st7789: work in progress on display refactor

Signed-off-by: deadprogram <ron@hybridgroup.com>
st7789: add Bus interface to accomodate both SPI and parallel connections to display
2026-07-27 19:18:41 +00:00 · 2025-12-20 10:29:55 +01:00 · 2025-12-20 10:29:55 +01:00 · 2025-12-20 10:29:55 +01:00 · 2025-12-20 10:29:55 +01:00
45 changed files with 1091 additions and 4261 deletions
@@ -1,3 +1,2 @@
 # These are supported funding model platforms
-
 open_collective: tinygo
@@ -1,40 +1,3 @@
-0.35.0
---
- **new devices**
-    - **unoqmatrix**
-        - LED matrix on the Arduino Uno Q
-    - **waveshare-epd (ssd1680)**
-        - Add driver for Waveshare 2.9 inch v2 e-paper display
-
- **enhancements**
-    - **gps**
-        - add UBX config command support (#831)
-        - improve implementation for UBX config commands
-        - revamp validSentence() to avoid heap allocation for errors
-        - export some errors for checking/suppression from client
-        - improvements and corrections for config commands
-    - **lora**
-        - fill out more constants for lora device
-    - **mcp2515**
-        - add support for extended CAN IDs (#857)
-    - **si5351**
-        - complete refactor for more complete interface
-    - **st7735**
-        - remove dependency on the machine package
-    - **sx127x**
-        - add functions used for FSK radio communication
-    - **ws2812**
-        - add brightness control
-        - add PIO support for RP2040/RP2350
-
- **bugfixes**
-    - **st7789**
-        - fix scroll on rotated displays
-        - fix driver when rotated 90º
-    - **ws2812**
-        - fix brightness control issues (#858)
-
-
 0.34.0
 ---
 - **core**
@@ -1,4 +1,4 @@
-Copyright The TinyGo Authors. All rights reserved.
+Copyright (c) 2018-2025 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
@@ -26,17 +26,3 @@ unit-test:
 	@go test -v $(addprefix ./,$(TESTS))

 test: clean fmt-check unit-test smoke-test
-
-EXCLUDE_DIRS = build cmd examples internal lora ndir netdev netlink tester
-
-drivers-count:
-	@root_count=$$(find . -mindepth 1 -maxdepth 1 -type d | grep -vE '^\./($(subst $(space),|,$(EXCLUDE_DIRS)))$$' | wc -l); \
-	epd_count=$$(find ./waveshare-epd -mindepth 1 -maxdepth 1 -type d 2>/dev/null | wc -l); \
-	total=$$((root_count + epd_count)); \
-	echo "Total drivers: $$total (root: $$root_count, waveshare-epd: $$epd_count)"
-
-drivers-list:
-	@{ \
-		find . -mindepth 1 -maxdepth 1 -type d | grep -vE '^\./($(subst $(space),|,$(EXCLUDE_DIRS)))$$'; \
-		if [ -d ./waveshare-epd ]; then find ./waveshare-epd -mindepth 1 -maxdepth 1 -type d; fi; \
-	} | sed 's|^\./||' | sort
@@ -3,14 +3,11 @@
 [![PkgGoDev](https://pkg.go.dev/badge/tinygo.org/x/drivers)](https://pkg.go.dev/tinygo.org/x/drivers) [![Build](https://github.com/tinygo-org/drivers/actions/workflows/build.yml/badge.svg?branch=dev)](https://github.com/tinygo-org/drivers/actions/workflows/build.yml)


-This package provides a collection of over 140 different hardware drivers for devices such as sensors, displays, wireless adaptors, and actuators, that can be used together with [TinyGo](https://tinygo.org).
+This package provides a collection of over 130 different hardware drivers for devices such as sensors, displays, wireless adaptors, and actuators, that can be used together with [TinyGo](https://tinygo.org).

 For the complete list, please see:
 https://tinygo.org/docs/reference/devices/

-> [!IMPORTANT]
-> You can help TinyGo with a financial contribution using OpenCollective. Please see https://opencollective.com/tinygo for more information. Thank you!
-
 ## Installing

 ```shell
@@ -8,6 +8,7 @@ import (
 )

 func main() {
+	println("GPS UART Example")
 	machine.UART1.Configure(machine.UARTConfig{BaudRate: 9600})
 	ublox := gps.NewUART(machine.UART1)
 	parser := gps.NewParser()
@@ -15,24 +16,14 @@ func main() {
 	for {
 		s, err := ublox.NextSentence()
 		if err != nil {
-			switch err {
-			case gps.ErrUnknownNMEASentence, gps.ErrInvalidNMEASentence, gps.ErrInvalidNMEASentenceLength:
-				continue
-			default:
-				println("sentence error:", err)
-				continue
-			}
+			println(err)
+			continue
 		}

 		fix, err = parser.Parse(s)
 		if err != nil {
-			switch err {
-			case gps.ErrUnknownNMEASentence, gps.ErrInvalidNMEASentence, gps.ErrInvalidNMEASentenceLength:
-				continue
-			default:
-				println("parse error:", err)
-				continue
-			}
+			println(err)
+			continue
 		}
 		if fix.Valid {
 			print(fix.Time.Format("15:04:05"))
@@ -52,10 +43,7 @@ func main() {
 			}
 			println()
 		} else {
-			if fix.Type == gps.GSV {
-				// GSV sentence provides satellite count even if no fix yet
-				println(fix.Satellites, "satellites visible")
-			}
+			println("No fix")
 		}
 		time.Sleep(200 * time.Millisecond)
 	}
@@ -21,7 +21,7 @@ func main() {
 		SDI:       machine.SPI0_SDI_PIN,
 		Mode:      0})
 	can := mcp2515.New(spi, csPin)
-	can.Configure(mcp2515.Configuration{})
+	can.Configure()
 	err := can.Begin(mcp2515.CAN500kBps, mcp2515.Clock8MHz)
 	if err != nil {
 		failMessage(err.Error())
@@ -29,60 +29,92 @@ func main() {
 	// Create driver instance
 	clockgen := si5351.New(machine.I2C0)

-	// Initialize device
-	cnf := si5351.Config{
-		Capacitance: si5351.CrystalLoad10PF,
+	// Verify device wired properly
+	connected, err := clockgen.Connected()
+	if err != nil {
+		println("Unable to read device status")
+		time.Sleep(time.Second)
+	}
+	if !connected {
+		for {
+			println("Unable to detect si5351 device")
+			time.Sleep(time.Second)
+		}
 	}

-	if err := clockgen.Configure(cnf); err != nil {
-		println("Failed to configure Si5351:", err.Error())
-		return
-	}
-	println("Si5351 configured")
+	// Initialise device
+	clockgen.Configure()

-	// Now configure the clock outputs.
-	clockgen.SetFrequency(si5351.Clock0, 112_500_000)
+	// Now configue the PLLs and clock outputs.
+	// The PLLs can be configured with a multiplier and division of the on-board
+	// 25mhz reference crystal.  For example configure PLL A to 900mhz by multiplying
+	// by 36.  This uses an integer multiplier which is more accurate over time
+	// but allows less of a range of frequencies compared to a fractional
+	// multiplier shown next.
+	clockgen.ConfigurePLL(si5351.PLL_A, 36, 0, 1) // Multiply 25mhz by 36
+	println("PLL A frequency: 900mhz")
+
+	// And next configure PLL B to 616.6667mhz by multiplying 25mhz by 24.667 using
+	// the fractional multiplier configuration.  Notice you specify the integer
+	// multiplier and then a numerator and denominator as separate values, i.e.
+	// numerator 2 and denominator 3 means 2/3 or 0.667.  This fractional
+	// configuration is susceptible to some jitter over time but can set a larger
+	// range of frequencies.
+	clockgen.ConfigurePLL(si5351.PLL_B, 24, 2, 3) // Multiply 25mhz by 24.667 (24 2/3)
+	println("PLL B frequency: 616.6667mhz")
+
+	// Now configure the clock outputs.  Each is driven by a PLL frequency as input
+	// and then further divides that down to a specific frequency.
