.High()
-
-	readyLED.Low()
-	println("SPI Configured. Reading flash info")
-
-	/*
-		lfsConfig := flashlfs.NewConfig()
-		if blockCount == 0 {
-			lfsConfig.BlockCount = (flashdev.Attrs().TotalSize / lfsConfig.BlockSize) - startBlock
-		} else {
-			lfsConfig.BlockCount = blockCount
-		}
-		println("Start block:", startBlock)
-		println("Block count:", lfsConfig.BlockCount)
-
-		blockdev = flashlfs.NewBlockDevice(flashdev, startBlock, lfsConfig.BlockSize)
-	*/
-
-	prompt()
-
-	var state = StateInput
-
-	for i := 0; ; {
-		if console.Buffered() > 0 {
-			data, _ := console.ReadByte()
-			if debug {
-				fmt.Printf("\rdata: %x\r\n\r", data)
-				prompt()
-				console.Write(input[:i])
-			}
-			switch state {
-			case StateInput:
-				switch data {
-				case 0x8:
-					fallthrough
-				case 0x7f: // this is probably wrong... works on my machine tho :)
-					// backspace
-					if i > 0 {
-						i -= 1
-						console.Write([]byte{0x8, 0x20, 0x8})
-					}
-				case 13:
-					// return key
-					if console.Buffered() > 0 {
-						data, _ := console.ReadByte()
-						if data != 10 {
-							println("\r\nunexpected: \r", int(data))
-						}
-					}
-					console.Write([]byte("\r\n"))
-					runCommand(string(input[:i]))
-					prompt()
-
-					i = 0
-					continue
-				case 27:
-					// escape
-					state = StateEscape
-				default:
-					// anything else, just echo the character if it is printable
-					if strconv.IsPrint(rune(data)) {
-						if i < (consoleBufLen - 1) {
-							console.WriteByte(data)
-							input[i] = data
-							i++
-						}
-					}
-				}
-			case StateEscape:
-				switch data {
-				case 0x5b:
-					state = StateEscBrc
-				default:
-					state = StateInput
-				}
-			default:
-				// TODO: handle escape sequences
-				state = StateInput
-			}
-		}
-	}
-}
-
-func runCommand(line string) {
-	argv := strings.SplitN(strings.TrimSpace(line), " ", -1)
-	cmd := argv[0]
-	cmdfn, ok := commands[cmd]
-	if !ok {
-		println("unknown command: " + line)
-		return
-	}
-	cmdfn(argv)
-}
-
-func noop(argv []string) {}
-
-func help(argv []string) {
-	fmt.Printf("help\r\n")
-	fmt.Printf("  show help\r\n")
-	fmt.Printf("dbg\r\n")
-	fmt.Printf("  toggle debug mode\r\n")
-	fmt.Printf("xxd <hex address, ex: 0xA0> <size of hexdump in bytes>\r\n")
-	fmt.Printf("  hexdump the specified address\r\n")
-	fmt.Printf("ls <target file>\r\n")
-	fmt.Printf("  list information\r\n")
-	fmt.Printf("samples\r\n")
-	fmt.Printf("  write some files in the root directory\r\n")
-	fmt.Printf("mkdir <target dir>\r\n")
-	fmt.Printf("  create directory\r\n")
-	fmt.Printf("cat <target file>\r\n")
-	fmt.Printf("  print the contents of file\r\n")
-	fmt.Printf("create <target file>\r\n")
-	fmt.Printf("  create file\r\n")
-	fmt.Printf("write <target file>\r\n")
-	fmt.Printf("  write to file (press CTRL-D to exit)\r\n")
-	fmt.Printf("rm\r\n")
-}
-
-func dbg(argv []string) {
-	if debug {
-		debug = false
-		println("Console debugging off")
-	} else {
-		debug = true
-		println("Console debugging on")
-	}
-}
-
-func lsblk(argv []string) {
-	fmt.Printf("lsblk : not implement\r\n")
-}
-
-func mount(argv []string) {
-	if err := fs.Mount(); err != nil {
-		println("Could not mount LittleFS filesystem: " + err.Error() + "\r\n")
-	} else {
-		println("Successfully mounted LittleFS filesystem.\r\n")
-	}
-}
-
-func format(argv []string) {
-	if err := fs.Format(); err != nil {
-		println("Could not format LittleFS filesystem: " + err.Error() + "\r\n")
-	} else {
-		println("Successfully formatted LittleFS filesystem.\r\n")
-	}
-}
-
-func umount(argv []string) {
-	if err := fs.Unmount(); err != nil {
-		println("Could not unmount LittleFS filesystem: " + err.Error() + "\r\n")
-	} else {
-		println("Successfully unmounted LittleFS filesystem.\r\n")
-	}
-}
-
-/*
-	var err error
-	if fatfs == nil {
-		fatfs, err = fat.New(fatdisk)
-		if err != nil {
-			fatfs = nil
-			println("could not load FAT filesystem: " + err.Error() + "\r\n")
-		}
-		fmt.Printf("loaded fs\r\n")
-	}
-	if rootdir == nil {
-		rootdir, err = fatfs.RootDir()
-		if err != nil {
-			rootdir = nil
-			println("could not load rootdir: " + err.Error() + "\r\n")
-		}
-		fmt.Printf("loaded rootdir\r\n")
-	}
-	if currdir == nil {
-		currdir = rootdir
-	}
-*/
-
-func ls(argv []string) {
-	path := "/"
-	if len(argv) > 1 {
-		path = strings.TrimSpace(argv[1])
-	}
-	dir, err := fs.Open(path)
-	if err != nil {
-		fmt.Printf("Could not open directory %s: %v\r\n", path, err)
-		return
-	}
-	defer dir.Close()
-	infos, err := dir.Readdir(0)
-	_ = infos
-	if err != nil {
-		fmt.Printf("Could not read directory %s: %v\r\n", path, err)
-		return
-	}
-	for _, info := range infos {
-		s := "-rwxrwxrwx"
-		if info.IsDir() {
-			s = "drwxrwxrwx"
-		}
-		fmt.Printf("%s %5d %s\r\n", s, info.Size(), info.Name())
-	}
-}
-
-func mkdir(argv []string) {
-	tgt := ""
-	if len(argv) == 2 {
-		tgt = strings.TrimSpace(argv[1])
-	}
-	if debug {
-		println("Trying mkdir to " + tgt)
-	}
-	if tgt == "" {
-		println("Usage: mkdir <target dir>")
-		return
-	}
-	err := fs.Mkdir(tgt, 0777)
-	if err != nil {
-		println("Could not mkdir " + tgt + ": " + err.Error())
-	}
-}
-
-func rm(argv []string) {
-	tgt := ""
-	if len(argv) == 2 {
-		tgt = strings.TrimSpace(argv[1])
-	}
-	if debug {
-		println("Trying rm to " + tgt)
-	}
-	if tgt == "" {
-		println("Usage: rm <target dir>")
-		return
-	}
-	err := fs.Remove(tgt)
-	if err != nil {
-		println("Could not rm " + tgt + ": " + err.Error())
-	}
-}
-
-func samples(argv []string) {
-	buf := make([]byte, 90)
-	for i := 0; i < 5; i++ {
-		name := fmt.Sprintf("file%d.txt", i)
-		if bytes, err := createSampleFile(name, buf); err != nil {
-			fmt.Printf("%s\r\n", err)
-			return
-		} else {
-			fmt.Printf("wrote %d bytes to %s\r\n", bytes, name)
-		}
-	}
-}
-
-func create(argv []string) {
-	tgt := ""
-	if len(argv) == 2 {
-		tgt = strings.TrimSpace(argv[1])
-	}
-	if debug {
-		println("Trying create to " + tgt)
-	}
-	buf := make([]byte, 90)
-	if bytes, err := createSampleFile(tgt, buf); err != nil {
-		fmt.Printf("%s\r\n", err)
-		return
-	} else {
-		fmt.Printf("wrote %d bytes to %s\r\n", bytes, tgt)
-	}
-}
-
-func write(argv []string) {
-	tgt := ""
-	if len(argv) == 2 {
-		tgt = strings.TrimSpace(argv[1])
-	}
-	if debug {
-		println("Trying receive to " + tgt)
-	}
-	buf := make([]byte, 1)
-	f, err := fs.OpenFile(tgt, os.O_CREATE|os.O_WRONLY|os.O_TRUNC)
-	if err != nil {
-		fmt.Printf("error opening %s: %s\r\n", tgt, err.Error())
-		return
-	}
-	defer f.Close()
-	var n int
-	for {
-		if console.Buffered() > 0 {
-			data, _ := console.ReadByte()
-			switch data {
-			case 0x04:
-				fmt.Printf("wrote %d bytes to %s\r\n", n, tgt)
-				return
-			default:
-				// anything else, just echo the character if it is printable
-				if strconv.IsPrint(rune(data)) {
-					console.WriteByte(data)
-				}
-				buf[0] = data
-				if _, err := f.Write(buf); err != nil {
-					fmt.Printf("\nerror writing: %s\r\n", err)
-					return
-				}
-				n++
-			}
-		}
-	}
-}
-
-func createSampleFile(name string, buf []byte) (int, error) {
-	for j := uint8(0); j < uint8(len(buf)); j++ {
-		buf[j] = 0x20 + j
-	}
-	f, err := fs.OpenFile(name, os.O_CREATE|os.O_WRONLY|os.O_TRUNC)
-	if err != nil {
-		return 0, fmt.Errorf("error opening %s: %s", name, err.Error())
-	}
-	defer f.Close()
-	bytes, err := f.Write(buf)
-	if err != nil {
-		return 0, fmt.Errorf("error writing %s: %s", name, err.Error())
-	}
-	return bytes, nil
-}
-
-/*
-func cd(argv []string) {
-
-	if fatfs == nil || rootdir == nil {
-		mnt(nil)
-	}
-	if len(argv) == 1 {
-		currdir = rootdir
-		return
-	}
-	tgt := ""
-	if len(argv) == 2 {
-		tgt = strings.TrimSpace(argv[1])
-	}
-	if debug {
-		println("Trying to cd to " + tgt)
-	}
-	if tgt == "" {
-		println("Usage: cd <target dir>")
-		return
-	}
-	if debug {
-		println("Getting entry")
-	}
-	entry := currdir.Entry(tgt)
-	if entry == nil {
-		println("File not found: " + tgt)
-		return
-	}
-	if !entry.IsDir() {
-		println("Not a directory: " + tgt)
-		return
-	}
-	if debug {
-		println("Getting dir")
-	}
-	cd, err := entry.Dir()
-	if err != nil {
-		println("Could not cd to " + tgt + ": " + err.Error())
-	}
-	currdir = cd
-}
-*/
-
-func cat(argv []string) {
-	tgt := ""
-	if len(argv) == 2 {
-		tgt = strings.TrimSpace(argv[1])
-	}
-	if debug {
-		println("Trying to cat to " + tgt)
-	}
-	if tgt == "" {
-		println("Usage: cat <target file>")
-		return
-	}
-	if debug {
-		println("Getting entry")
-	}
-	f, err := fs.Open(tgt)
-	if err != nil {
-		println("Could not open: " + err.Error())
-		return
-	}
-	defer f.Close()
-	if f.IsDir() {
-		println("Not a file: " + tgt)
-		return
-	}
-	off := 0x0
-	buf := make([]byte, 64)
-	for {
-		n, err := f.Read(buf)
-		if err != nil {
-			if err == io.EOF {
-				break
-			}
-			println("Error reading " + tgt + ": " + err.Error())
-			time.Sleep(1 * time.Second)
-		}
-		xxdfprint(os.Stdout, uint32(off), buf[:n])
-		off += n
-	}
-}
-
-func xxd(argv []string) {
-	var err error
-	var addr uint64 = 0x0
-	var size int = 64
-	switch len(argv) {
-	case 3:
-		if size, err = strconv.Atoi(argv[2]); err != nil {
-			println("Invalid size argument: " + err.Error() + "\r\n")
-			return
-		}
-		if size > 512 || size < 1 {
-			fmt.Printf("Size of hexdump must be greater than 0 and less than %d\r\n", 512)
-			return
-		}
-		fallthrough
-	case 2:
-		/*
-			if argv[1][:2] != "0x" {
-				println("Invalid hex address (should start with 0x)")
-				return
-			}
-		*/
-		if addr, err = strconv.ParseUint(argv[1], 16, 32); err != nil {
-			println("Invalid address: " + err.Error() + "\r\n")
-			return
-		}
-		fallthrough
-	case 1:
-		// no args supplied, so nothing to do here, just use the defaults
-	default:
-		println("usage: xxd <hex address, ex: 0xA0> <size of hexdump in bytes>\r\n")
-		return
-	}
-	buf := make([]byte, size)
-	//bsz := uint64(flash.SectorSize)
-	//blockdev.ReadBlock(uint32(addr/bsz), uint32(addr%bsz), buf)
-	flashdev.ReadAt(buf, int64(addr))
-	xxdfprint(os.Stdout, uint32(addr), buf)
-}
-
-func xxdfprint(w io.Writer, offset uint32, b []byte) {
-	var l int
-	var buf16 = make([]byte, 16)
-	for i, c := 0, len(b); i < c; i += 16 {
-		l = i + 16
-		if l >= c {
-			l = c
-		}
-		fmt.Fprintf(w, "%08x: % x    ", offset+uint32(i), b[i:l])
-		for j, n := 0, l-i; j < 16; j++ {
-			if j >= n || !strconv.IsPrint(rune(b[i+j])) || b[i+j] >= 0x80 {
-				buf16[j] = '.'
-			} else {
-				buf16[j] = b[i+j]
-			}
-		}
-		console.Write(buf16)
-		println()
-	}
-}
-
-func prompt() {
-	print("==> ")
-}

examples/sdcard/tinyfs/feather-m4.go

@@ -1,17 +0,0 @@
-//go:build feather_m4 || feather_m4_can || feather_nrf52840
-
-package main
-
-import (
-	"machine"
-)
-
-func init() {
-	spi = &machine.SPI0
-	sckPin = machine.SPI0_SCK_PIN
-	sdoPin = machine.SPI0_SDO_PIN
-	sdiPin = machine.SPI0_SDI_PIN
-	csPin = machine.D10
-
-	ledPin = machine.LED
-}

examples/sdcard/tinyfs/grandcentral-m4.go

@@ -1,17 +0,0 @@
-//go:build grandcentral_m4
-
-package main
-
-import (
-	"machine"
-)
-
-func init() {
-	spi = &machine.SPI1
-	sckPin = machine.SDCARD_SCK_PIN
-	sdoPin = machine.SDCARD_SDO_PIN
-	sdiPin = machine.SDCARD_SDI_PIN
-	csPin = machine.SDCARD_CS_PIN
-
-	ledPin = machine.LED
-}