+	// Configure clock 0 output to be driven by PLL A divided by 8, so an output
+	// of 112.5mhz (900mhz / 8).  Again this uses the most precise integer division
+	// but can't set as wide a range of values.
+	clockgen.ConfigureMultisynth(0, si5351.PLL_A, 8, 0, 1) // Divide by 8 (8 0/1)
 	println("Clock 0: 112.5mhz")

-	// Next configure clock 1 for 13.5531mhz (616.6667mhz / 45.5).
-	// This uses fractional division.
-	clockgen.SetFrequency(si5351.Clock1, 13_553_125)
+	// Next configure clock 1 to be driven by PLL B divided by 45.5 to get
+	// 13.5531mhz (616.6667mhz / 45.5).  This uses fractional division and again
+	// notice the numerator and denominator are explicitly specified.  This is less
+	// precise but allows a large range of frequencies.
+	clockgen.ConfigureMultisynth(1, si5351.PLL_B, 45, 1, 2) // Divide by 45.5 (45 1/2)
 	println("Clock 1: 13.5531mhz")

-	// Finally configure clock 2 to output of 10.706khz.
-	clockgen.SetFrequency(si5351.Clock2, 10_706)
+	// Finally configure clock 2 to be driven by PLL B divided once by 900 to get
+	// down to 685.15 khz and then further divided by a special R divider that
+	// divides 685.15 khz by 64 to get a final output of 10.706khz.
+	clockgen.ConfigureMultisynth(2, si5351.PLL_B, 900, 0, 1) // Divide by 900 (900 0/1)
+	// Set the R divider, this can be a value of:
+	//  - R_DIV_1: divider of 1
+	//  - R_DIV_2: divider of 2
+	//  - R_DIV_4: divider of 4
+	//  - R_DIV_8: divider of 8
+	//  - R_DIV_16: divider of 16
+	//  - R_DIV_32: divider of 32
+	//  - R_DIV_64: divider of 64
+	//  - R_DIV_128: divider of 128
+	clockgen.ConfigureRdiv(2, si5351.R_DIV_64)
 	println("Clock 2: 10.706khz")

-	// After configuring the clocks enable the outputs.
-	clockgen.EnableOutput(si5351.Clock0, true)
-	clockgen.EnableOutput(si5351.Clock1, true)
-	clockgen.EnableOutput(si5351.Clock2, true)
-	println("All outputs enabled")
+	// After configuring PLLs and clocks, enable the outputs.
+	clockgen.EnableOutputs()

 	time.Sleep(time.Second)

-	clockgen.EnableOutput(si5351.Clock0, false)
-	clockgen.EnableOutput(si5351.Clock1, false)
-	clockgen.EnableOutput(si5351.Clock2, false)
+	clockgen.DisableOutputs()
 	println("All outputs disabled for 5 seconds")
 	time.Sleep(5 * time.Second)

-	// Now turn clock outputs on and off repeatedly
+	// Now use SetFrequency to re-set the frequencies of the outputs
 	on := false
 	for {
 		if on {
-			println("Setting clock outputs off")
-			clockgen.EnableOutput(si5351.Clock0, false)
-			clockgen.EnableOutput(si5351.Clock1, false)
-			clockgen.EnableOutput(si5351.Clock2, false)
+			println("Setting Clock 0 output off")
+			clockgen.OutputEnable(0, false)
 			on = false
 		} else {
-			println("Setting clock outputs on")
-			clockgen.EnableOutput(si5351.Clock0, true)
-			clockgen.EnableOutput(si5351.Clock1, true)
-			clockgen.EnableOutput(si5351.Clock2, true)
+			println("Setting Clock 0 output to 100mhz")
+			clockgen.SetFrequency(100*machine.MHz, 0, si5351.PLL_A)
 			on = true
 		}
-		time.Sleep(1 * time.Second)
+		time.Sleep(5 * time.Second)
 	}
 }
@@ -29,10 +29,10 @@ func main() {
 		Mode:      0,
 	})
 	display := st7789.New(machine.SPI0,
-		machine.P6, // TFT_RESET
-		machine.P7, // TFT_DC
-		machine.P8, // TFT_CS
-		machine.P9) // TFT_LITE
+		machine.TFT_RESET, // TFT_RESET
+		machine.TFT_DC,    // TFT_DC
+		machine.TFT_CS,    // TFT_CS
+		machine.TFT_LITE)  // TFT_LITE

 	display.Configure(st7789.Config{
 		Rotation:   st7789.NO_ROTATION,
@@ -1,54 +0,0 @@
-package main
-
-import (
-	"machine"
-
-	"image/color"
-	"math/rand"
-
-	"tinygo.org/x/drivers/unoqmatrix"
-)
-
-var on = color.RGBA{255, 255, 255, 255}
-
-func main() {
-	display := unoqmatrix.NewFromBasePin(machine.PF0)
-	display.ClearDisplay()
-
-	w, h := display.Size()
-	x := int16(0)
-	y := int16(0)
-	deltaX := int16(1)
-	deltaY := int16(1)
-
-	for {
-		pixel := display.GetPixel(x, y)
-		if pixel.R != 0 || pixel.G != 0 || pixel.B != 0 {
-			display.ClearDisplay()
-			x = 1 + int16(rand.Int31n(3))
-			y = 1 + int16(rand.Int31n(3))
-			deltaX = 1
-			deltaY = 1
-			if rand.Int31n(2) == 0 {
-				deltaX = -1
-			}
-			if rand.Int31n(2) == 0 {
-				deltaY = -1
-			}
-		}
-		display.SetPixel(x, y, on)
-
-		x += deltaX
-		y += deltaY
-
-		if x == 0 || x == w-1 {
-			deltaX = -deltaX
-		}
-
-		if y == 0 || y == h-1 {
-			deltaY = -deltaY
-		}
-
-		display.Display()
-	}
-}
@@ -1,137 +0,0 @@
-package main
-
-import (
-	"image/color"
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers/waveshare-epd/epd2in9v2"
-)
-
-var display epd2in9v2.Device
-
-func main() {
-	machine.SPI0.Configure(machine.SPIConfig{
-		Frequency: 12000000,
-		SCK:       machine.EPD_SCK_PIN,
-		SDO:       machine.EPD_SDO_PIN,
-	})
-
-	display = epd2in9v2.New(
-		machine.SPI0,
-		machine.EPD_CS_PIN,
-		machine.EPD_DC_PIN,
-		machine.EPD_RESET_PIN,
-		machine.EPD_BUSY_PIN,
-	)
-	display.Configure(epd2in9v2.Config{
-		Rotation: epd2in9v2.ROTATION_270,
-		Speed:    epd2in9v2.SPEED_DEFAULT,
-		Blocking: true,
-	})
-
-	black := color.RGBA{0, 0, 0, 255}
-	white := color.RGBA{255, 255, 255, 255}
-
-	// --- Step 1: clear to white ---
-	println("epd2in9v2: clearing display")
-	display.ClearBuffer()
-	display.Display()
-	time.Sleep(2 * time.Second)
-
-	// --- Step 2: full refresh checkerboard ---
-	println("epd2in9v2: drawing checkerboard (full refresh)")
-	w, h := display.Size()
-	for i := int16(0); i < w/8; i++ {
-		for j := int16(0); j < h/8; j++ {
-			if (i+j)%2 == 0 {
-				fillRect(i*8, j*8, 8, 8, black)
-			}
-		}
-	}
-	display.Display()
-	time.Sleep(2 * time.Second)
-
-	// --- Step 3: fast refresh - draw border and diagonal cross ---
-	println("epd2in9v2: switching to fast refresh")
-	display.SetSpeed(epd2in9v2.SPEED_FAST)
-	display.ClearBuffer()
-
-	for x := int16(0); x < w; x++ {
-		display.SetPixel(x, 0, black)
-		display.SetPixel(x, h-1, black)
-	}
-	for y := int16(0); y < h; y++ {
-		display.SetPixel(0, y, black)
-		display.SetPixel(w-1, y, black)
-	}
-	for i := int16(0); i < w && i < h; i++ {
-		display.SetPixel(i, i*h/w, black)
-		display.SetPixel(w-1-i, i*h/w, black)
-	}
-
-	display.Display()
-	time.Sleep(2 * time.Second)
-
-	// --- Step 4: partial refresh counter ---
-	println("epd2in9v2: partial refresh demo")
-	display.SetSpeed(epd2in9v2.SPEED_DEFAULT)
-	display.ClearBuffer()
-
-	println("epd2in9v2: setting base image")
-	display.DisplayWithBase()
-
-	for count := 0; count < 10; count++ {
-		cx := int16(120)
-		cy := int16(50)
-		fillRect(cx, cy, 60, 20, white)
-
-		digit := int16(count % 10)
-		drawDigit(cx+22, cy+2, digit, black)
-
-		display.DisplayPartial()
-		time.Sleep(500 * time.Millisecond)
-	}
-	time.Sleep(2 * time.Second)
-
-	// --- Step 5: sleep ---
-	println("epd2in9v2: entering deep sleep")
-	display.ClearBuffer()
-	display.Display()
-	display.Sleep()
-	println("epd2in9v2: done, you can remove power")
-}
-
-func fillRect(x, y, w, h int16, c color.RGBA) {
-	for i := x; i < x+w; i++ {
-		for j := y; j < y+h; j++ {
-			display.SetPixel(i, j, c)
-		}
-	}
-}
-
-// drawDigit draws a simple 3x5-pixel-block digit (each block 4x3 px) at position (x,y).