examples/sdcard/tinyfs/m0.go

@@ -1,17 +0,0 @@
-//go:build atsamd21 && !p1am_100
-
-package main
-
-import (
-	"machine"
-)
-
-func init() {
-	spi = &machine.SPI0
-	sckPin = machine.SPI0_SCK_PIN
-	sdoPin = machine.SPI0_SDO_PIN
-	sdiPin = machine.SPI0_SDI_PIN
-	csPin = machine.D2
-
-	ledPin = machine.LED
-}

examples/sdcard/tinyfs/main.go

@@ -1,40 +0,0 @@
-package main
-
-import (
-	"fmt"
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers/examples/sdcard/tinyfs/console"
-	"tinygo.org/x/drivers/sdcard"
-	"tinygo.org/x/tinyfs/fatfs"
-)
-
-var (
-	spi    *machine.SPI
-	sckPin machine.Pin
-	sdoPin machine.Pin
-	sdiPin machine.Pin
-	csPin  machine.Pin
-	ledPin machine.Pin
-)
-
-func main() {
-	sd := sdcard.New(spi, sckPin, sdoPin, sdiPin, csPin)
-	err := sd.Configure()
-	if err != nil {
-		fmt.Printf("%s\r\n", err.Error())
-		for {
-			time.Sleep(time.Hour)
-		}
-	}
-
-	filesystem := fatfs.New(&sd)
-
-	// Configure FATFS with sector size (must match value in ff.h - use 512)
-	filesystem.Configure(&fatfs.Config{
-		SectorSize: 512,
-	})
-
-	console.RunFor(&sd, filesystem)
-}

examples/sdcard/tinyfs/p1am-100.go

@@ -1,17 +0,0 @@
-//go:build p1am_100
-
-package main
-
-import (
-	"machine"
-)
-
-func init() {
-	spi = &machine.SDCARD_SPI
-	sckPin = machine.SDCARD_SCK_PIN
-	sdoPin = machine.SDCARD_SDO_PIN
-	sdiPin = machine.SDCARD_SDI_PIN
-	csPin = machine.SDCARD_SS_PIN
-
-	ledPin = machine.LED
-}

examples/sdcard/tinyfs/pygamer.go

@@ -1,17 +0,0 @@
-//go:build pygamer
-
-package main
-
-import (
-	"machine"
-)
-
-func init() {
-	spi = &machine.SPI0
-	sckPin = machine.SPI0_SCK_PIN
-	sdoPin = machine.SPI0_SDO_PIN
-	sdiPin = machine.SPI0_SDI_PIN
-	csPin = machine.D4
-
-	ledPin = machine.LED
-}

examples/sdcard/tinyfs/pyportal.go

@@ -1,17 +0,0 @@
-//go:build pyportal
-
-package main
-
-import (
-	"machine"
-)
-
-func init() {
-	spi = &machine.SPI0
-	sckPin = machine.SPI0_SCK_PIN
-	sdoPin = machine.SPI0_SDO_PIN
-	sdiPin = machine.SPI0_SDI_PIN
-	csPin = machine.D32 // SD_CS
-
-	ledPin = machine.LED
-}

examples/sdcard/tinyfs/thingplus-rp2040.go

@@ -1,17 +0,0 @@
-//go:build thingplus_rp2040
-
-package main
-
-import (
-	"machine"
-)
-
-func init() {
-	spi = machine.SPI1
-	sckPin = machine.SPI1_SCK_PIN
-	sdoPin = machine.SPI1_SDO_PIN
-	sdiPin = machine.SPI1_SDI_PIN
-	csPin = machine.GPIO9
-
-	ledPin = machine.LED
-}

examples/sdcard/tinyfs/wioterminal.go

@@ -1,17 +0,0 @@
-//go:build wioterminal
-
-package main
-
-import (
-	"machine"
-)
-
-func init() {
-	spi = &machine.SPI2
-	sckPin = machine.SCK2
-	sdoPin = machine.SDO2
-	sdiPin = machine.SDI2
-	csPin = machine.SS2
-
-	ledPin = machine.LED
-}

examples/sh1106/macropad_spi/main.go

@@ -0,0 +1,56 @@
+//go:build macropad_rp2040
+
+package main
+
+import (
+	"image/color"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/sh1106"
+)
+
+var (
+	display = sh1106.NewSPI(machine.SPI1, machine.OLED_DC, machine.OLED_RST, machine.OLED_CS)
+)
+
+func init() {
+	machine.SPI1.Configure(machine.SPIConfig{
+		Frequency: 48000000,
+	})
+	display.Configure(sh1106.Config{
+		Width:  128,
+		Height: 64,
+	})
+}
+
+func main() {
+
+	display.ClearDisplay()
+
+	x := int16(0)
+	y := int16(0)
+	deltaX := int16(1)
+	deltaY := int16(1)
+	for {
+		pixel := display.GetPixel(x, y)
+		c := color.RGBA{255, 255, 255, 255}
+		if pixel {
+			c = color.RGBA{0, 0, 0, 255}
+		}
+		display.SetPixel(x, y, c)
+		display.Display()
+
+		x += deltaX
+		y += deltaY
+
+		if x == 0 || x == 127 {
+			deltaX = -deltaX
+		}
+
+		if y == 0 || y == 63 {
+			deltaY = -deltaY
+		}
+		time.Sleep(1 * time.Millisecond)
+	}
+}

examples/sx126x/lora_continuous/lora_continuous.go

@@ -5,8 +5,7 @@ import (
 	"machine"
 	"time"
 
-	rfswitch "tinygo.org/x/drivers/examples/sx126x/rfswitch"
+	"tinygo.org/x/drivers/lora"
-
 	"tinygo.org/x/drivers/sx126x"
 )
 
@@ -23,12 +22,11 @@ func main() {
 	machine.LED.Configure(machine.PinConfig{Mode: machine.PinOutput})
 
 	// Create the driver
-	loraRadio = sx126x.New(machine.SPI3)
+	loraRadio = sx126x.New(spi)
 	loraRadio.SetDeviceType(sx126x.DEVICE_TYPE_SX1262)
 
-	// Create RF Switch
+	// Create radio controller for target
-	var radioSwitch rfswitch.CustomSwitch
+	loraRadio.SetRadioController(newRadioControl())
-	loraRadio.SetRfSwitch(radioSwitch)
 
 	state := loraRadio.DetectDevice()
 	if !state {
@@ -36,18 +34,18 @@ func main() {
 	}
 
 	// Prepare for Lora operation
-	loraConf := sx126x.LoraConfig{
+	loraConf := lora.Config{
-		Freq:           FREQ,
+		Freq:           lora.MHz_868_1,
-		Bw:             sx126x.SX126X_LORA_BW_500_0,
+		Bw:             lora.Bandwidth_125_0,
-		Sf:             sx126x.SX126X_LORA_SF9,
+		Sf:             lora.SpreadingFactor9,
-		Cr:             sx126x.SX126X_LORA_CR_4_7,
+		Cr:             lora.CodingRate4_7,
-		HeaderType:     sx126x.SX126X_LORA_HEADER_EXPLICIT,
+		HeaderType:     lora.HeaderExplicit,
 		Preamble:       12,
-		Ldr:            sx126x.SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_OFF,
+		Ldr:            lora.LowDataRateOptimizeOff,
-		Iq:             sx126x.SX126X_LORA_IQ_STANDARD,
+		Iq:             lora.IQStandard,
-		Crc:            sx126x.SX126X_LORA_CRC_ON,
+		Crc:            lora.CRCOn,
-		SyncWord:       sx126x.SX126X_LORA_MAC_PRIVATE_SYNCWORD,
+		SyncWord:       lora.SyncPrivate,
-		LoraTxPowerDBm: 14,
+		LoraTxPowerDBm: 20,
 	}
 	loraRadio.LoraConfig(loraConf)
 
@@ -75,6 +73,5 @@ func main() {
 
 		loraRadio.SetStandby()
 		time.Sleep(60 * time.Second)
-
 	}
 }

examples/sx126x/lora_continuous/radio.go

@@ -0,0 +1,19 @@
+//go:build !stm32wlx
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/sx126x"
+)
+
+var (
+	spi                        = machine.SPI0
+	nssPin, busyPin, dio1Pin   = machine.GP17, machine.GP10, machine.GP11
+	rxPin, txLowPin, txHighPin = machine.GP13, machine.GP12, machine.GP12
+)
+
+func newRadioControl() sx126x.RadioController {
+	return sx126x.NewRadioControl(nssPin, busyPin, dio1Pin, rxPin, txLowPin, txHighPin)
+}

examples/sx126x/lora_continuous/radio_stm32wl.go

@@ -0,0 +1,15 @@
+//go:build stm32wlx
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/sx126x"
+)
+
+var spi = machine.SPI3
+
+func newRadioControl() sx126x.RadioController {
+	return sx126x.NewRadioControl()
+}

examples/sx126x/lora_rxtx/lora_rxtx.go

@@ -4,18 +4,13 @@ package main
 // module will be in RX mode between two transmissions
 
 import (
-	"device/stm32"
 	"machine"
-	"runtime/interrupt"
 	"time"
 
-	rfswitch "tinygo.org/x/drivers/examples/sx126x/rfswitch"
+	"tinygo.org/x/drivers/lora"
-
 	"tinygo.org/x/drivers/sx126x"
 )
 
-const FREQ = 868100000
-
 const (
 	LORA_DEFAULT_RXTIMEOUT_MS = 1000
 	LORA_DEFAULT_TXTIMEOUT_MS = 5000
@@ -26,23 +21,19 @@ var (
 	txmsg     = []byte("Hello TinyGO")
 )
 
-// radioIntHandler will take care of radio interrupts
-func radioIntHandler(intr interrupt.Interrupt) {
-	loraRadio.HandleInterrupt()
-}
-
 func main() {
+	time.Sleep(3 * time.Second)
+
 	println("\n# TinyGo Lora RX/TX test")
 	println("# ----------------------")
 	machine.LED.Configure(machine.PinConfig{Mode: machine.PinOutput})
 
 	// Create the driver
-	loraRadio = sx126x.New(machine.SPI3)
+	loraRadio = sx126x.New(spi)
 	loraRadio.SetDeviceType(sx126x.DEVICE_TYPE_SX1262)
 
-	// Create RF Switch
+	// Create radio controller for target
-	var radioSwitch rfswitch.CustomSwitch
+	loraRadio.SetRadioController(newRadioControl())
-	loraRadio.SetRfSwitch(radioSwitch)
 
 	// Detect the device
 	state := loraRadio.DetectDevice()
@@ -50,21 +41,17 @@ func main() {
 		panic("sx126x not detected.")
 	}
 
-	// Add interrupt handler for Radio IRQs
+	loraConf := lora.Config{
-	intr := interrupt.New(stm32.IRQ_Radio_IRQ_Busy, radioIntHandler)
+		Freq:           lora.MHz_868_1,
-	intr.Enable()
+		Bw:             lora.Bandwidth_125_0,
-
+		Sf:             lora.SpreadingFactor9,
-	loraConf := sx126x.LoraConfig{
+		Cr:             lora.CodingRate4_7,
-		Freq:           FREQ,
+		HeaderType:     lora.HeaderExplicit,
-		Bw:             sx126x.SX126X_LORA_BW_500_0,
-		Sf:             sx126x.SX126X_LORA_SF9,
-		Cr:             sx126x.SX126X_LORA_CR_4_7,
-		HeaderType:     sx126x.SX126X_LORA_HEADER_EXPLICIT,
 		Preamble:       12,
-		Ldr:            sx126x.SX126X_LORA_LOW_DATA_RATE_OPTIMIZE_OFF,
+		Ldr:            lora.LowDataRateOptimizeOff,
-		Iq:             sx126x.SX126X_LORA_IQ_STANDARD,
+		Iq:             lora.IQStandard,
-		Crc:            sx126x.SX126X_LORA_CRC_ON,
+		Crc:            lora.CRCOn,
-		SyncWord:       sx126x.SX126X_LORA_MAC_PRIVATE_SYNCWORD,
+		SyncWord:       lora.SyncPrivate,
 		LoraTxPowerDBm: 20,
 	}
 
@@ -72,23 +59,20 @@ func main() {
 
 	var count uint
 	for {
-		tStart := time.Now()
+		start := time.Now()
-
-		// Blocking RX for LORA_DEFAULT_RXTIMEOUT_MS
-		println("Start Lora RX for 10 sec")
-		for int(time.Now().Sub(tStart).Seconds()) < 10 {
-			buf, err := loraRadio.LoraRx(LORA_DEFAULT_RXTIMEOUT_MS)
 
+		println("main: Receiving Lora for 10 seconds")
+		for time.Since(start) < 10*time.Second {
+			buf, err := loraRadio.Rx(LORA_DEFAULT_RXTIMEOUT_MS)
 			if err != nil {
 				println("RX Error: ", err)
 			} else if buf != nil {
 				println("Packet Received: len=", len(buf), string(buf))
 			}
 		}
-		println("END Lora RX")
+		println("main: End Lora RX")
-
+		println("LORA TX size=", len(txmsg), " -> ", string(txmsg))
-		println("LORA TX size=", len(txmsg))
+		err := loraRadio.Tx(txmsg, LORA_DEFAULT_TXTIMEOUT_MS)
-		err := loraRadio.LoraTx(txmsg, LORA_DEFAULT_TXTIMEOUT_MS)
 		if err != nil {
 			println("TX Error:", err)
 		}

examples/sx126x/lora_rxtx/radio.go

@@ -0,0 +1,29 @@
+//go:build !stm32wlx
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/sx126x"
+)
+
+var (
+	spi                        = machine.SPI1
+	nssPin, busyPin, dio1Pin   = machine.GP13, machine.GP6, machine.GP7
+	rxPin, txLowPin, txHighPin = machine.GP9, machine.GP8, machine.GP8
+)
+
+func newRadioControl() sx126x.RadioController {
+	return sx126x.NewRadioControl(nssPin, busyPin, dio1Pin, rxPin, txLowPin, txHighPin)
+}
+
+func init() {
+	spi.Configure(machine.SPIConfig{
+		Mode:      0,
+		Frequency: 8 * 1e6,
+		SDO:       machine.SPI1_SDO_PIN,
+		SDI:       machine.SPI1_SDI_PIN,
+		SCK:       machine.SPI1_SCK_PIN,
+	})
+}

examples/sx126x/lora_rxtx/radio_stm32wl.go

@@ -0,0 +1,15 @@
+//go:build stm32wlx
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/sx126x"
+)
+
+var spi = machine.SPI3
+
+func newRadioControl() sx126x.RadioController {
+	return sx126x.NewRadioControl()
+}

examples/sx126x/rfswitch/gnse.go

@@ -1,60 +0,0 @@
-//go:build gnse
-
-/*
-Generic Node Sensor Edition
-RFSwitch
-
-Disable Switch   :  PB8=OFF PA0=OFF  PA1=OFF
-Enable RX        :  PB8=ON  PA0=ON   PA1=OFF
-Enable TX RFO LP :  PB8=ON  PA0=ON   PA1=ON
-Enable TX RFO HP :  PB8=ON  PA0=OFF  PA1=ON
-*/
-package rfswitch
-
-import (
-	"machine"
-
-	"tinygo.org/x/drivers/sx126x"
-)
-
-type CustomSwitch struct {
-}
-
-var (
-	rfstate int
-)
-
-func (s CustomSwitch) InitRFSwitch() {
-	machine.RF_FE_CTRL1.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	machine.RF_FE_CTRL2.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	machine.RF_FE_CTRL3.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	rfstate = -1 //Unknown
-}
-
-func (s CustomSwitch) SetRfSwitchMode(mode int) error {
-	if mode == rfstate {
-		return nil
-	}
-
-	switch mode {
-
-	case sx126x.RFSWITCH_TX_HP:
-		machine.RF_FE_CTRL1.Set(false)
-		machine.RF_FE_CTRL2.Set(true)
-		machine.RF_FE_CTRL3.Set(true)
-
-	case sx126x.RFSWITCH_TX_LP:
-		machine.RF_FE_CTRL1.Set(true)
-		machine.RF_FE_CTRL2.Set(true)
-		machine.RF_FE_CTRL3.Set(true)
-
-	case sx126x.RFSWITCH_RX:
-		machine.RF_FE_CTRL1.Set(true)
-		machine.RF_FE_CTRL2.Set(false)
-		machine.RF_FE_CTRL3.Set(true)
-	}
-
-	rfstate = mode
-
-	return nil
-}

examples/sx126x/rfswitch/lorae5.go

@@ -1,42 +0,0 @@
-//go:build lorae5
-
-package radio
-
-/*
-/!\ LoRa-E5 module ONLY transmits through RFO_HP:
-
-	Receive: PA4=1, PA5=0
-	Transmit(high output power, SMPS mode): PA4=0, PA5=1
-
-*/
-
-import (
-	"errors"
-	"machine"
-
-	"tinygo.org/x/drivers/sx126x"
-)
-
-type CustomSwitch struct {
-}
-
-func (s CustomSwitch) InitRFSwitch() {
-	machine.PA4.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	machine.PB5.Configure(machine.PinConfig{Mode: machine.PinOutput})
-}
-
-func (s CustomSwitch) SetRfSwitchMode(mode int) error {
-	switch mode {
-
-	case sx126x.RFSWITCH_RX:
-		machine.PA4.Set(true)
-		machine.PB5.Set(false)
-	case sx126x.RFSWITCH_TX_LP:
-		errors.New("RFSWITCH_TX_LP not supported ")
-	case sx126x.RFSWITCH_TX_HP:
-		machine.PA4.Set(false)
-		machine.PB5.Set(true)
-
-	}
-	return nil
-}

examples/sx127x/lora_rxtx/lora_rxtx.go

@@ -0,0 +1,94 @@
+package main
+
+// This example code demonstrates Lora RX/TX With SX127x driver
+// You need to connect SPI, RST, CS, DIO0 (aka IRQ) and DIO1 to use.
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/lora"
+	"tinygo.org/x/drivers/sx127x"
+)
+
+const (
+	LORA_DEFAULT_RXTIMEOUT_MS = 1000
+	LORA_DEFAULT_TXTIMEOUT_MS = 5000
+)
+
+var (
+	loraRadio *sx127x.Device
+	txmsg     = []byte("Hello TinyGO")
+
+	// We assume LoRa Featherwing module is connected to PyBadge:
+	SX127X_PIN_RST  = machine.D11
+	SX127X_PIN_CS   = machine.D10
+	SX127X_PIN_DIO0 = machine.D6
+	SX127X_PIN_DIO1 = machine.D9
+	SX127X_SPI      = machine.SPI0
+)
+
+func dioIrqHandler(machine.Pin) {
+	loraRadio.HandleInterrupt()
+}
+
+func main() {
+	time.Sleep(5 * time.Second)
+	println("\n# TinyGo Lora RX/TX test")
+	println("# ----------------------")
+	machine.LED.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	SX127X_PIN_RST.Configure(machine.PinConfig{Mode: machine.PinOutput})
+
+	SX127X_SPI.Configure(machine.SPIConfig{Frequency: 500000, Mode: 0})
+
+	println("main: create and start SX127x driver")
+	loraRadio = sx127x.New(SX127X_SPI, SX127X_PIN_RST)
+	loraRadio.SetRadioController(sx127x.NewRadioControl(SX127X_PIN_CS, SX127X_PIN_DIO0, SX127X_PIN_DIO1))
+
+	loraRadio.Reset()
+	state := loraRadio.DetectDevice()
+	if !state {
+		panic("main: sx127x NOT FOUND !!!")
+	} else {
+		println("main: sx127x found")
+	}
+
+	// Prepare for Lora Operation
+	loraConf := lora.Config{
+		Freq:           lora.MHz_868_1,
+		Bw:             lora.Bandwidth_125_0,
+		Sf:             lora.SpreadingFactor9,
+		Cr:             lora.CodingRate4_7,
+		HeaderType:     lora.HeaderExplicit,
+		Preamble:       12,
+		Iq:             lora.IQStandard,
+		Crc:            lora.CRCOn,
+		SyncWord:       lora.SyncPrivate,
+		LoraTxPowerDBm: 20,
+	}
+
+	loraRadio.LoraConfig(loraConf)
+
+	var count uint
+	for {
+		tStart := time.Now()
+
+		println("main: Receiving Lora for 10 seconds")
+		for time.Since(tStart) < 10*time.Second {
+			buf, err := loraRadio.Rx(LORA_DEFAULT_RXTIMEOUT_MS)
+			if err != nil {
+				println("RX Error: ", err)
+			} else if buf != nil {
+				println("Packet Received: len=", len(buf), string(buf))
+			}
+		}
+		println("main: End Lora RX")
+		println("LORA TX size=", len(txmsg), " -> ", string(txmsg))
+		err := loraRadio.Tx(txmsg, LORA_DEFAULT_TXTIMEOUT_MS)
+		if err != nil {
+			println("TX Error:", err)
+		}
+		count++
+	}
+
+}

examples/ttp229/main.go

@@ -0,0 +1,40 @@
+package main
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers/ttp229"
+
+	"machine"
+)
+
+func main() {
+	time.Sleep(5 * time.Second)
+	sensor := ttp229.NewPin(machine.A5, machine.A4)
+	sensor.Configure(ttp229.Configuration{Inputs: 16})
+
+	println("READY")
+	for {
+		sensor.ReadKeys()
+		for i := byte(0); i < 16; i++ {
+			if sensor.IsKeyPressed(i) {
+				print("1 ")
+			} else {
+				print("0 ")
+			}
+		}
+		println("")
+
+		println("Pressed key:", sensor.GetKey())
+
+		for i := byte(0); i < 16; i++ {
+			if sensor.IsKeyDown(i) {
+				println("Key", i, "is down")
+			} else if sensor.IsKeyUp(i) {
+				println("Key", i, "is up")
+			}
+		}
+
+		time.Sleep(100 * time.Millisecond)
+	}
+}

examples/wifinina/connect/main.go

@@ -128,17 +128,29 @@ func waitSerial() {
 	}
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
 }

examples/wifinina/http-get/main.go

@@ -74,6 +74,7 @@ func main() {
 	waitSerial()
 
 	connectToAP()
+	displayIP()
 
 	// You can send and receive cookies in the following way
 	// 	import "tinygo.org/x/drivers/net/http/cookiejar"
@@ -131,28 +132,42 @@ func waitSerial() {
 	}
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
 
+func displayIP() {
 	ip, _, _, err := adaptor.GetIP()
 	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
 		message(err.Error())
 		time.Sleep(1 * time.Second)
 	}
-	message(ip.String())
+	message("IP address: " + ip.String())
 }
 
 func message(msg string) {
 	println(msg, "\r")
 }
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

examples/wifinina/mqttclient/main.go

@@ -65,6 +65,7 @@ func main() {
 	adaptor.Configure()
 
 	connectToAP()
+	displayIP()
 
 	opts := mqtt.NewClientOptions()
 	opts.AddBroker(server).SetClientID("tinygo-client-" + randomString(10))
@@ -101,26 +102,33 @@ func main() {
 	println("Done.")
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
 
+func displayIP() {
 	ip, _, _, err := adaptor.GetIP()
 	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
 		println(err.Error())
 		time.Sleep(1 * time.Second)
 	}
-	println(ip.String())
+	println("IP address: " + ip.String())
 }
 
 // Returns an int >= min, < max

examples/wifinina/mqttsub/main.go

@@ -71,6 +71,7 @@ func main() {
 	adaptor.Configure()
 
 	connectToAP()
+	displayIP()
 
 	opts := mqtt.NewClientOptions()
 	opts.AddBroker(server).SetClientID("tinygo-client-" + randomString(10))
@@ -113,27 +114,33 @@ func publishing() {
 	}
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
 
-	time.Sleep(2 * time.Second)
+func displayIP() {
 	ip, _, _, err := adaptor.GetIP()
 	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
 		println(err.Error())
 		time.Sleep(1 * time.Second)
 	}
-	println(ip.String())
+	println("IP address: " + ip.String())
 }
 
 // Returns an int >= min, < max

examples/wifinina/ntpclient/main.go

@@ -61,6 +61,7 @@ func main() {
 	waitSerial()
 
 	connectToAP()
+	displayIP()
 
 	// now make UDP connection
 	ip := net.ParseIP(ntpHost)
@@ -149,29 +150,42 @@ func clearBuffer() {
 	}
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
 
-	time.Sleep(2 * time.Second)
+func displayIP() {
 	ip, _, _, err := adaptor.GetIP()
 	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
 		message(err.Error())
 		time.Sleep(1 * time.Second)
 	}
-	message(ip.String())
+	message("IP address: " + ip.String())
 }
 
 func message(format string, args ...interface{}) {
 	println(fmt.Sprintf(format, args...), "\r")
 }
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

examples/wifinina/tcpclient/main.go

@@ -56,6 +56,7 @@ func main() {
 	adaptor.Configure()
 
 	connectToAP()
+	displayIP()
 
 	for {
 		sendBatch()
@@ -111,29 +112,42 @@ func sendBatch() {
 	conn.Close()
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
 
-	time.Sleep(2 * time.Second)
+func displayIP() {
 	ip, _, _, err := adaptor.GetIP()
 	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
 		message(err.Error())
 		time.Sleep(1 * time.Second)
 	}
-	message(ip.String())
+	message("IP address: " + ip.String())
 }
 
 func message(msg string) {
 	println(msg, "\r")
 }
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

examples/wifinina/tlsclient/main.go

@@ -66,6 +66,7 @@ func main() {
 	waitSerial()
 
 	connectToAP()
+	displayIP()
 
 	for {
 		readConnection()
@@ -121,29 +122,42 @@ func makeHTTPSRequest() {
 	lastRequestTime = time.Now()
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
 
-	time.Sleep(2 * time.Second)
+func displayIP() {
 	ip, _, _, err := adaptor.GetIP()
 	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
 		message(err.Error())
 		time.Sleep(1 * time.Second)
 	}
-	message(ip.String())
+	message("IP address: " + ip.String())
 }
 
 func message(msg string) {
 	println(msg, "\r")
 }
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

examples/wifinina/udpstation/main.go

@@ -50,6 +50,7 @@ func main() {
 
 	// connect to access point
 	connectToAP()
+	displayIP()
 
 	// now make UDP connection
 	ip := net.ParseIP(hubIP)
@@ -57,7 +58,10 @@ func main() {
 	laddr := &net.UDPAddr{Port: 2222}
 
 	println("Dialing UDP connection...")
-	conn, _ := net.DialUDP("udp", laddr, raddr)
+	conn, err := net.DialUDP("udp", laddr, raddr)
+	if err != nil {
+		failMessage(err.Error())
+	}
 
 	for {
 		// send data
@@ -74,28 +78,42 @@ func main() {
 	println("Done.")
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
 
+func displayIP() {
 	ip, _, _, err := adaptor.GetIP()
 	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
 		message(err.Error())
 		time.Sleep(1 * time.Second)
 	}
-	message(ip.String())
+	message("IP address: " + ip.String())
 }
 
 func message(msg string) {
 	println(msg, "\r")
 }
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

examples/wifinina/webclient/main.go

@@ -20,8 +20,8 @@ var (
 	pass string
 )
 
-// IP address of the server aka "hub". Replace with your own info.
+// IP address of the "example.com" server. Replace with your own info.
-const server = "tinygo.org"
+const server = "93.184.216.34"
 
 // these are the default pins for the Arduino Nano33 IoT.
 // change these to connect to a different UART or pins for the ESP8266/ESP32
@@ -63,6 +63,7 @@ func main() {
 	waitSerial()
 
 	connectToAP()
+	displayIP()
 
 	for {
 		readConnection()
@@ -123,28 +124,42 @@ func makeHTTPRequest() {
 	lastRequestTime = time.Now()
 }
 
+const retriesBeforeFailure = 3
+
 // connect to access point
 func connectToAP() {
 	time.Sleep(2 * time.Second)
-	println("Connecting to " + ssid)
+	var err error
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+	for i := 0; i < retriesBeforeFailure; i++ {
-	if err != nil { // error connecting to AP
+		println("Connecting to " + ssid)
-		for {
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-			println(err)
+		if err == nil {
-			time.Sleep(1 * time.Second)
+			println("Connected.")
+
+			return
 		}
 	}
 
-	println("Connected.")
+	// error connecting to AP
+	failMessage(err.Error())
+}
 
+func displayIP() {
 	ip, _, _, err := adaptor.GetIP()
 	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
 		message(err.Error())
 		time.Sleep(1 * time.Second)
 	}
-	message(ip.String())
+	message("IP address: " + ip.String())
 }
 
 func message(msg string) {
 	println(msg, "\r")
 }
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

examples/wifinina/webserver/main.go

@@ -27,6 +27,11 @@ var (
 	pass string
 )
 
+var (
+	// this is the ESP chip that has the WIFININA firmware flashed on it
+	adaptor *wifinina.Device
+)
+
 var led = machine.LED
 
 func main() {
@@ -49,31 +54,15 @@ func run() error {
 		SCK:       machine.NINA_SCK,
 	})
 