-func drawDigit(x, y, digit int16, c color.RGBA) {
-	segments := [10][5]uint8{
-		{0x7, 0x5, 0x5, 0x5, 0x7}, // 0
-		{0x2, 0x2, 0x2, 0x2, 0x2}, // 1
-		{0x7, 0x1, 0x7, 0x4, 0x7}, // 2
-		{0x7, 0x1, 0x7, 0x1, 0x7}, // 3
-		{0x5, 0x5, 0x7, 0x1, 0x1}, // 4
-		{0x7, 0x4, 0x7, 0x1, 0x7}, // 5
-		{0x7, 0x4, 0x7, 0x5, 0x7}, // 6
-		{0x7, 0x1, 0x1, 0x1, 0x1}, // 7
-		{0x7, 0x5, 0x7, 0x5, 0x7}, // 8
-		{0x7, 0x5, 0x7, 0x1, 0x7}, // 9
-	}
-	if digit < 0 || digit > 9 {
-		return
-	}
-	for row := int16(0); row < 5; row++ {
-		for col := int16(0); col < 3; col++ {
-			if segments[digit][row]&(0x4>>uint(col)) != 0 {
-				fillRect(x+col*4, y+row*3, 4, 3, c)
-			}
-		}
-	}
-}
@@ -1,4 +1,4 @@
-//go:build arduino || arduino_uno
+//go:build arduino

 package main

@@ -1,4 +1,4 @@
-//go:build !digispark && !arduino && !arduino_uno
+//go:build !digispark && !arduino

 package main

@@ -1,16 +1,17 @@
 module tinygo.org/x/drivers

+
 go 1.22.1

 toolchain go1.23.1

+
 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
 	github.com/orsinium-labs/tinymath v1.1.0
 	github.com/soypat/natiu-mqtt v0.5.1
-	github.com/tinygo-org/pio v0.3.0
 	golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d
 	golang.org/x/net v0.33.0
 	tinygo.org/x/tinyfont v0.3.0
@@ -17,8 +17,6 @@ github.com/orsinium-labs/tinymath v1.1.0 h1:KomdsyLHB7vE3f1nRAJF2dyf1m/gnM2HxfTe
 github.com/orsinium-labs/tinymath v1.1.0/go.mod h1:WPXX6ei3KSXG7JfA03a+ekCYaY9SWN4I+JRl2p6ck+A=
 github.com/soypat/natiu-mqtt v0.5.1 h1:rwaDmlvjzD2+3MCOjMZc4QEkDkNwDzbct2TJbpz+TPc=
 github.com/soypat/natiu-mqtt v0.5.1/go.mod h1:xEta+cwop9izVCW7xOx2W+ct9PRMqr0gNVkvBPnQTc4=
-github.com/tinygo-org/pio v0.3.0 h1:opEnOtw58KGB4RJD3/n/Rd0/djYGX3DeJiXLI6y/yDI=
-github.com/tinygo-org/pio v0.3.0/go.mod h1:wf6c6lKZp+pQOzKKcpzchmRuhiMc27ABRuo7KVnaMFU=
 github.com/valyala/fastjson v1.6.3/go.mod h1:CLCAqky6SMuOcxStkYQvblddUtoRxhYMGLrsQns1aXY=
 golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d h1:0olWaB5pg3+oychR51GUVCEsGkeCU/2JxjBgIo4f3M0=
 golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d/go.mod h1:qj5a5QZpwLU2NLQudwIN5koi3beDhSAlJwa67PuM98c=
@@ -11,18 +11,37 @@ import (
 )

 var (
-	ErrInvalidNMEASentenceLength = errors.New("invalid NMEA sentence length")
-	ErrInvalidNMEASentence       = errors.New("invalid NMEA sentence format")
-	ErrEmptyNMEASentence         = errors.New("cannot parse empty NMEA sentence")
-	ErrUnknownNMEASentence       = errors.New("unsupported NMEA sentence type")
-	errInvalidGSVSentence        = errors.New("invalid GSV NMEA sentence")
+	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")
-	errGPSCommandRejected        = errors.New("GPS command rejected (NAK)")
-	errNoACKToGPSCommand         = errors.New("no ACK to GPS command")
 )

+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 = '$'
@@ -31,18 +50,19 @@ const (

 // Device wraps a connection to a GPS device.
 type Device struct {
+	buffer   []byte
 	bufIdx   int
 	sentence strings.Builder
 	uart     drivers.UART
 	bus      drivers.I2C
 	address  uint16
-	buffer   [bufferSize]byte
 }

 // NewUART creates a new UART GPS connection. The UART must already be configured.
 func NewUART(uart drivers.UART) Device {
 	return Device{
 		uart:     uart,
+		buffer:   make([]byte, bufferSize),
 		bufIdx:   bufferSize,
 		sentence: strings.Builder{},
 	}
@@ -59,6 +79,7 @@ func NewI2CWithAddress(bus drivers.I2C, i2cAddress uint16) Device {
 	return Device{
 		bus:      bus,
 		address:  i2cAddress,
+		buffer:   make([]byte, bufferSize),
 		bufIdx:   bufferSize,
 		sentence: strings.Builder{},
 	}
@@ -151,15 +172,17 @@ func (gps *Device) WriteBytes(bytes []byte) {
 // It has to end with a '*' character following by a checksum.
 func validSentence(sentence string) error {
 	if len(sentence) < minimumNMEALength || sentence[0] != startingDelimiter || sentence[len(sentence)-3] != checksumDelimiter {
-		return ErrInvalidNMEASentenceLength
+		return errInvalidNMEASentenceLength
 	}
 	var cs byte = 0
 	for i := 1; i < len(sentence)-3; i++ {
 		cs ^= sentence[i]
 	}
 	checksum := strings.ToUpper(hex.EncodeToString([]byte{cs}))
-	if checksum != sentence[len(sentence)-2:] {
-		return ErrInvalidNMEASentence
+	if checksum != sentence[len(sentence)-2:len(sentence)] {
+		return newGPSError(errInvalidNMEAChecksum, sentence,
+			"expected "+sentence[len(sentence)-2:len(sentence)]+
+				" got "+checksum)
 	}

 	return nil
@@ -6,28 +6,12 @@ import (
 	"time"
 )

-type NMEASentenceType string
-
-const (
-	GSA NMEASentenceType = "GSA"
-	GGA NMEASentenceType = "GGA"
-	GLL NMEASentenceType = "GLL"
-	GSV NMEASentenceType = "GSV"
-	RMC NMEASentenceType = "RMC"
-	VTG NMEASentenceType = "VTG"
-	ZDA NMEASentenceType = "ZDA"
-	TXT NMEASentenceType = "TXT"
-)
-
 // Parser for GPS NMEA sentences.
 type Parser struct {
 }

 // Fix is a GPS location fix
 type Fix struct {
-	// Type is the NMEA sentence type that provided this fix.