-	adaptor := wifinina.New(spi,
+	adaptor = wifinina.New(spi,
 		machine.NINA_CS,
 		machine.NINA_ACK,
 		machine.NINA_GPIO0,
 		machine.NINA_RESETN)
 	adaptor.Configure()
 
-	time.Sleep(2 * time.Second)
+	connectToAP()
-	println("Connecting to " + ssid)
+	displayIP()
-	err := adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
-	if err != nil {
-		return err
-	}
-
-	println("Connected.")
-
-	time.Sleep(2 * time.Second)
-	ip, subnet, gateway, err := adaptor.GetIP()
-	if err != nil {
-		return err
-	}
-
-	fmt.Printf("IP Address : %s\r\n", ip)
-	fmt.Printf("Mask       : %s\r\n", subnet)
-	fmt.Printf("Gateway    : %s\r\n", gateway)
 
 	http.UseDriver(adaptor)
 
@@ -204,6 +193,42 @@ func cnt(w http.ResponseWriter, r *http.Request) {
 	fmt.Fprintf(w, `{"cnt": %d}`, counter)
 }
 
+const retriesBeforeFailure = 3
+
+// connect to access point
+func connectToAP() {
+	time.Sleep(2 * time.Second)
+	var err error
+	for i := 0; i < retriesBeforeFailure; i++ {
+		println("Connecting to " + ssid)
+		err = adaptor.ConnectToAccessPoint(ssid, pass, 10*time.Second)
+		if err == nil {
+			println("Connected.")
+
+			return
+		}
+	}
+
+	// error connecting to AP
+	failMessage(err.Error())
+}
+
+func displayIP() {
+	ip, _, _, err := adaptor.GetIP()
+	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
+		message(err.Error())
+		time.Sleep(1 * time.Second)
+	}
+	message("IP address: " + ip.String())
+}
+
 func message(msg string) {
 	println(msg, "\r")
 }
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

go.mod

@@ -5,8 +5,8 @@ go 1.15
 require (
 	github.com/eclipse/paho.mqtt.golang v1.2.0
 	github.com/frankban/quicktest v1.10.2
+	github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510
 	golang.org/x/net v0.0.0-20210614182718-04defd469f4e
 	tinygo.org/x/tinyfont v0.3.0
-	tinygo.org/x/tinyfs v0.2.0
 	tinygo.org/x/tinyterm v0.1.0
 )

go.sum

@@ -5,6 +5,8 @@ github.com/frankban/quicktest v1.10.2 h1:19ARM85nVi4xH7xPXuc5eM/udya5ieh7b/Sv+d8
 github.com/frankban/quicktest v1.10.2/go.mod h1:K+q6oSqb0W0Ininfk863uOk1lMy69l/P6txr3mVT54s=
 github.com/google/go-cmp v0.5.2 h1:X2ev0eStA3AbceY54o37/0PQ/UWqKEiiO2dKL5OPaFM=
 github.com/google/go-cmp v0.5.2/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
+github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510 h1:El6M4kTTCOh6aBiKaUGG7oYTSPP8MxqL4YI3kZKwcP4=
+github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510/go.mod h1:pupxD2MaaD3pAXIBCelhxNneeOaAeabZDe5s4K6zSpQ=
 github.com/hajimehoshi/go-jisx0208 v1.0.0/go.mod h1:yYxEStHL7lt9uL+AbdWgW9gBumwieDoZCiB1f/0X0as=
 github.com/kr/pretty v0.2.1 h1:Fmg33tUaq4/8ym9TJN1x7sLJnHVwhP33CNkpYV/7rwI=
 github.com/kr/pretty v0.2.1/go.mod h1:ipq/a2n7PKx3OHsz4KJII5eveXtPO4qwEXGdVfWzfnI=
@@ -32,7 +34,5 @@ tinygo.org/x/tinyfont v0.2.1/go.mod h1:eLqnYSrFRjt5STxWaMeOWJTzrKhXqpWw7nU3bPfKO
 tinygo.org/x/tinyfont v0.3.0 h1:HIRLQoI3oc+2CMhPcfv+Ig88EcTImE/5npjqOnMD4lM=
 tinygo.org/x/tinyfont v0.3.0/go.mod h1:+TV5q0KpwSGRWnN+ITijsIhrWYJkoUCp9MYELjKpAXk=
 tinygo.org/x/tinyfs v0.1.0/go.mod h1:ysc8Y92iHfhTXeyEM9+c7zviUQ4fN9UCFgSOFfMWv20=
-tinygo.org/x/tinyfs v0.2.0 h1:M0lwZC/dEGFt16XYN5GTQsif/qCkAN2qUVNxELVD1xg=
-tinygo.org/x/tinyfs v0.2.0/go.mod h1:6ZHYdvB3sFYeMB3ypmXZCNEnFwceKc61ADYTYHpep1E=
 tinygo.org/x/tinyterm v0.1.0 h1:80i+j+KWoxCFa/Xfp6pWbh79x+8zUdMXC1vaKj2QhkY=
 tinygo.org/x/tinyterm v0.1.0/go.mod h1:/DDhNnGwNF2/tNgHywvyZuCGnbH3ov49Z/6e8LPLRR4=

gps/gps.go

@@ -13,6 +13,39 @@ import (
 var (
 	errInvalidNMEASentenceLength = errors.New("invalid NMEA sentence length")
 	errInvalidNMEAChecksum       = errors.New("invalid NMEA sentence checksum")
+	errEmptyNMEASentence         = errors.New("cannot parse empty NMEA sentence")
+	errUnknownNMEASentence       = errors.New("unsupported NMEA sentence type")
+	errInvalidGGASentence        = errors.New("invalid GGA NMEA sentence")
+	errInvalidRMCSentence        = errors.New("invalid RMC NMEA sentence")
+	errInvalidGLLSentence        = errors.New("invalid GLL NMEA sentence")
+)
+
+type GPSError struct {
+	Err      error
+	Info     string
+	Sentence string
+}
+
+func newGPSError(err error, sentence string, info string) GPSError {
+	return GPSError{
+		Info:     info,
+		Err:      err,
+		Sentence: sentence,
+	}
+}
+
+func (ge GPSError) Error() string {
+	return ge.Err.Error() + " " + ge.Info + " " + ge.Sentence
+}
+
+func (ge GPSError) Unwrap() error {
+	return ge.Err
+}
+
+const (
+	minimumNMEALength = 7
+	startingDelimiter = '$'
+	checksumDelimiter = '*'
 )
 
 // Device wraps a connection to a GPS device.
@@ -60,11 +93,11 @@ func (gps *Device) readNextSentence() (sentence string) {
 	gps.sentence.Reset()
 	var b byte = ' '
 
-	for b != '$' {
+	for b != startingDelimiter {
 		b = gps.readNextByte()
 	}
 
-	for b != '*' {
+	for b != checksumDelimiter {
 		gps.sentence.WriteByte(b)
 		b = gps.readNextByte()
 	}
@@ -126,17 +159,24 @@ func (gps *Device) WriteBytes(bytes []byte) {
 }
 
 // validSentence checks if a sentence has been received uncorrupted
+// For example, a valid NMEA sentence such as this:
+// $GPGLL,3751.65,S,14507.36,E*77
+// It has to start with a '$' character.
+// It has to have a 5 character long sentence identifier.
+// It has to end with a '*' character following by a checksum.
 func validSentence(sentence string) error {
-	if len(sentence) < 4 || sentence[0] != '$' || sentence[len(sentence)-3] != '*' {
+	if len(sentence) < minimumNMEALength || sentence[0] != startingDelimiter || sentence[len(sentence)-3] != checksumDelimiter {
 		return errInvalidNMEASentenceLength
 	}
 	var cs byte = 0
 	for i := 1; i < len(sentence)-3; i++ {
 		cs ^= sentence[i]
 	}
-	checksum := hex.EncodeToString([]byte{cs})
+	checksum := strings.ToUpper(hex.EncodeToString([]byte{cs}))
-	if (checksum[0] != sentence[len(sentence)-2]) || (checksum[1] != sentence[len(sentence)-1]) {
+	if checksum != sentence[len(sentence)-2:len(sentence)] {
-		return errInvalidNMEAChecksum
+		return newGPSError(errInvalidNMEAChecksum, sentence,
+			"expected "+sentence[len(sentence)-2:len(sentence)]+
+				" got "+checksum)
 	}
 
 	return nil

gps/gpsparser.go

@@ -1,19 +1,11 @@
 package gps
 
 import (
-	"errors"
 	"strconv"
 	"strings"
 	"time"
 )
 
-var (
-	errEmptyNMEASentence   = errors.New("cannot parse empty NMEA sentence")
-	errUnknownNMEASentence = errors.New("unsupported NMEA sentence type")
-	errInvalidGGASentence  = errors.New("invalid GGA NMEA sentence")
-	errInvalidRMCSentence  = errors.New("invalid RMC NMEA sentence")
-)
-
 // Parser for GPS NMEA sentences.
 type Parser struct {
 }
@@ -51,43 +43,65 @@ func NewParser() Parser {
 }
 
 // Parse parses a NMEA sentence looking for fix info.
-func (parser *Parser) Parse(sentence string) (fix Fix, err error) {
+func (parser *Parser) Parse(sentence string) (Fix, error) {
+	var fix Fix
 	if sentence == "" {
-		err = errEmptyNMEASentence
+		return fix, errEmptyNMEASentence
-		return
+	}
+	if len(sentence) < 6 {
+		return fix, errInvalidNMEASentenceLength
 	}
 	typ := sentence[3:6]
 	switch typ {
 	case "GGA":
+		// https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm
 		fields := strings.Split(sentence, ",")
 		if len(fields) != 15 {
-			err = errInvalidGGASentence
+			return fix, errInvalidGGASentence
-			return
 		}
 
-		fix.Altitude = findAltitude(fields[9])
-		fix.Satellites = findSatellites(fields[7])
-		fix.Longitude = findLongitude(fields[4], fields[5])
-		fix.Latitude = findLatitude(fields[2], fields[3])
 		fix.Time = findTime(fields[1])
+		fix.Latitude = findLatitude(fields[2], fields[3])
+		fix.Longitude = findLongitude(fields[4], fields[5])
+		fix.Satellites = findSatellites(fields[7])
+		fix.Altitude = findAltitude(fields[9])
 		fix.Valid = (fix.Altitude != -99999) && (fix.Satellites > 0)
+
+		return fix, nil
+	case "GLL":
+		// https://docs.novatel.com/OEM7/Content/Logs/GPGLL.htm
+		fields := strings.Split(sentence, ",")
+		if len(fields) != 8 {
+			return fix, errInvalidGLLSentence
+		}
+
+		fix.Latitude = findLatitude(fields[1], fields[2])
+		fix.Longitude = findLongitude(fields[3], fields[4])
+		fix.Time = findTime(fields[5])
+
+		fix.Valid = (fields[6] == "A")
+
+		return fix, nil
 	case "RMC":
+		// https://docs.novatel.com/OEM7/Content/Logs/GPRMC.htm
 		fields := strings.Split(sentence, ",")
 		if len(fields) != 13 {
-			err = errInvalidRMCSentence
+			return fix, errInvalidRMCSentence
-			return
 		}
 
-		fix.Longitude = findLongitude(fields[5], fields[6])
-		fix.Latitude = findLatitude(fields[3], fields[4])
 		fix.Time = findTime(fields[1])
+		fix.Valid = (fields[2] == "A")
+		fix.Latitude = findLatitude(fields[3], fields[4])
+		fix.Longitude = findLongitude(fields[5], fields[6])
 		fix.Speed = findSpeed(fields[7])
 		fix.Heading = findHeading(fields[8])
-		fix.Valid = (len(fields[2]) > 0 && fields[2][0:1] == "A")
+		date := findDate(fields[9])
-	default:
+		fix.Time = fix.Time.AddDate(date.Year(), int(date.Month()), date.Day())
-		err = errUnknownNMEASentence
+
+		return fix, nil
 	}
-	return
+
+	return fix, newGPSError(errUnknownNMEASentence, sentence, typ)
 }
 
 // findTime returns the time from an NMEA sentence:
@@ -100,7 +114,10 @@ func findTime(val string) time.Time {
 	h, _ := strconv.ParseInt(val[0:2], 10, 8)
 	m, _ := strconv.ParseInt(val[2:4], 10, 8)
 	s, _ := strconv.ParseInt(val[4:6], 10, 8)
-	ms, _ := strconv.ParseInt(val[7:10], 10, 16)
+	ms := int64(0)
+	if len(val) > 6 {
+		ms, _ = strconv.ParseInt(val[7:], 10, 16)
+	}
 	t := time.Date(0, 0, 0, int(h), int(m), int(s), int(ms), time.UTC)
 
 	return t
@@ -120,11 +137,11 @@ func findAltitude(val string) int32 {
 // $--GGA,,ddmm.mmmmm,x,,,,,,,,,,,*hh
 func findLatitude(val, hemi string) float32 {
 	if len(val) > 8 {
-		var dd = val[0:2]
+		dd := val[0:2]
-		var mm = val[2:]
+		mm := val[2:]
-		var d, _ = strconv.ParseFloat(dd, 32)
+		d, _ := strconv.ParseFloat(dd, 32)
-		var m, _ = strconv.ParseFloat(mm, 32)
+		m, _ := strconv.ParseFloat(mm, 32)
-		var v = float32(d + (m / 60))
+		v := float32(d + (m / 60))
 		if hemi == "S" {
 			v *= -1
 		}
@@ -133,7 +150,7 @@ func findLatitude(val, hemi string) float32 {
 	return 0.0
 }
 
-// findLatitude returns the longitude from an NMEA sentence:
+// findLongitude returns the longitude from an NMEA sentence:
 // $--GGA,,,,dddmm.mmmmm,x,,,,,,,,,*hh
 func findLongitude(val, hemi string) float32 {
 	if len(val) > 8 {
@@ -162,6 +179,20 @@ func findSatellites(val string) (n int16) {
 	return 0
 }
 