-	Type NMEASentenceType
-
 	// Valid if the fix was valid.
 	Valid bool

@@ -62,30 +46,13 @@ func NewParser() Parser {
 func (parser *Parser) Parse(sentence string) (Fix, error) {
 	var fix Fix
 	if sentence == "" {
-		return fix, ErrEmptyNMEASentence
+		return fix, errEmptyNMEASentence
 	}
 	if len(sentence) < 6 {
-		return fix, ErrInvalidNMEASentenceLength
+		return fix, errInvalidNMEASentenceLength
 	}
 	typ := sentence[3:6]
 	switch typ {
-	case "GSV":
-		// https://docs.novatel.com/OEM7/Content/Logs/GPGSV.htm
-		fields := strings.Split(sentence, ",")
-		// GSV sentences have at least 4 fields, but typically 8, 12, 16, or 20 depending on satellites in view
-		if len(fields) < 4 {
-			return fix, errInvalidGSVSentence
-		}
-
-		fix.Type = GSV
-
-		// Number of satellites in view is always field 3
-		fix.Satellites = findSatellites(fields[3])
-
-		// GSV does not provide position, time, or fix validity
-		fix.Valid = false
-
-		return fix, nil
 	case "GGA":
 		// https://docs.novatel.com/OEM7/Content/Logs/GPGGA.htm
 		fields := strings.Split(sentence, ",")
@@ -93,7 +60,6 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
 			return fix, errInvalidGGASentence
 		}

-		fix.Type = GGA
 		fix.Time = findTime(fields[1])
 		fix.Latitude = findLatitude(fields[2], fields[3])
 		fix.Longitude = findLongitude(fields[4], fields[5])
@@ -109,7 +75,6 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
 			return fix, errInvalidGLLSentence
 		}

-		fix.Type = GLL
 		fix.Latitude = findLatitude(fields[1], fields[2])
 		fix.Longitude = findLongitude(fields[3], fields[4])
 		fix.Time = findTime(fields[5])
@@ -124,7 +89,6 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
 			return fix, errInvalidRMCSentence
 		}

-		fix.Type = RMC
 		fix.Time = findTime(fields[1])
 		fix.Valid = (fields[2] == "A")
 		fix.Latitude = findLatitude(fields[3], fields[4])
@@ -140,7 +104,7 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
 		return fix, nil
 	}

-	return fix, ErrUnknownNMEASentence
+	return fix, newGPSError(errUnknownNMEASentence, sentence, typ)
 }

 // findTime returns the time from an NMEA sentence:
@@ -8,29 +8,13 @@ import (
 )

 func TestParseUnknownSentence(t *testing.T) {
-	p := NewParser()
-
-	val := "$GPVTG,89.68,T,,M,0.00,N,0.0,K*5F"
-	_, err := p.Parse(val)
-	if err == nil {
-		t.Error("should have unknown sentence err")
-	}
-}
-
-func TestParseGSV(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"
-	fix, err := p.Parse(val)
-	if err != nil {
-		t.Error("should have parsed")
-	}
-
-	c.Assert(fix.Type, qt.Equals, GSV)
-	c.Assert(fix.Satellites, qt.Equals, int16(9))
-	c.Assert(fix.Valid, qt.Equals, false)
+	_, err := p.Parse(val)
+	c.Assert(err.Error(), qt.Contains, "unsupported NMEA sentence type")
 }

 func TestParseGGA(t *testing.T) {
@@ -1,254 +1,53 @@
 package gps

 import (
+	"errors"
 	"time"
 )

-// FlightModeCmd is a UBX-CFG-NAV5 command
-var nav5Cmd = CfgNav5{
-	Mask:                  CfgNav5Dyn | CfgNav5MinEl | CfgNav5PosFixMode,
-	DynModel:              DynModeAirborne1g, // Airborne with <1g acceleration
-	FixMode:               FixModeAuto,       // Auto 2D/3D
-	MinElev_deg:           5,                 // Minimum elevation 5 degrees
-	FixedAlt_me2:          0,                 // Not used
-	FixedAltVar_m2e4:      0,                 // Not used
-	PDop:                  100,               // 10.0
-	TDop:                  100,               // 10.0
-	PAcc_m:                5000,              // 5 meters
-	TAcc_m:                5000,              // 5 meters
-	StaticHoldThresh_cm_s: 0,                 // Not used
-	DgnssTimeout_s:        0,                 // Not used
-	CnoThreshNumSVs:       0,                 // Not used
-	CnoThresh_dbhz:        0,                 // Not used
-	StaticHoldMaxDist_m:   0,                 // Not used
-	UtcStandard:           0,                 // Automatic
-	Reserved1:             [2]byte{},
-	Reserved2:             [5]byte{},
+// flight mode disables the GPS COCOM limits
+var flight_mode_cmd = [...]byte{
+	0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0xFF, 0xFF, 0x06, 0x03, 0x00, 0x00, 0x00,
+	0x00, 0x10, 0x27, 0x00, 0x00, 0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00,
+	0x2C, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x16, 0xDC}
+
+// Sets CFG-GNSS to disable everything other than GPS GNSS
+// solution. Failure to do this means GPS power saving
+// doesn't work. Not needed for MAX7, needed for MAX8's
+var cfg_gnss_cmd = [...]byte{
+	0xB5, 0x62, 0x06, 0x3E, 0x2C, 0x00, 0x00, 0x00,
+	0x20, 0x05, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00,
+	0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x00, 0x00,
+	0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x00, 0x00,
+	0x01, 0x01, 0x05, 0x00, 0x03, 0x00, 0x00, 0x00,
+	0x01, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00,
+	0x01, 0x01, 0xFC, 0x11}
+
+func FlightMode(d Device) (err error) {
+	err = sendCommand(d, flight_mode_cmd[:])
+	return err
 }

-// SetFlightMode sends UBX-CFG-NAV5 command to set GPS into flight mode
-func (d *Device) SetFlightMode() (err error) {
-	nav5Cmd.DynModel = DynModeAirborne1g
-	nav5Cmd.FixMode = FixModeAuto
-	nav5Cmd.Put42Bytes(d.buffer[:])
-
-	return d.SendCommand(d.buffer[:42])
+func SetCfgGNSS(d Device) (err error) {
+	err = sendCommand(d, cfg_gnss_cmd[:])
+	return err
 }

-// SetPedestrianMode sends UBX-CFG-NAV5 command to set GPS into pedestrian mode
-func (d *Device) SetPedestrianMode() (err error) {
-	nav5Cmd.DynModel = DynModePedestrian
-	nav5Cmd.FixMode = FixModeAuto
-	nav5Cmd.Put42Bytes(d.buffer[:])
-
-	return d.SendCommand(d.buffer[:42])
-}
-
-// SetAutomotiveMode sends UBX-CFG-NAV5 command to set GPS into automotive mode
-func (d *Device) SetAutomotiveMode() (err error) {
-	nav5Cmd.DynModel = DynModeAutomotive
-	nav5Cmd.FixMode = FixModeAuto
-	nav5Cmd.Put42Bytes(d.buffer[:])
-
-	return d.SendCommand(d.buffer[:42])
-}
-
-// SetBikeMode sends UBX-CFG-NAV5 command to set GPS into bike mode
-func (d *Device) SetBikeMode() (err error) {
-	nav5Cmd.DynModel = DynModeBike
-	nav5Cmd.FixMode = FixModeAuto
-	nav5Cmd.Put42Bytes(d.buffer[:])
-
-	return d.SendCommand(d.buffer[:42])
-}
-
-var (
-	// GGA (time, lat/lng, altitude)
-	messageRateGGACmd = CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x00,
-		Rate:     1, // Every position fix
-	}
-	// GLL (time, lat/lng)
-	messageRateGLLCmd = CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x01,
-		Rate:     1, // Every position fix
-	}
-	// GSA (satellite id list)
-	messageRateGSACmd = CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x02,
-		Rate:     0, // Disabled
-	}
-	// GSV (satellite locations)
-	messageRateGSVCmd = CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x03,
-		Rate:     0, // Every position fix
-	}
-	// RMC (time, lat/lng, speed, course)
-	messageRateRMCCmd = CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x04,
-		Rate:     1, // Every position fix
-	}
-	// VTG (speed, course)
-	messageRateVTGCmd = CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x05,
-		Rate:     0, // Disabled
-	}
-	// ZDA (time, timezone)
-	messageRateZDACmd = CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x08,
-		Rate:     0, // Disabled
-	}
-	// TXT (text transmission)
-	messageRateTXTCmd = CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x41,
-		Rate:     0, // Disabled
-	}
-)
-
-// SetMessageRatesMinimal configures the GPS to output a minimal set of NMEA sentences:
-// GSV, GGA, GLL, and RMC only.
-func SetMessageRatesMinimal(d *Device) (err error) {
-	commands := []CfgMsg1{
-		messageRateGSACmd,
-		messageRateGLLCmd,
-		messageRateVTGCmd,
-		messageRateZDACmd,
-		messageRateTXTCmd,
-	}
-	for i := range commands {
-		commands[i].Rate = 0 // Disable
-	}
-	return setCfg1s(d, commands)
-}
-
-// SetMessageRatesAllEnabled configures the GPS to output all NMEA sentences
-func SetMessageRatesAllEnabled(d *Device) (err error) {
-	commands := []CfgMsg1{
-		messageRateGSACmd,
-		messageRateGGACmd,
-		messageRateGLLCmd,
-		messageRateGSVCmd,
-		messageRateRMCCmd,
-		messageRateVTGCmd,
-		messageRateZDACmd,
-		messageRateTXTCmd,
-	}
-	for i := range commands {
-		commands[i].Rate = 1 // Enable
-	}
-	return setCfg1s(d, commands)
-}
-
-func setCfg1s(d *Device, commands []CfgMsg1) (err error) {
-	var buf [9]byte
-	for _, cmd := range commands {
-		cmd.Put9Bytes(buf[:])
-		// TODO handle errors differently here?
-		// This implementation just saves the last error and continues.
-		// Due to the GPS modules sending updates asynchronously
-		// the response is interleaved along with regular ASCII
-		// NMEA messages.
-		err = d.SendCommand(buf[:])
-		time.Sleep(100 * time.Millisecond)
-	}
-
-	return
-}
-
-// gnssDisableCmd is a UBX-CFG-GNSS command to disable all GNSS but GPS
-// Needed for MAX8's, not needed for MAX7
-var gnssDisableCmd = CfgGnss{
-	MsgVer:      0x00,
-	NumTrkChHw:  0x20, // 32 channels
-	NumTrkChUse: 0x20,
-	ConfigBlocks: []CfgGnssConfigBlocksType{
-		{GnssId: 0, ResTrkCh: 8, MaxTrkCh: 16, Flags: CfgGnssEnable | 0x010000}, // GPS enabled
-		{GnssId: 1, ResTrkCh: 1, MaxTrkCh: 3, Flags: 0x010000},                  // SBAS disabled
-		{GnssId: 3, ResTrkCh: 8, MaxTrkCh: 16, Flags: 0x010000},                 // BeiDou disabled
-		{GnssId: 5, ResTrkCh: 0, MaxTrkCh: 3, Flags: 0x010000},                  // QZSS disabled
-		{GnssId: 6, ResTrkCh: 8, MaxTrkCh: 14, Flags: 0x010000},                 // GLONASS disabled
-	},
-}
-
-// SetGNSSDisable sends UBX-CFG-GNSS command to disable all GNSS but GPS
-func (d *Device) SetGNSSDisable() (err error) {
-	err = gnssDisableCmd.Put(d.buffer[:])
-	if err != nil {
-		return err
-	}
-
-	return d.SendCommand(d.buffer[:])
-}
-
-// SendCommand sends a UBX command and waits for ACK/NAK response
-func (d *Device) SendCommand(command []byte) error {
-	// Calculate and append checksum
-	checksummed := appendChecksum(command)
-	d.WriteBytes(checksummed)
-
+func sendCommand(d Device, command []byte) (err error) {
+	d.WriteBytes(command)
 	start := time.Now()
-	for time.Since(start) < time.Second {
-		// Look for UBX sync sequence
-		if d.readNextByte() != ubxSyncChar1 {
-			continue
-		}
-		if d.readNextByte() != ubxSyncChar2 {
-			continue
-		}
-
-		// Read message class and ID
-		msgClass := d.readNextByte()
-		msgID := d.readNextByte()
-
-		// Check if it's an ACK class message
-		if msgClass != ubxClassACK {
-			continue
-		}
-
-		// Read length (2 bytes, little-endian) - ACK is always 2 bytes payload
-		lenLo := d.readNextByte()
-		lenHi := d.readNextByte()
-		length := uint16(lenLo) | uint16(lenHi)<<8
-
-		if length != 2 {
-			continue
-		}
-
-		// Read ACK payload: class and ID of acknowledged message
-		ackClass := d.readNextByte()
-		ackID := d.readNextByte()
-
-		// Verify ACK is for our command (command[2] = class, command[3] = ID)
-		if ackClass != command[2] || ackID != command[3] {
-			continue
-		}
-
-		if msgID == ubxACK_ACK {
-			return nil
-		}
-		if msgID == ubxACK_NAK {
-			return errGPSCommandRejected
+	for time.Now().Sub(start) < 1000 {
+		if d.readNextByte() == '\n' {
+			if d.readNextByte() == 0xB5 {
+				d.readNextByte()
+				if d.readNextByte() == 0x05 {
+					if d.readNextByte() == 0x01 {
+						return
+					}
+				}
+			}
 		}
 	}
-
-	return errNoACKToGPSCommand
-}
-
-// appendChecksum calculates UBX checksum and appends it to the message
-func appendChecksum(msg []byte) []byte {
-	var ckA, ckB byte
-	// Checksum covers class, ID, length, and payload (skip sync chars)
-	for i := 2; i < len(msg); i++ {
-		ckA += msg[i]
-		ckB += ckA
-	}
-	return append(msg, ckA, ckB)
+	return errors.New("no ACK to GPS command")
 }
@@ -1,353 +0,0 @@
-package gps
-
-import (
-	"testing"
-)
-
-func TestAppendChecksum(t *testing.T) {
-	testCases := []struct {
-		name     string
-		input    []byte
-		expected []byte
-	}{
-		{
-			name:     "simple message",
-			input:    []byte{0xB5, 0x62, 0x06, 0x24, 0x00, 0x00},
-			expected: []byte{0xB5, 0x62, 0x06, 0x24, 0x00, 0x00, 0x2A, 0x84},
-		},
-		{
-			name:     "CFG-NAV5 header only",
-			input:    []byte{0xB5, 0x62, 0x06, 0x24, 0x24, 0x00},
-			expected: []byte{0xB5, 0x62, 0x06, 0x24, 0x24, 0x00, 0x4E, 0xCC},
-		},
-	}
-
-	for _, tc := range testCases {
-		t.Run(tc.name, func(t *testing.T) {
-			result := appendChecksum(tc.input)
-
-			if len(result) != len(tc.expected) {
-				t.Errorf("expected length %d, got %d", len(tc.expected), len(result))
-				return
-			}
-
-			// Check checksum bytes (last two bytes)
-			ckA := result[len(result)-2]
-			ckB := result[len(result)-1]
-			expectedCkA := tc.expected[len(tc.expected)-2]
-			expectedCkB := tc.expected[len(tc.expected)-1]
-
-			if ckA != expectedCkA || ckB != expectedCkB {
-				t.Errorf("expected checksum 0x%02X 0x%02X, got 0x%02X 0x%02X",
-					expectedCkA, expectedCkB, ckA, ckB)
-			}
-		})
-	}
-}
-
-func TestAppendChecksumPreservesOriginal(t *testing.T) {
-	input := []byte{0xB5, 0x62, 0x06, 0x24, 0x00, 0x00}
-	original := make([]byte, len(input))
-	copy(original, input)
-
-	result := appendChecksum(input)
-
-	// Verify original bytes are preserved
-	for i := range input {
-		if result[i] != original[i] {