+// findDate returns the date from an RMC NMEA sentence.
+func findDate(val string) time.Time {
+	if len(val) < 6 {
+		return time.Time{}
+	}
+
+	d, _ := strconv.ParseInt(val[0:2], 10, 8)
+	m, _ := strconv.ParseInt(val[2:4], 10, 8)
+	y, _ := strconv.ParseInt(val[4:6], 10, 8)
+	t := time.Date(int(2000+y), time.Month(m), int(d), 0, 0, 0, 0, time.UTC)
+
+	return t
+}
+
 // findSpeed returns the speed from an RMC NMEA sentence.
 func findSpeed(val string) float32 {
 	if len(val) > 0 {

gps/gpsparser_test.go

@@ -0,0 +1,103 @@
+package gps
+
+import (
+	"testing"
+	"time"
+
+	qt "github.com/frankban/quicktest"
+)
+
+func TestParseUnknownSentence(t *testing.T) {
+	c := qt.New(t)
+
+	p := NewParser()
+
+	val := "$GPGSV,3,1,09,07,14,317,22,08,31,284,25,10,32,133,39,16,85,232,29*7F"
+	_, err := p.Parse(val)
+	c.Assert(err.Error(), qt.Contains, "unsupported NMEA sentence type")
+}
+
+func TestParseGGA(t *testing.T) {
+	c := qt.New(t)
+
+	p := NewParser()
+
+	val := "$GPGGA,115739.00,4158.8441367,N,09147.4416929,"
+	fix, err := p.Parse(val)
+	if err != errInvalidGGASentence {
+		t.Error("should have errInvalidGGASentence error")
+	}
+
+	val = "$GPGGA,115739.00,4158.8441367,N,09147.4416929,W,4,13,0.9,255.747,M,-32.00,M,01,0000*6E"
+	fix, err = p.Parse(val)
+	if err != nil {
+		t.Error("should have parsed")
+	}
+	c.Assert(fix.Latitude, qt.Equals, float32(41.980735778808594))
+	c.Assert(fix.Longitude, qt.Equals, float32(-91.79069519042969))
+	c.Assert(fix.Altitude, qt.Equals, int32(255))
+}
+
+func TestParseGLL(t *testing.T) {
+	c := qt.New(t)
+
+	p := NewParser()
+
+	val := "$GPGLL,3953.88008971,N,10506.7531891"
+	_, err := p.Parse(val)
+	if err != errInvalidGLLSentence {
+		t.Error("should have errInvalidGLLSentence error")
+	}
+
+	val = "$GPGLL,5109.0262317,N,11401.8407304,W,202725.00,A,D*79"
+	fix, err := p.Parse(val)
+	if err != nil {
+		t.Error("should have parsed")
+	}
+
+	c.Assert(fix.Latitude, qt.Equals, float32(51.15043640136719))
+	c.Assert(fix.Longitude, qt.Equals, float32(-114.03067779541016))
+}
+
+func TestParseRMC(t *testing.T) {
+	c := qt.New(t)
+
+	p := NewParser()
+
+	val := "$GPRMC,203522.00,A,5109.0262308,N,11401.8407342,"
+	_, err := p.Parse(val)
+	if err != errInvalidRMCSentence {
+		t.Error("should have errInvalidRMCSentence error")
+	}
+
+	val = "$GPRMC,203522.00,A,5109.0262308,N,11401.8407342,W,0.004,133.4,130522,0.0,E,D*2B"
+	fix, err := p.Parse(val)
+	if err != nil {
+		t.Error("should have parsed")
+	}
+
+	c.Assert(fix.Time.Year(), qt.Equals, 2022)
+	c.Assert(fix.Time.Month(), qt.Equals, time.May)
+	c.Assert(fix.Time.Day(), qt.Equals, 13)
+	c.Assert(fix.Time.Hour(), qt.Equals, 20)
+	c.Assert(fix.Time.Minute(), qt.Equals, 35)
+	c.Assert(fix.Time.Second(), qt.Equals, 22)
+	c.Assert(fix.Latitude, qt.Equals, float32(51.15043640136719))
+	c.Assert(fix.Longitude, qt.Equals, float32(-114.03067779541016))
+}
+
+func TestTime(t *testing.T) {
+	c := qt.New(t)
+
+	val := ""
+	tm := findTime(val)
+	c.Assert(tm, qt.Equals, time.Time{})
+
+	val = "225446"
+	tm = findTime(val)
+	c.Assert(tm, qt.Equals, time.Date(0, 0, 0, 22, 54, 46, 0, time.UTC))
+
+	val = "124326.02752"
+	tm = findTime(val)
+	c.Assert(tm, qt.Equals, time.Date(0, 0, 0, 12, 43, 26, 2752, time.UTC))
+}

i2csoft/i2csoft.go

@@ -3,6 +3,9 @@ package i2csoft
 import (
 	"errors"
 	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/delay"
 )
 
 // I2C is an I2C implementation by Software. Since it is implemented by
@@ -278,3 +281,8 @@ func (i2c *I2C) WriteRegister(address uint8, register uint8, data []byte) error
 func (i2c *I2C) ReadRegister(address uint8, register uint8, data []byte) error {
 	return i2c.Tx(uint16(address), []byte{register}, data)
 }
+
+// wait waits for half the time of the SCL operation interval.
+func (i2c *I2C) wait() {
+	delay.Sleep(50 * time.Microsecond) // half of a 100kHz cycle (50µs)
+}

i2csoft/i2csoft_atsamd51.go

@@ -1,16 +0,0 @@
-//go:build atsamd51 || atsame5x
-
-package i2csoft
-
-import (
-	"device"
-)
-
-// wait waits for half the time of the SCL operation interval. It is set to
-// about 100 kHz.
-func (i2c *I2C) wait() {
-	wait := 20
-	for i := 0; i < wait; i++ {
-		device.Asm(`nop`)
-	}
-}

i2csoft/i2csoft_esp32.go

@@ -1,16 +0,0 @@
-//go:build esp32
-
-package i2csoft
-
-import (
-	"device"
-)
-
-// wait waits for half the time of the SCL operation interval. It is set to
-// about 100 kHz.
-func (i2c *I2C) wait() {
-	wait := 60
-	for i := 0; i < wait; i++ {
-		device.Asm(`nop`)
-	}
-}

i2csoft/i2csoft_nrf52840.go

@@ -1,16 +0,0 @@
-//go:build nrf52840
-
-package i2csoft
-
-import (
-	"device"
-)
-
-// wait waits for half the time of the SCL operation interval. It is set to
-// about 100 kHz.
-func (i2c *I2C) wait() {
-	wait := 26
-	for i := 0; i < wait; i++ {
-		device.Asm(`nop`)
-	}
-}

i2csoft/i2csoft_other.go

@@ -1,15 +0,0 @@
-//go:build !esp32 && !atsamd51 && !atsame5x && !stm32f4 && !rp2040 && !nrf52840
-
-package i2csoft
-
-import (
-	"device"
-)
-
-// wait waits for half the time of the SCL operation interval.
-func (i2c *I2C) wait() {
-	wait := 20
-	for i := 0; i < wait; i++ {
-		device.Asm(`nop`)
-	}
-}

i2csoft/i2csoft_rp2040.go

@@ -1,16 +0,0 @@
-//go:build rp2040
-
-package i2csoft
-
-import (
-	"device"
-)
-
-// wait waits for half the time of the SCL operation interval. It is set to
-// about 100 kHz.
-func (i2c *I2C) wait() {
-	wait := 50
-	for i := 0; i < wait; i++ {
-		device.Asm(`nop`)
-	}
-}

i2csoft/i2csoft_stm32f4.go

@@ -1,16 +0,0 @@
-//go:build stm32f4
-
-package i2csoft
-
-import (
-	"device"
-)
-
-// wait waits for half the time of the SCL operation interval. It is set to
-// about 100 kHz.
-func (i2c *I2C) wait() {
-	wait := 77
-	for i := 0; i < wait; i++ {
-		device.Asm(`nop`)
-	}
-}

ili9341/ili9341.go

@@ -5,19 +5,21 @@ import (
 	"image/color"
 	"machine"
 	"time"
+
+	"tinygo.org/x/drivers"
 )
 
 type Config struct {
 	Width            int16
 	Height           int16
-	Rotation         Rotation
+	Rotation         drivers.Rotation
 	DisplayInversion bool
 }
 
 type Device struct {
 	width    int16
 	height   int16
-	rotation Rotation
+	rotation drivers.Rotation
 	driver   driver
 
 	x0, x1 int16 // cached address window; prevents useless/expensive
@@ -136,10 +138,12 @@ func (d *Device) Configure(config Config) {
 
 // Size returns the current size of the display.
 func (d *Device) Size() (x, y int16) {
-	if d.rotation == 1 || d.rotation == 3 {
+	switch d.rotation {
+	case Rotation90, Rotation270, Rotation90Mirror, Rotation270Mirror:
 		return d.height, d.width
+	default: // Rotation0, Rotation180, etc
+		return d.width, d.height
 	}
-	return d.width, d.height
 }
 
 // SetPixel modifies the internal buffer.
@@ -156,6 +160,18 @@ func (d *Device) Display() error {
 	return nil
 }
 
+// EnableTEOutput enables the TE ("tearing effect") line.
+// The TE line goes high when the screen is not currently being updated and can
+// be used to start drawing. When used correctly, it can avoid tearing entirely.
+func (d *Device) EnableTEOutput(on bool) {
+	if on {
+		cmdBuf[0] = 0
+		d.sendCommand(TEON, cmdBuf[:1]) // M=0 (V-blanking only, no H-blanking)
+	} else {
+		d.sendCommand(TEOFF, nil) // TEOFF
+	}
+}
+
 // DrawRGBBitmap copies an RGB bitmap to the internal buffer at given coordinates
 func (d *Device) DrawRGBBitmap(x, y int16, data []uint16, w, h int16) error {
 	k, i := d.Size()
@@ -241,13 +257,41 @@ func (d *Device) FillScreen(c color.RGBA) {
 	}
 }
 
-// GetRotation returns the current rotation of the device
+// Set the sleep mode for this LCD panel. When sleeping, the panel uses a lot
-func (d *Device) GetRotation() Rotation {
+// less power. The LCD won't display an image anymore, but the memory contents
+// will be kept.
+func (d *Device) Sleep(sleepEnabled bool) error {
+	if sleepEnabled {
+		// Shut down LCD panel.
+		d.sendCommand(SLPIN, nil)
+		time.Sleep(5 * time.Millisecond) // 5ms required by the datasheet
+	} else {
+		// Turn the LCD panel back on.
+		d.sendCommand(SLPOUT, nil)
+		// Note: the ili9341 documentation says that it is needed to wait at
+		// least 120ms before going to sleep again. Sleeping here would not be
+		// practical (delays turning on the screen too much), so just hope the
+		// screen won't need to sleep again for at least 120ms.
+		// In practice, it's unlikely the user will set the display to sleep
+		// again within 120ms.
+	}
+	return nil
+}
+
+// Rotation returns the current rotation of the device.
+func (d *Device) Rotation() drivers.Rotation {
 	return d.rotation
 }
 
-// SetRotation changes the rotation of the device (clock-wise)
+// GetRotation returns the current rotation of the device.
-func (d *Device) SetRotation(rotation Rotation) {
+//
+// Deprecated: use Rotation instead.
+func (d *Device) GetRotation() drivers.Rotation {
+	return d.rotation
+}
+
+// SetRotation changes the rotation of the device (clock-wise).
+func (d *Device) SetRotation(rotation drivers.Rotation) error {
 	madctl := uint8(0)
 	switch rotation % 8 {
 	case Rotation0:
@@ -255,21 +299,22 @@ func (d *Device) SetRotation(rotation Rotation) {
 	case Rotation90:
 		madctl = MADCTL_MV | MADCTL_BGR
 	case Rotation180:
-		madctl = MADCTL_MY | MADCTL_BGR
+		madctl = MADCTL_MY | MADCTL_BGR | MADCTL_ML
 	case Rotation270:
-		madctl = MADCTL_MX | MADCTL_MY | MADCTL_MV | MADCTL_BGR
+		madctl = MADCTL_MX | MADCTL_MY | MADCTL_MV | MADCTL_BGR | MADCTL_ML
 	case Rotation0Mirror:
 		madctl = MADCTL_BGR
 	case Rotation90Mirror:
-		madctl = MADCTL_MY | MADCTL_MV | MADCTL_BGR
+		madctl = MADCTL_MY | MADCTL_MV | MADCTL_BGR | MADCTL_ML
 	case Rotation180Mirror:
-		madctl = MADCTL_MX | MADCTL_MY | MADCTL_BGR
+		madctl = MADCTL_MX | MADCTL_MY | MADCTL_BGR | MADCTL_ML
 	case Rotation270Mirror:
-		madctl = MADCTL_MX | MADCTL_MY | MADCTL_MV | MADCTL_BGR
+		madctl = MADCTL_MX | MADCTL_MY | MADCTL_MV | MADCTL_BGR | MADCTL_ML
 	}
 	cmdBuf[0] = madctl
 	d.sendCommand(MADCTL, cmdBuf[:1])
 	d.rotation = rotation
+	return nil
 }
 
 // SetScrollArea sets an area to scroll with fixed top/bottom or left/right parts of the display

ili9341/registers.go

@@ -1,5 +1,7 @@
 package ili9341
 
+import "tinygo.org/x/drivers"
+
 type Rotation uint8
 
 const (
@@ -39,6 +41,8 @@ const (
 
 	PTLAR    = 0x30 ///< Partial Area
 	VSCRDEF  = 0x33 ///< Vertical Scrolling Definition
+	TEOFF    = 0x34 ///< TEOFF: Tearing Effect Line OFF
+	TEON     = 0x35 ///< TEON: Tearing Effect Line ON
 	MADCTL   = 0x36 ///< Memory Access Control
 	VSCRSADD = 0x37 ///< Vertical Scrolling Start Address
 	PIXFMT   = 0x3A ///< COLMOD: Pixel Format Set
@@ -77,13 +81,13 @@ const (
 )
 
 const (
-	Rotation0   Rotation = 0
+	Rotation0   = drivers.Rotation0
-	Rotation90  Rotation = 1 // 90 degrees clock-wise rotation
+	Rotation90  = drivers.Rotation90 // 90 degrees clock-wise rotation
-	Rotation180 Rotation = 2
+	Rotation180 = drivers.Rotation180
-	Rotation270 Rotation = 3
+	Rotation270 = drivers.Rotation270
 