-			t.Errorf("byte %d changed: expected 0x%02X, got 0x%02X", i, original[i], result[i])
-		}
-	}
-
-	// Verify two bytes were appended
-	if len(result) != len(input)+2 {
-		t.Errorf("expected length %d, got %d", len(input)+2, len(result))
-	}
-}
-
-func TestNav5CmdConfig(t *testing.T) {
-	// Verify nav5Cmd has expected values
-	if nav5Cmd.DynModel != 6 {
-		t.Errorf("expected DynModel 6 (airborne <1g), got %d", nav5Cmd.DynModel)
-	}
-
-	if nav5Cmd.FixMode != 3 {
-		t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", nav5Cmd.FixMode)
-	}
-
-	expectedMask := CfgNav5Dyn | CfgNav5MinEl | CfgNav5PosFixMode
-	if nav5Cmd.Mask != expectedMask {
-		t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, nav5Cmd.Mask)
-	}
-
-	if nav5Cmd.MinElev_deg != 5 {
-		t.Errorf("expected MinElev_deg 5, got %d", nav5Cmd.MinElev_deg)
-	}
-}
-
-func TestGNSSDisableCmdConfig(t *testing.T) {
-	// Verify GNSSDisableCmd has expected structure
-	if gnssDisableCmd.MsgVer != 0 {
-		t.Errorf("expected MsgVer 0, got %d", gnssDisableCmd.MsgVer)
-	}
-
-	if gnssDisableCmd.NumTrkChHw != 0x20 {
-		t.Errorf("expected NumTrkChHw 0x20, got 0x%02X", gnssDisableCmd.NumTrkChHw)
-	}
-
-	if len(gnssDisableCmd.ConfigBlocks) != 5 {
-		t.Errorf("expected 5 config blocks, got %d", len(gnssDisableCmd.ConfigBlocks))
-		return
-	}
-
-	// Verify GPS is enabled
-	gpsBlock := gnssDisableCmd.ConfigBlocks[0]
-	if gpsBlock.GnssId != 0 {
-		t.Errorf("expected first block GnssId 0 (GPS), got %d", gpsBlock.GnssId)
-	}
-	if gpsBlock.Flags&CfgGnssEnable == 0 {
-		t.Error("expected GPS to be enabled")
-	}
-
-	// Verify other GNSS are disabled
-	for i := 1; i < len(gnssDisableCmd.ConfigBlocks); i++ {
-		block := gnssDisableCmd.ConfigBlocks[i]
-		if block.Flags&CfgGnssEnable != 0 {
-			t.Errorf("expected block %d (GnssId %d) to be disabled", i, block.GnssId)
-		}
-	}
-}
-
-func TestNav5CmdWrite(t *testing.T) {
-	buf := make([]byte, 64)
-	nav5Cmd.Put42Bytes(buf)
-
-	// Verify sync chars
-	if buf[0] != 0xB5 || buf[1] != 0x62 {
-		t.Errorf("expected sync 0xB5 0x62, got 0x%02X 0x%02X", buf[0], buf[1])
-	}
-
-	// Verify class/id
-	if buf[2] != 0x06 || buf[3] != 0x24 {
-		t.Errorf("expected class/id 0x06 0x24, got 0x%02X 0x%02X", buf[2], buf[3])
-	}
-
-	// Verify DynModel at offset 8
-	if buf[8] != 6 {
-		t.Errorf("expected DynModel 6, got %d", buf[8])
-	}
-}
-
-func TestGNSSDisableCmdWrite(t *testing.T) {
-	buf := make([]byte, 64)
-	err := gnssDisableCmd.Put(buf)
-	if err != nil {
-		t.Errorf("unexpected error, likely buffer too short for data: %v", err)
-	}
-
-	// 6 header + 4 payload header + 5*8 blocks = 50 bytes
-	const expectedLen = 6 + 4 + 5*8
-	sz := gnssDisableCmd.Size()
-	if sz != expectedLen {
-		t.Errorf("expected %d bytes, got %d", expectedLen, sz)
-	}
-
-	// Verify sync chars
-	if buf[0] != 0xB5 || buf[1] != 0x62 {
-		t.Errorf("expected sync 0xB5 0x62, got 0x%02X 0x%02X", buf[0], buf[1])
-	}
-
-	// Verify class/id
-	if buf[2] != 0x06 || buf[3] != 0x3E {
-		t.Errorf("expected class/id 0x06 0x3E, got 0x%02X 0x%02X", buf[2], buf[3])
-	}
-
-	// Verify number of blocks
-	if buf[9] != 5 {
-		t.Errorf("expected 5 blocks, got %d", buf[9])
-	}
-}
-
-func TestChecksumCalculation(t *testing.T) {
-	// Test with known UBX message and expected checksum
-	// This is a minimal CFG-NAV5 poll message
-	msg := []byte{0xB5, 0x62, 0x06, 0x24, 0x00, 0x00}
-
-	result := appendChecksum(msg)
-
-	// Verify checksum by recalculating
-	var ckA, ckB byte
-	for i := 2; i < len(msg); i++ {
-		ckA += msg[i]
-		ckB += ckA
-	}
-
-	if result[6] != ckA || result[7] != ckB {
-		t.Errorf("checksum mismatch: expected 0x%02X 0x%02X, got 0x%02X 0x%02X",
-			ckA, ckB, result[6], result[7])
-	}
-}
-
-func TestMessageRateCmdConfigs(t *testing.T) {
-	testCases := []struct {
-		name     string
-		cmd      CfgMsg1
-		msgClass byte
-		msgID    byte
-		rate     byte
-	}{
-		{"GGA", messageRateGGACmd, 0xF0, 0x00, 1},
-		{"GLL", messageRateGLLCmd, 0xF0, 0x01, 1},
-		{"GSA", messageRateGSACmd, 0xF0, 0x02, 0},
-		{"GSV", messageRateGSVCmd, 0xF0, 0x03, 0},
-		{"RMC", messageRateRMCCmd, 0xF0, 0x04, 1},
-		{"VTG", messageRateVTGCmd, 0xF0, 0x05, 0},
-		{"ZDA", messageRateZDACmd, 0xF0, 0x08, 0},
-		{"TXT", messageRateTXTCmd, 0xF0, 0x41, 0},
-	}
-
-	for _, tc := range testCases {
-		t.Run(tc.name, func(t *testing.T) {
-			if tc.cmd.MsgClass != tc.msgClass {
-				t.Errorf("expected MsgClass 0x%02X, got 0x%02X", tc.msgClass, tc.cmd.MsgClass)
-			}
-			if tc.cmd.MsgID != tc.msgID {
-				t.Errorf("expected MsgID 0x%02X, got 0x%02X", tc.msgID, tc.cmd.MsgID)
-			}
-			if tc.cmd.Rate != tc.rate {
-				t.Errorf("expected Rate %d, got %d", tc.rate, tc.cmd.Rate)
-			}
-		})
-	}
-}
-
-func TestCfgMsg1Write(t *testing.T) {
-	cmd := CfgMsg1{
-		MsgClass: 0xF0,
-		MsgID:    0x00,
-		Rate:     1,
-	}
-
-	buf := make([]byte, 16)
-	cmd.Put9Bytes(buf)
-	// Verify sync chars
-	if buf[0] != 0xB5 || buf[1] != 0x62 {
-		t.Errorf("expected sync 0xB5 0x62, got 0x%02X 0x%02X", buf[0], buf[1])
-	}
-
-	// Verify class/id (0x06 0x01 for CFG-MSG)
-	if buf[2] != 0x06 || buf[3] != 0x01 {
-		t.Errorf("expected class/id 0x06 0x01, got 0x%02X 0x%02X", buf[2], buf[3])
-	}
-
-	// Verify length (3 bytes payload)
-	if buf[4] != 3 || buf[5] != 0 {
-		t.Errorf("expected length 3, got %d", uint16(buf[4])|uint16(buf[5])<<8)
-	}
-
-	// Verify payload
-	if buf[6] != 0xF0 {
-		t.Errorf("expected MsgClass 0xF0, got 0x%02X", buf[6])
-	}
-	if buf[7] != 0x00 {
-		t.Errorf("expected MsgID 0x00, got 0x%02X", buf[7])
-	}
-	if buf[8] != 1 {
-		t.Errorf("expected Rate 1, got %d", buf[8])
-	}
-}
-
-func TestCfgMsg1ClassID(t *testing.T) {
-	cmd := CfgMsg1{}
-	if got := cmd.classID(); got != 0x0106 {
-		t.Errorf("expected 0x0106, got 0x%04x", got)
-	}
-}
-
-func TestMinimalMessageRatesConfig(t *testing.T) {
-	// Verify the minimal config has correct rates set
-	// GGA and RMC should be enabled (rate=1), others disabled (rate=0)
-	expectedRates := map[byte]byte{
-		0x00: 1, // GGA - enabled
-		0x01: 1, // GLL - enabled
-		0x02: 0, // GSA - disabled
-		0x03: 0, // GSV - disabled
-		0x04: 1, // RMC - enabled
-		0x05: 0, // VTG - disabled
-		0x08: 0, // ZDA - disabled
-		0x41: 0, // TXT - disabled
-	}
-
-	commands := []CfgMsg1{
-		messageRateGGACmd,
-		messageRateGLLCmd,
-		messageRateGSACmd,
-		messageRateGSVCmd,
-		messageRateRMCCmd,
-		messageRateVTGCmd,
-		messageRateZDACmd,
-		messageRateTXTCmd,
-	}
-
-	for _, cmd := range commands {
-		expectedRate, ok := expectedRates[cmd.MsgID]
-		if !ok {
-			t.Errorf("unexpected MsgID 0x%02X", cmd.MsgID)
-			continue
-		}
-		if cmd.Rate != expectedRate {
-			t.Errorf("MsgID 0x%02X: expected rate %d, got %d", cmd.MsgID, expectedRate, cmd.Rate)
-		}
-	}
-}
-
-func TestAllMessageRatesWriteCorrectBytes(t *testing.T) {
-	// Test that each message rate command writes the correct bytes
-	commands := []CfgMsg1{
-		messageRateGGACmd,
-		messageRateGLLCmd,
-		messageRateGSACmd,
-		messageRateGSVCmd,
-		messageRateRMCCmd,
-		messageRateVTGCmd,
-		messageRateZDACmd,
-		messageRateTXTCmd,
-	}
-
-	for _, cmd := range commands {
-		buf := make([]byte, 16)
-		cmd.Put9Bytes(buf)
-
-		// Verify MsgClass in payload
-		if buf[6] != 0xF0 {
-			t.Errorf("MsgID 0x%02X: expected MsgClass 0xF0, got 0x%02X", cmd.MsgID, buf[6])
-		}
-
-		// Verify MsgID in payload
-		if buf[7] != cmd.MsgID {
-			t.Errorf("expected MsgID 0x%02X in payload, got 0x%02X", cmd.MsgID, buf[7])
-		}
-
-		// Verify Rate in payload
-		if buf[8] != cmd.Rate {
-			t.Errorf("MsgID 0x%02X: expected Rate %d, got %d", cmd.MsgID, cmd.Rate, buf[8])
-		}
-	}
-}
-
-func TestSetMessageRatesAllEnabledModifiesRate(t *testing.T) {
-	// Verify that when we copy a command and set Rate=1, it works correctly
-	cmd := messageRateGSACmd // This one is disabled by default
-	if cmd.Rate != 0 {
-		t.Errorf("expected GSA default rate 0, got %d", cmd.Rate)
-	}
-
-	// Simulate what SetMessageRatesAllEnabled does
-	cmd.Rate = 1
-
-	buf := make([]byte, 16)
-	cmd.Put9Bytes(buf)
-	if buf[8] != 1 {
-		t.Errorf("expected Rate 1 in buffer, got %d", buf[8])
-	}
-}
@@ -1,220 +0,0 @@
-package gps
-
-import "io"
-
-// UBX message classes
-const (
-	ubxClassACK = 0x05
-)
-
-// UBX ACK message IDs
-const (
-	ubxACK_NAK = 0x00 // Message not acknowledged
-	ubxACK_ACK = 0x01 // Message acknowledged
-)
-
-// UBX sync characters
-const (
-	ubxSyncChar1 = 0xB5
-	ubxSyncChar2 = 0x62
-)
-
-const (
-	DynModePortable   = 0
-	DynModeStationary = 2
-	DynModePedestrian = 3
-	DynModeAutomotive = 4
-	DynModeSea        = 5
-	DynModeAirborne1g = 6
-	DynModeAirborne2g = 7
-	DynModeAirborne4g = 8
-	DynModeWristWatch = 9
-	DynModeBike       = 10
-)
-
-const (
-	FixMode2D   = 1
-	FixMode3D   = 2
-	FixModeAuto = 3
-)
-
-// from https://github.com/daedaleanai/ublox/blob/main/ubx/messages.go
-
-// Message ubx-cfg-nav5
-
-// CfgNav5 (Get/set) Navigation engine settings
-// Class/Id 0x06 0x24 (36 bytes)
-// See the Navigation Configuration Settings Description for a detailed description of how these settings affect receiver operation.
-type CfgNav5 struct {
-	Mask                  CfgNav5Mask // Parameters bitmask. Only the masked parameters will be applied.
-	DynModel              byte        // Dynamic platform model: 0: portable 2: stationary 3: pedestrian 4: automotive 5: sea 6: airborne with <1g acceleration 7: airborne with <2g acceleration 8: airborne with <4g acceleration 9: wrist-worn watch (not supported in protocol versions less than 18) 10: bike (supported in protocol versions 19. 2)
-	FixMode               byte        // Position fixing mode: 1: 2D only 2: 3D only 3: auto 2D/3D
-	FixedAlt_me2          int32       // [1e-2 m] Fixed altitude (mean sea level) for 2D fix mode
-	FixedAltVar_m2e4      uint32      // [1e-4 m^2] Fixed altitude variance for 2D mode
-	MinElev_deg           int8        // [deg] Minimum elevation for a GNSS satellite to be used in NAV
-	DrLimit_s             byte        // [s] Reserved
-	PDop                  uint16      // Position DOP mask to use
-	TDop                  uint16      // Time DOP mask to use
-	PAcc_m                uint16      // [m] Position accuracy mask
-	TAcc_m                uint16      // [m] Time accuracy mask
-	StaticHoldThresh_cm_s byte        // [cm/s] Static hold threshold
-	DgnssTimeout_s        byte        // [s] DGNSS timeout
-	CnoThreshNumSVs       byte        // Number of satellites required to have C/N0 above cnoThresh for a fix to be attempted
-	CnoThresh_dbhz        byte        // [dBHz] C/N0 threshold for deciding whether to attempt a fix
-	Reserved1             [2]byte     // Reserved
-	StaticHoldMaxDist_m   uint16      // [m] Static hold distance threshold (before quitting static hold)
-	UtcStandard           byte        // UTC standard to be used: 0: Automatic; receiver selects based on GNSS configuration (see GNSS time bases) 3: UTC as operated by the U.S. Naval Observatory (USNO); derived from GPS time 5: UTC as combined from multiple European laboratories; derived from Galileo time 6: UTC as operated by the former Soviet Union (SU); derived from GLONASS time 7: UTC as operated by the National Time Service Center (NTSC), China; derived from BeiDou time (not supported in protocol versions less than 16).
-	Reserved2             [5]byte     // Reserved
-}
-
-func (CfgNav5) classID() uint16 { return 0x2406 }
-
-type CfgNav5Mask uint16
-
-var _ io.WriterTo = CfgNav5{} // compile time guarantee of interface implementation.