-	Rotation0Mirror   Rotation = 4
+	Rotation0Mirror   = drivers.Rotation0Mirror
-	Rotation90Mirror  Rotation = 5
+	Rotation90Mirror  = drivers.Rotation90Mirror
-	Rotation180Mirror Rotation = 6
+	Rotation180Mirror = drivers.Rotation180Mirror
-	Rotation270Mirror Rotation = 7
+	Rotation270Mirror = drivers.Rotation270Mirror
 )

lora/config.go

@@ -0,0 +1,85 @@
+package lora
+
+import "errors"
+
+// Config holds the LoRa configuration parameters
+type Config struct {
+	Freq           uint32 // Frequency
+	Cr             uint8  // Coding Rate
+	Sf             uint8  // Spread Factor
+	Bw             uint8  // Bandwidth
+	Ldr            uint8  // Low Data Rate
+	Preamble       uint16 // PreambleLength
+	SyncWord       uint16 // Sync Word
+	HeaderType     uint8  // Header : Implicit/explicit
+	Crc            uint8  // CRC : Yes/No
+	Iq             uint8  // iq : Standard/inverted
+	LoraTxPowerDBm int8   // Tx power in Dbm
+}
+
+var (
+	ErrUndefinedLoraConf = errors.New("Undefined Lora configuration")
+)
+
+const (
+	SpreadingFactor5  = 0x05
+	SpreadingFactor6  = 0x06
+	SpreadingFactor7  = 0x07
+	SpreadingFactor8  = 0x08
+	SpreadingFactor9  = 0x09
+	SpreadingFactor10 = 0x0A
+	SpreadingFactor11 = 0x0B
+	SpreadingFactor12 = 0x0C
+)
+
+const (
+	CodingRate4_5 = 0x01 //  7     0     LoRa coding rate: 4/5
+	CodingRate4_6 = 0x02 //  7     0                       4/6
+	CodingRate4_7 = 0x03 //  7     0                       4/7
+	CodingRate4_8 = 0x04 //  7     0                       4/8
+)
+
+const (
+	HeaderExplicit = 0x00 //  7     0     LoRa header mode: explicit
+	HeaderImplicit = 0x01 //  7     0                       implicit
+)
+
+const (
+	LowDataRateOptimizeOff = 0x00 //  7     0     LoRa low data rate optimization: disabled
+	LowDataRateOptimizeOn  = 0x01 //  7     0                                      enabled
+)
+
+const (
+	CRCOff = 0x00 //  7     0     LoRa CRC mode: disabled
+	CRCOn  = 0x01 //  7     0                    enabled
+)
+
+const (
+	IQStandard = 0x00 //  7     0     LoRa IQ setup: standard
+	IQInverted = 0x01 //  7     0                    inverted
+)
+
+const (
+	Bandwidth_7_8   = iota // 7.8 kHz
+	Bandwidth_10_4         // 10.4 kHz
+	Bandwidth_15_6         // 15.6 kHz
+	Bandwidth_20_8         // 20.8 kHz
+	Bandwidth_31_25        // 31.25 kHz
+	Bandwidth_41_7         // 41.7 kHz
+	Bandwidth_62_5         // 62.5 kHz
+	Bandwidth_125_0        // 125.0 kHz
+	Bandwidth_250_0        // 250.0 kHz
+	Bandwidth_500_0        // 500.0 kHz
+)
+
+const (
+	SyncPublic = iota
+	SyncPrivate
+)
+
+const (
+	MHz_868_1 = 868100000
+	MHz_868_5 = 868500000
+	MHz_916_8 = 916800000
+	MHz_923_3 = 923300000
+)

lora/lorawan/adaptor.go

@@ -0,0 +1,138 @@
+package lorawan
+
+import (
+	"errors"
+
+	"tinygo.org/x/drivers/lora"
+	"tinygo.org/x/drivers/lora/lorawan/region"
+)
+
+var (
+	ErrNoJoinAcceptReceived    = errors.New("no JoinAccept packet received")
+	ErrNoRadioAttached         = errors.New("no LoRa radio attached")
+	ErrInvalidEuiLength        = errors.New("invalid EUI length")
+	ErrInvalidAppKeyLength     = errors.New("invalid AppKey length")
+	ErrInvalidPacketLength     = errors.New("invalid packet length")
+	ErrInvalidDevAddrLength    = errors.New("invalid DevAddr length")
+	ErrInvalidMic              = errors.New("invalid Mic")
+	ErrFrmPayloadTooLarge      = errors.New("FRM payload too large")
+	ErrInvalidNetIDLength      = errors.New("invalid NetID length")
+	ErrInvalidNwkSKeyLength    = errors.New("invalid NwkSKey length")
+	ErrInvalidAppSKeyLength    = errors.New("invalid AppSKey length")
+	ErrUndefinedRegionSettings = errors.New("undefined Regionnal Settings ")
+)
+
+const (
+	LORA_TX_TIMEOUT = 2000
+	LORA_RX_TIMEOUT = 10000
+)
+
+var (
+	ActiveRadio    lora.Radio
+	Retries        = 15
+	regionSettings region.RegionSettings
+)
+
+// UseRegionSettings sets current Lorawan Regional parameters
+func UseRegionSettings(rs region.RegionSettings) {
+	regionSettings = rs
+}
+
+// UseRadio attaches Lora radio driver to Lorawan
+func UseRadio(r lora.Radio) {
+	if ActiveRadio != nil {
+		panic("lorawan.ActiveRadio is already set")
+	}
+	ActiveRadio = r
+}
+
+// SetPublicNetwork defines Lora Sync Word according to network type (public/private)
+func SetPublicNetwork(enabled bool) {
+	ActiveRadio.SetPublicNetwork(enabled)
+}
+
+// ApplyChannelConfig sets current Lora modulation according to current regional settings
+func applyChannelConfig(ch *region.Channel) {
+	ActiveRadio.SetFrequency(ch.Frequency)
+	ActiveRadio.SetBandwidth(ch.Bandwidth)
+	ActiveRadio.SetCodingRate(ch.CodingRate)
+	ActiveRadio.SetSpreadingFactor(ch.SpreadingFactor)
+	ActiveRadio.SetPreambleLength(ch.PreambleLength)
+	ActiveRadio.SetTxPower(ch.TxPowerDBm)
+	// Lorawan defaults to explicit headers
+	ActiveRadio.SetHeaderType(lora.HeaderExplicit)
+	ActiveRadio.SetCrc(true)
+}
+
+// Join tries to connect Lorawan Gateway
+func Join(otaa *Otaa, session *Session) error {
+	var resp []uint8
+
+	if ActiveRadio == nil {
+		return ErrNoRadioAttached
+	}
+
+	if regionSettings == nil {
+		return ErrUndefinedRegionSettings
+	}
+
+	otaa.Init()
+
+	// Send join packet
+	payload, err := otaa.GenerateJoinRequest()
+	if err != nil {
+		return err
+	}
+
+	// Prepare radio for Join Tx
+	applyChannelConfig(regionSettings.JoinRequestChannel())
+	ActiveRadio.SetIqMode(lora.IQStandard)
+	ActiveRadio.Tx(payload, LORA_TX_TIMEOUT)
+	if err != nil {
+		return err
+	}
+
+	// Wait for JoinAccept
+	applyChannelConfig(regionSettings.JoinAcceptChannel())
+	ActiveRadio.SetIqMode(lora.IQInverted)
+	resp, err = ActiveRadio.Rx(LORA_RX_TIMEOUT)
+	if err != nil {
+		return err
+	}
+
+	if resp == nil {
+		return ErrNoJoinAcceptReceived
+	}
+
+	err = otaa.DecodeJoinAccept(resp, session)
+	if err != nil {
+		return err
+	}
+
+	return nil
+}
+
+// SendUplink sends Lorawan Uplink message
+func SendUplink(data []uint8, session *Session) error {
+
+	if regionSettings == nil {
+		return ErrUndefinedRegionSettings
+	}
+
+	payload, err := session.GenMessage(0, []byte(data))
+	if err != nil {
+		return err
+	}
+
+	applyChannelConfig(regionSettings.UplinkChannel())
+	ActiveRadio.SetIqMode(lora.IQStandard)
+	ActiveRadio.Tx(payload, LORA_TX_TIMEOUT)
+	if err != nil {
+		return err
+	}
+	return nil
+}
+
+func ListenDownlink() error {
+	return nil
+}

lora/lorawan/bytes.go

@@ -0,0 +1,20 @@
+package lorawan
+
+import "crypto/rand"
+
+// reverseBytes reverses order of a given byte slice
+func reverseBytes(s []byte) []byte {
+	result := make([]byte, len(s))
+	for i, j := 0, len(s)-1; i < j; i, j = i+1, j-1 {
+		result[i], result[j] = s[j], s[i]
+	}
+	return result
+}
+
+// GetRand16 returns 2 random bytes
+func GetRand16() ([2]uint8, error) {
+	var randomBytes [2]byte
+	_, err := rand.Read(randomBytes[:])
+
+	return randomBytes, err
+}

lora/lorawan/cmac.go

@@ -0,0 +1,253 @@
+package lorawan
+
+import (
+	"bytes"
+	"crypto/aes"
+	"crypto/cipher"
+	"hash"
+	"unsafe"
+)
+
+type cmacHash struct {
+	ciph cipher.Block
+	k1   []byte
+	k2   []byte
+	data []byte
+	x    []byte
+}
+
+const (
+	Size      = aes.BlockSize
+	blockSize = Size
+)
+
+var (
+	subkeyZero []byte
+	subkeyRb   []byte
+)
+
+func init() {
+	subkeyZero = bytes.Repeat([]byte{0x00}, blockSize)
+	subkeyRb = append(bytes.Repeat([]byte{0x00}, blockSize-1), 0x87)
+}
+
+// New returns an AES-CMAC hash using the supplied key. The key must be 16, 24,
+// or 32 bytes long.
+func NewCmac(key []byte) (hash.Hash, error) {
+	// Create a cipher.
+	ciph, err := aes.NewCipher(key)
+	if err != nil {
+		return nil, err
+	}
+	// Set up the hash object.
+	h := &cmacHash{ciph: ciph}
+	h.k1, h.k2 = generateSubkeys(ciph)
+	h.Reset()
+	return h, nil
+}
+
+func Xor(dst []byte, a []byte, b []byte) error {
+	if len(dst) != len(a) || len(a) != len(b) {
+		panic("crypto/Xor: bad length")
+	}
+	for i, _ := range a {
+		dst[i] = a[i] ^ b[i]
+	}
+	return nil
+}
+
+func (h *cmacHash) Reset() {
+	h.data = h.data[:0]
+	h.x = make([]byte, blockSize)
+}
+
+func (h *cmacHash) BlockSize() int {
+	return h.ciph.BlockSize()
+}
+
+func (h *cmacHash) Size() int {
+	return h.ciph.BlockSize()
+}
+
+func (h *cmacHash) Sum(b []byte) []byte {
+	dataLen := len(h.data)
+
+	// We should have at most one block left.
+	if dataLen > blockSize {
+		panic("cmacHash err1")
+	}
+
+	// Calculate M_last.
+	mLast := make([]byte, blockSize)
+	if dataLen == blockSize {
+		Xor(mLast, h.data, h.k1)
+	} else {
+		// TODO(jacobsa): Accept a destination buffer in common.PadBlock and
+		// simplify this code.
+		Xor(mLast, PadBlock(h.data), h.k2)
+	}
+
+	y := make([]byte, blockSize)
+	Xor(y, mLast, h.x)
+
+	result := make([]byte, blockSize)
+	h.ciph.Encrypt(result, y)
+
+	b = append(b, result...)
+	return b
+}
+
+func (h *cmacHash) Write(p []byte) (n int, err error) {
+	n = len(p)
+
+	// First step: consume enough data to expand h.data to a full block, if
+	// possible.
+	{
+		toConsume := blockSize - len(h.data)
+		if toConsume > len(p) {
+			toConsume = len(p)
+		}
+
+		h.data = append(h.data, p[:toConsume]...)
+		p = p[toConsume:]
+	}
+
+	// If there's no data left in p, it means h.data might not be a full block.
+	// Even if it is, we're not sure it's the final block, which we must treat
+	// specially. So we must stop here.
+	if len(p) == 0 {
+		return
+	}
+
+	// h.data is a full block and is not the last; process it.
+	h.writeBlocks(h.data)
+	h.data = h.data[:0]
+
+	// Consume any further full blocks in p that we're sure aren't the last. Note
+	// that we're sure that len(p) is greater than zero here.
+	blocksToProcess := (len(p) - 1) / blockSize
+	bytesToProcess := blocksToProcess * blockSize
+
+	h.writeBlocks(p[:bytesToProcess])
+	p = p[bytesToProcess:]
+
+	// Store the rest for later.
+	h.data = append(h.data, p...)
+
+	return
+}
+
+func (h *cmacHash) writeBlocks(p []byte) {
+	y := make([]byte, blockSize)
+
+	for off := 0; off < len(p); off += blockSize {
+		block := p[off : off+blockSize]
+
+		xorBlock(
+			unsafe.Pointer(&y[0]),
+			unsafe.Pointer(&h.x[0]),
+			unsafe.Pointer(&block[0]))
+
+		h.ciph.Encrypt(h.x, y)
+	}
+
+	return
+}
+
+func xorBlock(
+	dstPtr unsafe.Pointer,
+	aPtr unsafe.Pointer,
+	bPtr unsafe.Pointer) {
+	// Check assumptions. (These are compile-time constants, so this should
+	// compile out.)
+	const wordSize = unsafe.Sizeof(uintptr(0))
+	if blockSize != 4*wordSize {
+		panic("xorBlock err1")
+	}
+
+	// Convert.
+	a := (*[4]uintptr)(aPtr)
+	b := (*[4]uintptr)(bPtr)
+	dst := (*[4]uintptr)(dstPtr)
+
+	// Compute.
+	dst[0] = a[0] ^ b[0]
+	dst[1] = a[1] ^ b[1]
+	dst[2] = a[2] ^ b[2]
+	dst[3] = a[3] ^ b[3]
+}
+
+func PadBlock(block []byte) []byte {
+	blockLen := len(block)
+	if blockLen >= aes.BlockSize {
+		panic("PadBlock input must be less than 16 bytes.")
+	}
+
+	result := make([]byte, aes.BlockSize)
+	copy(result, block)
+	result[blockLen] = 0x80
+
+	return result
+}
+
+// Given the supplied cipher, whose block size must be 16 bytes, return two
+// subkeys that can be used in MAC generation. See section 5.3 of NIST SP
+// 800-38B. Note that the other NIST-approved block size of 8 bytes is not
+// supported by this function.
+func generateSubkeys(ciph cipher.Block) (k1 []byte, k2 []byte) {
+	if ciph.BlockSize() != blockSize {
+		panic("generateSubkeys requires a cipher with a block size of 16 bytes.")
+	}
+
+	// Step 1
+	l := make([]byte, blockSize)
+	ciph.Encrypt(l, subkeyZero)
+
+	// Step 2: Derive the first subkey.
+	if Msb(l) == 0 {
+		// TODO(jacobsa): Accept a destination buffer in ShiftLeft and then hoist
+		// the allocation in the else branch below.
+		k1 = ShiftLeft(l)
+	} else {
+		k1 = make([]byte, blockSize)
+		Xor(k1, ShiftLeft(l), subkeyRb)
+	}
+
+	// Step 3: Derive the second subkey.
+	if Msb(k1) == 0 {
+		k2 = ShiftLeft(k1)
+	} else {
+		k2 = make([]byte, blockSize)
+		Xor(k2, ShiftLeft(k1), subkeyRb)
+	}
+
+	return
+}
+
+func ShiftLeft(b []byte) []byte {
+	l := len(b)
+	if l == 0 {
+		panic("shiftLeft requires a non-empty buffer.")
+	}
+
+	output := make([]byte, l)
+
+	overflow := byte(0)
+	for i := int(l - 1); i >= 0; i-- {
+		output[i] = b[i] << 1
+		output[i] |= overflow
+		overflow = (b[i] & 0x80) >> 7
+	}
+
+	return output
+}
+
+// Msb returns the most significant bit of the supplied data (which must be
+// non-empty). This is the MSB(L) function of RFC 4493.
+func Msb(buf []byte) uint8 {
+	if len(buf) == 0 {
+		panic("msb requires non-empty buffer.")
+	}
+
+	return buf[0] >> 7
+}

lora/lorawan/mic.go

@@ -0,0 +1,38 @@
+package lorawan
+
+import (
+	"encoding/binary"
+)
+
+// genPayloadMIC computes MIC given the payload and the key
+func genPayloadMIC(payload []uint8, key [16]uint8) [4]uint8 {
+	var mic [4]uint8
+	hash, _ := NewCmac(key[:])
+	hash.Write(payload)
+	hb := hash.Sum([]byte{})
+	copy(mic[:], hb[0:4])
+	return mic
+}
+
+func calcMessageMIC(payload []uint8, key [16]uint8, dir uint8, addr []byte, fCnt uint32, lenMessage uint8) [4]uint8 {
+	var b0 []byte
+	b0 = append(b0, 0x49, 0x00, 0x00, 0x00, 0x00)
+	b0 = append(b0, dir)
+	b0 = append(b0, addr[:]...)
+	var b [4]byte
+	binary.LittleEndian.PutUint32(b[:], fCnt)
+	b0 = append(b0, b[:]...)
+	b0 = append(b0, 0x00)
+	b0 = append(b0, lenMessage)
+
+	var full []byte
+	full = append(full, b0...)
+	full = append(full, payload...)
+
+	var mic [4]uint8
+	hash, _ := NewCmac(key[:])
+	hash.Write(full)
+	hb := hash.Sum([]byte{})
+	copy(mic[:], hb[0:4])
+	return mic
+}

lora/lorawan/otaa.go

@@ -0,0 +1,185 @@
+package lorawan
+
+import (
+	"bytes"
+	"crypto/aes"
+	"encoding/hex"
+)
+
+// Otaa is used to store Over The Air Activation data of a LoRaWAN session
+type Otaa struct {
+	DevEUI   [8]uint8
+	AppEUI   [8]uint8
+	AppKey   [16]uint8
+	devNonce [2]uint8
+	appNonce [3]uint8
+	NetID    [3]uint8
+	buf      []uint8
+}
+
+// Initialize DevNonce
+func (o *Otaa) Init() {
+	o.buf = make([]uint8, 0)
+	o.generateDevNonce()
+}
+
+func (o *Otaa) generateDevNonce() {
+	// TODO: handle error
+	rnd, _ := GetRand16()
+	o.devNonce[0] = rnd[0]
+	o.devNonce[1] = rnd[1]
+}
+
+func (o *Otaa) incrementDevNonce() {
+	nonce := uint16(o.devNonce[1])<<8 | uint16(o.devNonce[0]) + 1
+	o.devNonce[0] = uint8(nonce)
+	o.devNonce[1] = uint8((nonce >> 8))
+}
+
+// Set configures the Otaa AppEUI, DevEUI, AppKey for the device
+func (o *Otaa) Set(appEUI []uint8, devEUI []uint8, appKey []uint8) {
+	o.SetAppEUI(appEUI)
+	o.SetDevEUI(devEUI)
+	o.SetAppKey(appKey)
+}
+
+// SetAppEUI configures the Otaa AppEUI
+func (o *Otaa) SetAppEUI(appEUI []uint8) error {
+	if len(appEUI) != 8 {
+		return ErrInvalidEuiLength
+	}
+
+	copy(o.AppEUI[:], appEUI)
+
+	return nil
+}
+
+func (o *Otaa) GetAppEUI() string {
+	return hex.EncodeToString(o.AppEUI[:])
+}
+
+// SetDevEUI configures the Otaa DevEUI
+func (o *Otaa) SetDevEUI(devEUI []uint8) error {
+	if len(devEUI) != 8 {
+		return ErrInvalidEuiLength
+	}
+
+	copy(o.DevEUI[:], devEUI)
+
+	return nil
+}
+
+func (o *Otaa) GetDevEUI() string {
+	return hex.EncodeToString(o.DevEUI[:])
+}
+
+// SetAppKey configures the Otaa AppKey
+func (o *Otaa) SetAppKey(appKey []uint8) error {
+	if len(appKey) != 16 {
+		return ErrInvalidAppKeyLength
+	}
+
+	copy(o.AppKey[:], appKey)
+
+	return nil
+}
+
+func (o *Otaa) GetAppKey() string {
+	return hex.EncodeToString(o.AppKey[:])
+}
+
+func (o *Otaa) GetNetID() string {
+	return hex.EncodeToString(o.NetID[:])
+}
+
+func (o *Otaa) SetNetID(netID []uint8) error {
+	if len(netID) != 3 {
+		return ErrInvalidNetIDLength
+	}
+
+	copy(o.NetID[:], netID)
+
+	return nil
+}
+
+// GenerateJoinRequest Generates a LoraWAN Join request
+func (o *Otaa) GenerateJoinRequest() ([]uint8, error) {
+	o.incrementDevNonce()
+
+	// TODO: Add checks
+	o.buf = o.buf[:0]
+	o.buf = append(o.buf, 0x00)
+	o.buf = append(o.buf, reverseBytes(o.AppEUI[:])...)
+	o.buf = append(o.buf, reverseBytes(o.DevEUI[:])...)
+	o.buf = append(o.buf, o.devNonce[:]...)
+	mic := genPayloadMIC(o.buf, o.AppKey)
+	o.buf = append(o.buf, mic[:]...)
+
+	return o.buf, nil
+}
+
+// DecodeJoinAccept Decodes a Lora Join Accept packet
+func (o *Otaa) DecodeJoinAccept(phyPload []uint8, s *Session) error {
+	if len(phyPload) < 12 {
+		return ErrInvalidPacketLength
+	}
+	data := phyPload[1:] // Remove trailing 0x20
+
+	// Prepare AES Cipher
+	block, err := aes.NewCipher(o.AppKey[:])
+	if err != nil {
+		return err
+	}
+	buf := make([]byte, len(data))
+	for k := 0; k < len(data)/aes.BlockSize; k++ {
+		block.Encrypt(buf[k*aes.BlockSize:], data[k*aes.BlockSize:])
+	}
+
+	copy(o.appNonce[:], buf[0:3])
+	copy(o.NetID[:], buf[3:6])
+	copy(s.DevAddr[:], buf[6:10])
+	s.DLSettings = buf[10]
+	s.RXDelay = buf[11]
+
+	if len(buf) > 16 {
+		copy(s.CFList[:], buf[12:28])
+	}
+	rxMic := buf[len(buf)-4:]
+
+	dataMic := []byte{}
+	dataMic = append(dataMic, phyPload[0])
+	dataMic = append(dataMic, o.appNonce[:]...)
+	dataMic = append(dataMic, o.NetID[:]...)
+	dataMic = append(dataMic, s.DevAddr[:]...)
+	dataMic = append(dataMic, s.DLSettings)
+	dataMic = append(dataMic, s.RXDelay)
+	dataMic = append(dataMic, s.CFList[:]...)
+	computedMic := genPayloadMIC(dataMic[:], o.AppKey)
+	if !bytes.Equal(computedMic[:], rxMic[:]) {
+		return ErrInvalidMic
+	}
+	// Generate NwkSKey
+	// NwkSKey = aes128_encrypt(AppKey, 0x01|AppNonce|NetID|DevNonce|pad16)
+	sKey := []byte{}
+	sKey = append(sKey, 0x01)
+	sKey = append(sKey, o.appNonce[:]...)
+	sKey = append(sKey, o.NetID[:]...)
+	sKey = append(sKey, o.devNonce[:]...)
+	for i := 0; i < 7; i++ {
+		sKey = append(sKey, 0x00) // PAD to 16
+	}
+	block.Encrypt(buf, sKey)
+	copy(s.NwkSKey[:], buf[0:16])
+
+	// Generate AppSKey
+	// AppSKey = aes128_encrypt(AppKey, 0x02|AppNonce|NetID|DevNonce|pad16)
+	sKey[0] = 0x02
+	block.Encrypt(buf, sKey)
+	copy(s.AppSKey[:], buf[0:16])
+
+	// Reset counters
+	s.FCntDown = 0
+	s.FCntUp = 0
+
+	return nil
+}

lora/lorawan/region/au915.go

@@ -0,0 +1,49 @@
+package region
+
+import "tinygo.org/x/drivers/lora"
+
+const (
+	AU915_DEFAULT_PREAMBLE_LEN = 8
+	AU915_DEFAULT_TX_POWER_DBM = 20
+)
+
+type RegionSettingsAU915 struct {
+	joinRequestChannel *Channel
+	joinAcceptChannel  *Channel
+	uplinkChannel      *Channel
+}
+
+func AU915() *RegionSettingsAU915 {
+	return &RegionSettingsAU915{
+		joinRequestChannel: &Channel{lora.MHz_916_8,
+			lora.Bandwidth_125_0,
+			lora.SpreadingFactor9,
+			lora.CodingRate4_5,
+			AU915_DEFAULT_PREAMBLE_LEN,
+			AU915_DEFAULT_TX_POWER_DBM},
+		joinAcceptChannel: &Channel{lora.MHz_923_3,
+			lora.Bandwidth_500_0,
+			lora.SpreadingFactor9,
+			lora.CodingRate4_5,
+			AU915_DEFAULT_PREAMBLE_LEN,
+			AU915_DEFAULT_TX_POWER_DBM},
+		uplinkChannel: &Channel{lora.MHz_916_8,
+			lora.Bandwidth_125_0,
+			lora.SpreadingFactor9,
+			lora.CodingRate4_5,
+			AU915_DEFAULT_PREAMBLE_LEN,
+			AU915_DEFAULT_TX_POWER_DBM},
+	}
+}
+
+func (r *RegionSettingsAU915) JoinRequestChannel() *Channel {
+	return r.joinRequestChannel
+}
+
+func (r *RegionSettingsAU915) JoinAcceptChannel() *Channel {
+	return r.joinAcceptChannel
+}
+
+func (r *RegionSettingsAU915) UplinkChannel() *Channel {
+	return r.uplinkChannel
+}

lora/lorawan/region/eu868.go

@@ -0,0 +1,49 @@
+package region
+
+import "tinygo.org/x/drivers/lora"
+
+const (
+	EU868_DEFAULT_PREAMBLE_LEN = 8
+	EU868_DEFAULT_TX_POWER_DBM = 20
+)
+
+type RegionSettingsEU868 struct {
+	joinRequestChannel *Channel
+	joinAcceptChannel  *Channel
+	uplinkChannel      *Channel
+}
+
+func EU868() *RegionSettingsEU868 {
+	return &RegionSettingsEU868{
+		joinRequestChannel: &Channel{lora.MHz_868_1,
+			lora.Bandwidth_125_0,
+			lora.SpreadingFactor9,
+			lora.CodingRate4_7,
+			EU868_DEFAULT_PREAMBLE_LEN,
+			EU868_DEFAULT_TX_POWER_DBM},
+		joinAcceptChannel: &Channel{lora.MHz_868_1,
+			lora.Bandwidth_125_0,
+			lora.SpreadingFactor9,
+			lora.CodingRate4_7,
+			EU868_DEFAULT_PREAMBLE_LEN,
+			EU868_DEFAULT_TX_POWER_DBM},
+		uplinkChannel: &Channel{lora.MHz_868_1,
+			lora.Bandwidth_125_0,
+			lora.SpreadingFactor9,
+			lora.CodingRate4_7,
+			EU868_DEFAULT_PREAMBLE_LEN,
+			EU868_DEFAULT_TX_POWER_DBM},
+	}
+}
+
+func (r *RegionSettingsEU868) JoinRequestChannel() *Channel {
+	return r.joinRequestChannel
+}
+
+func (r *RegionSettingsEU868) JoinAcceptChannel() *Channel {
+	return r.joinAcceptChannel
+}
+
+func (r *RegionSettingsEU868) UplinkChannel() *Channel {
+	return r.uplinkChannel
+}

lora/lorawan/region/regionset.go

@@ -0,0 +1,16 @@
+package region
+
+type Channel struct {
+	Frequency       uint32
+	Bandwidth       uint8
+	SpreadingFactor uint8
+	CodingRate      uint8
+	PreambleLength  uint16
+	TxPowerDBm      int8
+}
+
+type RegionSettings interface {
+	JoinRequestChannel() *Channel
+	JoinAcceptChannel() *Channel
+	UplinkChannel() *Channel
+}

lora/lorawan/session.go

@@ -0,0 +1,137 @@
+package lorawan
+
+import (
+	"crypto/aes"
+	"encoding/binary"
+	"encoding/hex"
+	"math"
+)
+
+// Session is used to store session data of a LoRaWAN session
+type Session struct {
+	NwkSKey    [16]uint8
+	AppSKey    [16]uint8
+	DevAddr    [4]uint8
+	FCntDown   uint32
+	FCntUp     uint32
+	CFList     [16]uint8
+	RXDelay    uint8
+	DLSettings uint8
+}
+
+// SetDevAddr configures the Session DevAddr
+func (s *Session) SetDevAddr(devAddr []uint8) error {
+	if len(devAddr) != 4 {
+		return ErrInvalidDevAddrLength
+	}
+
+	copy(s.DevAddr[:], devAddr)
+
+	return nil
+}
+
+// GetDevAddr returns the Session DevAddr
+func (s *Session) GetDevAddr() string {
+	return hex.EncodeToString(s.DevAddr[:])
+}
+
+// SetNwkSKey configures the Session NwkSKey
+func (s *Session) SetNwkSKey(nwkSKey []uint8) error {
+	if len(nwkSKey) != 16 {
+		return ErrInvalidNwkSKeyLength
+	}
+
+	copy(s.NwkSKey[:], nwkSKey)
+
+	return nil
+}
+
+// GetNwkSKey returns the Session NwkSKey
+func (s *Session) GetNwkSKey() string {
+	return hex.EncodeToString(s.NwkSKey[:])
+}
+
+// SetAppSKey configures the Session AppSKey
+func (s *Session) SetAppSKey(appSKey []uint8) error {
+	if len(appSKey) != 16 {
+		return ErrInvalidAppSKeyLength
+	}
+
+	copy(s.AppSKey[:], appSKey)
+
+	return nil
+}
+
+// GetAppSKey returns the Session AppSKey
+func (s *Session) GetAppSKey() string {
+	return hex.EncodeToString(s.AppSKey[:])
+}
+
+// GenMessage generates an uplink message.
+func (s *Session) GenMessage(dir uint8, payload []uint8) ([]uint8, error) {
+	var buf []uint8
+	buf = append(buf, 0b01000000) // FHDR Unconfirmed up
+	buf = append(buf, s.DevAddr[:]...)
+
+	// FCtl : No ADR, No RFU, No ACK, No FPending, No FOpt
+	buf = append(buf, 0x00)
+
+	// FCnt Up
+	buf = append(buf, uint8(s.FCntUp&0xFF), uint8((s.FCntUp>>8)&0xFF))
+
+	// FPort=1
+	buf = append(buf, 0x01)
+
+	fCnt := uint32(0)
+	if dir == 0 {
+		fCnt = s.FCntUp
+		s.FCntUp++
+	} else {
+		fCnt = s.FCntDown
+	}
+	data, err := s.genFRMPayload(dir, fCnt, payload, false)
+	if err != nil {
+		return nil, err
+	}
+	buf = append(buf, data[:]...)
+
+	mic := calcMessageMIC(buf, s.NwkSKey, dir, s.DevAddr[:], fCnt, uint8(len(buf)))
+	buf = append(buf, mic[:]...)
+
+	return buf, nil
+}
+
+func (s *Session) genFRMPayload(dir uint8, fCnt uint32, payload []byte, isFOpts bool) ([]byte, error) {
+	k := len(payload) / aes.BlockSize
+	if len(payload)%aes.BlockSize != 0 {
+		k++
+	}
+	if k > math.MaxUint8 {
+		return nil, ErrFrmPayloadTooLarge
+	}
+	encrypted := make([]byte, 0, k*16)
+	cipher, err := aes.NewCipher(s.AppSKey[:])
+	if err != nil {
+		panic(err)
+	}
+
+	var a [aes.BlockSize]byte
+	a[0] = 0x01
+	a[5] = dir
+	copy(a[6:10], s.DevAddr[:])
+	binary.LittleEndian.PutUint32(a[10:14], fCnt)
+	var ss [aes.BlockSize]byte
+	var b [aes.BlockSize]byte
+	for i := uint8(0); i < uint8(k); i++ {
+		copy(b[:], payload[i*aes.BlockSize:])
+		if !isFOpts {
+			a[15] = i + 1
+		}
+		cipher.Encrypt(ss[:], a[:])
+		for j := 0; j < aes.BlockSize; j++ {
+			b[j] = b[j] ^ ss[j]
+		}
+		encrypted = append(encrypted, b[:]...)
+	}
+	return encrypted[:len(payload)], nil
+}

lora/radio.go

@@ -0,0 +1,19 @@
+package lora
+
+type Radio interface {
+	Reset()
+	Tx(pkt []uint8, timeoutMs uint32) error
+	Rx(timeoutMs uint32) ([]uint8, error)
+	SetFrequency(freq uint32)
+	SetIqMode(mode uint8)
+	SetCodingRate(cr uint8)
+	SetBandwidth(bw uint8)
+	SetCrc(enable bool)
+	SetSpreadingFactor(sf uint8)
+	SetPreambleLength(plen uint16)
+	SetTxPower(txpow int8)
+	SetSyncWord(syncWord uint16)
+	SetPublicNetwork(enable bool)
+	SetHeaderType(headerType uint8)
+	LoraConfig(cnf Config)
+}

lora/radio_event.go

@@ -0,0 +1,23 @@
+package lora
+
+const (
+	RadioEventRxDone = iota
+	RadioEventTxDone
+	RadioEventTimeout
+	RadioEventWatchdog
+	RadioEventCrcError
+	RadioEventUnhandled
+)
+
+// RadioEvent are used for communicating in the radio Event Channel
+type RadioEvent struct {
+	EventType int
+	IRQStatus uint16
+	EventData []byte
+}
+
+// NewRadioEvent() returns a new RadioEvent that can be used in the RadioChannel
+func NewRadioEvent(eType int, irqStatus uint16, eData []byte) RadioEvent {
+	r := RadioEvent{EventType: eType, IRQStatus: irqStatus, EventData: eData}
+	return r
+}

mpu6050/mpu6050.go

@@ -32,7 +32,7 @@ func (d Device) Connected() bool {
 
 // Configure sets up the device for communication.
 func (d Device) Configure() error {
-	return d.bus.WriteRegister(uint8(d.Address), PWR_MGMT_1, []uint8{0})
+	return d.SetClockSource(CLOCK_INTERNAL)
 }
 
 // ReadAcceleration reads the current acceleration from the device and returns
@@ -78,3 +78,18 @@ func (d Device) ReadRotation() (x int32, y int32, z int32) {
 	z = int32(int16((uint16(data[4])<<8)|uint16(data[5]))) * 15625 / 2048 * 1000
 	return
 }
+
+// SetClockSource allows the user to configure the clock source.
+func (d Device) SetClockSource(source uint8) error {
+	return d.bus.WriteRegister(uint8(d.Address), PWR_MGMT_1, []uint8{source})
+}
+
+// SetFullScaleGyroRange allows the user to configure the scale range for the gyroscope.
+func (d Device) SetFullScaleGyroRange(rng uint8) error {
+	return d.bus.WriteRegister(uint8(d.Address), GYRO_CONFIG, []uint8{rng})
+}
+
+// SetFullScaleAccelRange allows the user to configure the scale range for the accelerometer.
+func (d Device) SetFullScaleAccelRange(rng uint8) error {
+	return d.bus.WriteRegister(uint8(d.Address), ACCEL_CONFIG, []uint8{rng})
+}

mpu6050/registers.go

@@ -98,6 +98,29 @@ const (
 	I2C_PER3_DO      = 0x66
 	I2C_MST_DELAY_CT = 0x67
 
+	// Clock settings
+	CLOCK_INTERNAL               = 0x00
+	CLOCK_PLL_XGYRO              = 0x01
+	CLOCK_PLL_YGYRO              = 0x02
+	CLOCK_PLL_ZGYRO              = 0x03
+	CLOCK_PLL_EXTERNAL_32_768_KZ = 0x04
+	CLOCK_PLL_EXTERNAL_19_2_MHZ  = 0x05
+	CLOCK_RESERVED               = 0x06
+	CLOCK_STOP                   = 0x07
+
+	// Accelerometer settings
+	AFS_RANGE_2G  = 0x00
+	AFS_RANGE_4G  = 0x01
+	AFS_RANGE_8G  = 0x02
+	AFS_RANGE_16G = 0x03
+
+	// Gyroscope settings
+	FS_RANGE_250  = 0x00
+	FS_RANGE_500  = 0x01
+	FS_RANGE_1000 = 0x02
+	FS_RANGE_2000 = 0x03
+
+	// other registers
 	SIGNAL_PATH_RES = 0x68 // Signal path reset
 	USER_CTRL       = 0x6A // User control
 	PWR_MGMT_1      = 0x6B // Power Management 1

mpu6886/mpu6886.go

@@ -0,0 +1,192 @@
+// Package mpu6886 provides a driver for the MPU6886 accelerometer and gyroscope
+// made by InvenSense.
+//
+// Datasheet:
+// https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf
+package mpu6886 // import "tinygo.org/x/drivers/mpu6886"
+
+import (
+	"errors"
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+const WhoAmI = 0x19
+
+var errNotConnected = errors.New("mpu6886: failed to communicate with a sensor")
+
+// Device wraps an I2C connection to a MPU6886 device.
+type Device struct {
+	bus     drivers.I2C
+	Address uint16
+	aRange  uint8
+	gRange  uint8
+}
+
+// Config contains settings for filtering, sampling, and modes of operation
+type Config struct {
+	AccelRange uint8
+	GyroRange  uint8
+}
+
+// New creates a new MPU6886 connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C) *Device {
+	return &Device{bus: bus, Address: DefaultAddress}
+}
+
+// Connected returns whether a MPU6886 has been found.
+// It does a "who am I" request and checks the response.
+func (d *Device) Connected() bool {
+	data := []byte{0}
+	d.bus.Tx(d.Address, []byte{WHO_AM_I}, data)
+	return data[0] == WhoAmI
+}
+
+// Configure sets up the device for communication.
+func (d *Device) Configure(config Config) (err error) {
+	if config.AccelRange < 4 {
+		d.aRange = config.AccelRange
+	}
+	if config.GyroRange < 4 {
+		d.gRange = config.GyroRange
+	}
+
+	if !d.Connected() {
+		return errNotConnected
+	}
+	// This initialization sequence is borrowed from Arduino M5Stack library
+	// Zero register
+	if err = d.bus.Tx(d.Address, []byte{PWR_MGMT_1, 0x00}, nil); err != nil {
+		return
+	}
+	time.Sleep(10 * time.Millisecond)
+	// Set DEVICE_RESET bit
+	if err = d.bus.Tx(d.Address, []byte{PWR_MGMT_1, 0x80}, nil); err != nil {
+		return
+	}
+	time.Sleep(10 * time.Millisecond)
+	// Set CLKSEL to 1 - Auto selects the best available clock source
+	if err = d.bus.Tx(d.Address, []byte{PWR_MGMT_1, 0x01}, nil); err != nil {
+		return
+	}
+	time.Sleep(10 * time.Millisecond)
+	// Set ACCEL_FS_SEL
+	if err = d.bus.Tx(d.Address, []byte{ACCEL_CONFIG, d.aRange << 3}, nil); err != nil {
+		return
+	}
+	time.Sleep(time.Millisecond)
+	// Set FS_SEL
+	if err = d.bus.Tx(d.Address, []byte{GYRO_CONFIG, d.gRange << 3}, nil); err != nil {
+		return
+	}
+	time.Sleep(time.Millisecond)
+	// default: 0x80, set DLPF_CFG to 001 (Low Pass Filter)
+	if err = d.bus.Tx(d.Address, []byte{CONFIG, 0x01}, nil); err != nil {
+		return
+	}
+	time.Sleep(time.Millisecond)
+	// Set sample rate divisor, sample rate is ~ 170 Hz
+	if err = d.bus.Tx(d.Address, []byte{SMPLRT_DIV, 0x05}, nil); err != nil {
+		return
+	}
+	time.Sleep(time.Millisecond)
+	// Set Interupt pin
+	if err = d.bus.Tx(d.Address, []byte{INT_PIN_CFG, 0x22}, nil); err != nil {
+		return
+	}
+	time.Sleep(time.Millisecond)
+	// Enable DATA_RDY_INT_EN
+	if err = d.bus.Tx(d.Address, []byte{INT_ENABLE, 0x01}, nil); err != nil {
+		return
+	}
+	time.Sleep(100 * time.Millisecond)
+	return nil
+}
+
+// ReadTemperature returns the temperature in Celsius millidegrees (°C/1000).
+func (d *Device) ReadTemperature() (t int32, err error) {
+	data := make([]byte, 2)
+	if err = d.bus.Tx(d.Address, []byte{TEMP_OUT_H}, data); err != nil {
+		return
+	}
+	rawTemperature := int32(int16((uint16(data[0]) << 8) | uint16(data[1])))
+	// The formula to convert to degrre of Celsius is
+	//     T_C = T_raw / 326.8 + 25.0
+	// This formula should not overflow
+	t = rawTemperature*10000/3268 + 25000
+	return
+}
+
+// ReadAcceleration reads the current acceleration from the device and returns
+// it in µg (micro-gravity). When one of the axes is pointing straight to Earth
+// and the sensor is not moving the returned value will be around 1000000 or
+// -1000000.
+func (d *Device) ReadAcceleration() (x int32, y int32, z int32, err error) {
+	data := make([]byte, 6)
+	if err = d.bus.Tx(d.Address, []byte{ACCEL_XOUT_H}, data); err != nil {
+		return
+	}
+	// Now do two things:
+	// 1. merge the two values to a 16-bit number (and cast to a 32-bit integer)
+	// 2. scale the value to bring it in the -1000000..1000000 range.
+	//    This is done with a trick. What we do here is essentially multiply by
+	//    1000000 and divide by 16384 to get the original scale, but to avoid
+	//    overflow we do it at 1/64 of the value:
+	//      1000000 / 64 = 15625
+	//      16384   / 64 = 256
+	divider := int32(1)
+	switch d.aRange {
+	case AFS_RANGE_2_G:
+		divider = 256
+	case AFS_RANGE_4_G:
+		divider = 128
+	case AFS_RANGE_8_G:
+		divider = 64
+	case AFS_RANGE_16_G:
+		divider = 32
+	}
+	x = int32(int16((uint16(data[0])<<8)|uint16(data[1]))) * 15625 / divider
+	y = int32(int16((uint16(data[2])<<8)|uint16(data[3]))) * 15625 / divider
+	z = int32(int16((uint16(data[4])<<8)|uint16(data[5]))) * 15625 / divider
+	return
+}
+
+// ReadRotation reads the current rotation from the device and returns it in
+// µ°/s (micro-degrees/sec). This means that if you were to do a complete
+// rotation along one axis and while doing so integrate all values over time,
+// you would get a value close to 360000000.
+func (d *Device) ReadRotation() (x int32, y int32, z int32, err error) {
+	data := make([]byte, 6)
+	if err = d.bus.Tx(d.Address, []byte{GYRO_XOUT_H}, data); err != nil {
+		return
+	}
+	// First the value is converted from a pair of bytes to a signed 16-bit
+	// value and then to a signed 32-bit value to avoid integer overflow.
+	// Then the value is scaled to µ°/s (micro-degrees per second).
+	// This is done in the following steps:
+	// 1. Multiply by 250 * 1000_000
+	// 2. Divide by 32768
+	// The following calculation (x * 15625 / 2048 * 1000) is essentially the
+	// same but avoids overflow. First both operations are divided by 16 leading
+	// to multiply by 15625000 and divide by 2048, and then part of the multiply
+	// is done after the divide instead of before.
+	divider := int32(1)
+	switch d.gRange {
+	case GFS_RANGE_250:
+		divider = 2048
+	case GFS_RANGE_500:
+		divider = 1024
+	case GFS_RANGE_1000:
+		divider = 512
+	case GFS_RANGE_2000:
+		divider = 256
+	}
+	x = int32(int16((uint16(data[0])<<8)|uint16(data[1]))) * 15625 / divider * 1000
+	y = int32(int16((uint16(data[2])<<8)|uint16(data[3]))) * 15625 / divider * 1000
+	z = int32(int16((uint16(data[4])<<8)|uint16(data[5]))) * 15625 / divider * 1000
+	return
+}