-
-const (
-	CfgNav5Dyn            CfgNav5Mask = 0x1   // Apply dynamic model settings
-	CfgNav5MinEl          CfgNav5Mask = 0x2   // Apply minimum elevation settings
-	CfgNav5PosFixMode     CfgNav5Mask = 0x4   // Apply fix mode settings
-	CfgNav5DrLim          CfgNav5Mask = 0x8   // Reserved
-	CfgNav5PosMask        CfgNav5Mask = 0x10  // Apply position mask settings
-	CfgNav5TimeMask       CfgNav5Mask = 0x20  // Apply time mask settings
-	CfgNav5StaticHoldMask CfgNav5Mask = 0x40  // Apply static hold settings
-	CfgNav5DgpsMask       CfgNav5Mask = 0x80  // Apply DGPS settings
-	CfgNav5CnoThreshold   CfgNav5Mask = 0x100 // Apply CNO threshold settings (cnoThresh, cnoThreshNumSVs)
-	CfgNav5Utc            CfgNav5Mask = 0x400 // Apply UTC settings (not supported in protocol versions less than 16).
-)
-
-func (cfg CfgNav5) Append(dst []byte) []byte {
-	var buf [42]byte
-	cfg.Put42Bytes(buf[:])
-	dst = append(dst, buf[:]...)
-	return dst
-}
-
-func (cfg CfgNav5) WriteTo(w io.Writer) (int64, error) {
-	var buf [42]byte
-	cfg.Put42Bytes(buf[:])
-	n, err := w.Write(buf[:])
-	return int64(n), err
-}
-
-// Write CfgNav5 message to buffer
-func (cfg CfgNav5) Put42Bytes(buf []byte) {
-	_ = buf[41]
-	copy(buf, []byte{0xb5, 0x62, byte(cfg.classID()), byte(cfg.classID() >> 8), 36, 0})
-
-	buf[6] = byte(cfg.Mask)
-	buf[7] = byte(cfg.Mask >> 8)
-	buf[8] = cfg.DynModel
-	buf[9] = cfg.FixMode
-	buf[10] = byte(cfg.FixedAlt_me2)
-	buf[11] = byte(cfg.FixedAlt_me2 >> 8)
-	buf[12] = byte(cfg.FixedAlt_me2 >> 16)
-	buf[13] = byte(cfg.FixedAlt_me2 >> 24)
-	buf[14] = byte(cfg.FixedAltVar_m2e4)
-	buf[15] = byte(cfg.FixedAltVar_m2e4 >> 8)
-	buf[16] = byte(cfg.FixedAltVar_m2e4 >> 16)
-	buf[17] = byte(cfg.FixedAltVar_m2e4 >> 24)
-	buf[18] = byte(cfg.MinElev_deg)
-	buf[19] = cfg.DrLimit_s
-	buf[20] = byte(cfg.PDop)
-	buf[21] = byte(cfg.PDop >> 8)
-	buf[22] = byte(cfg.TDop)
-	buf[23] = byte(cfg.TDop >> 8)
-	buf[24] = byte(cfg.PAcc_m)
-	buf[25] = byte(cfg.PAcc_m >> 8)
-	buf[26] = byte(cfg.TAcc_m)
-	buf[27] = byte(cfg.TAcc_m >> 8)
-	buf[28] = cfg.StaticHoldThresh_cm_s
-	buf[29] = cfg.DgnssTimeout_s
-	buf[30] = cfg.CnoThreshNumSVs
-	buf[31] = cfg.CnoThresh_dbhz
-	copy(buf[32:34], cfg.Reserved1[:])
-	buf[34] = byte(cfg.StaticHoldMaxDist_m)
-	buf[35] = byte(cfg.StaticHoldMaxDist_m >> 8)
-	buf[36] = cfg.UtcStandard
-	copy(buf[37:42], cfg.Reserved2[:])
-}
-
-// Message ubx-cfg-msg
-
-// CfgMsg1 (Get/set) Set message rate
-// Class/Id 0x06 0x01 (3 bytes)
-// Set message rate configuration for the current port. See also section How to change between protocols.
-type CfgMsg1 struct {
-	MsgClass byte // Message class
-	MsgID    byte // Message identifier
-	Rate     byte // Send rate on current port
-}
-
-func (CfgMsg1) classID() uint16 { return 0x0106 }
-
-func (cfg CfgMsg1) Put9Bytes(buf []byte) {
-	copy(buf, []byte{0xb5, 0x62, byte(cfg.classID()), byte(cfg.classID() >> 8), 3, 0})
-	buf[6] = cfg.MsgClass
-	buf[7] = cfg.MsgID
-	buf[8] = cfg.Rate
-}
-
-// Message ubx-cfg-gnss
-
-// CfgGnss (Get/set) GNSS system configuration
-// Class/Id 0x06 0x3e (4 + N*8 bytes)
-// Gets or sets the GNSS system channel sharing configuration. If the receiver is sent a valid new configuration, it will respond with a UBX-ACK- ACK message and immediately change to the new configuration. Otherwise the receiver will reject the request, by issuing a UBX-ACK-NAK and continuing operation with the previous configuration. Configuration requirements:  It is necessary for at least one major GNSS to be enabled, after applying the  new configuration to the current one.  It is also required that at least 4 tracking channels are available to each  enabled major GNSS, i.e. maxTrkCh must have a minimum value of 4 for each  enabled major GNSS.  The number of tracking channels in use must not exceed the number of  tracking channels available in hardware, and the sum of all reserved tracking  channels needs to be less than or equal to the number of tracking channels in  use. Notes:  To avoid cross-correlation issues, it is recommended that GPS and QZSS are  always both enabled or both disabled.  Polling this message returns the configuration of all supported GNSS, whether  enabled or not; it may also include GNSS unsupported by the particular  product, but in such cases the enable flag will always be unset.  See section GNSS Configuration for a discussion of the use of this message.  See section Satellite Numbering for a description of the GNSS IDs available.  Configuration specific to the GNSS system can be done via other messages (e.  g. UBX-CFG-SBAS).
-type CfgGnss struct {
-	MsgVer          byte                      // Message version (0x00 for this version)
-	NumTrkChHw      byte                      // Number of tracking channels available in hardware (read only)
-	NumTrkChUse     byte                      // (Read only in protocol versions greater than 23) Number of tracking channels to use. Must be > 0, <= numTrkChHw. If 0xFF, then number of tracking channels to use will be set to numTrkChHw.
-	NumConfigBlocks byte                      `len:"ConfigBlocks"` // Number of configuration blocks following
-	ConfigBlocks    []CfgGnssConfigBlocksType // len: NumConfigBlocks
-}
-
-func (CfgGnss) classID() uint16 { return 0x3e06 }
-
-type CfgGnssConfigBlocksType struct {
-	GnssId    byte         // System identifier (see Satellite Numbering )
-	ResTrkCh  byte         // (Read only in protocol versions greater than 23) Number of reserved (minimum) tracking channels for this system.
-	MaxTrkCh  byte         // (Read only in protocol versions greater than 23) Maximum number of tracking channels used for this system. Must be > 0, >= resTrkChn, <= numTrkChUse and <= maximum number of tracking channels supported for this system.
-	Reserved1 byte         // Reserved
-	Flags     CfgGnssFlags // Bitfield of flags. At least one signal must be configured in every enabled system.
-}
-
-type CfgGnssFlags uint32
-
-const (
-	CfgGnssEnable     CfgGnssFlags = 0x1      // Enable this system
-	CfgGnssSigCfgMask CfgGnssFlags = 0xff0000 // Signal configuration mask When gnssId is 0 (GPS) 0x01 = GPS L1C/A 0x10 = GPS L2C 0x20 = GPS L5 When gnssId is 1 (SBAS) 0x01 = SBAS L1C/A When gnssId is 2 (Galileo) 0x01 = Galileo E1 (not supported in protocol versions less than 18) 0x10 = Galileo E5a 0x20 = Galileo E5b When gnssId is 3 (BeiDou) 0x01 = BeiDou B1I 0x10 = BeiDou B2I 0x80 = BeiDou B2A When gnssId is 4 (IMES) 0x01 = IMES L1 When gnssId is 5 (QZSS) 0x01 = QZSS L1C/A 0x04 = QZSS L1S 0x10 = QZSS L2C 0x20 = QZSS L5 When gnssId is 6 (GLONASS) 0x01 = GLONASS L1 0x10 = GLONASS L2
-)
-
-// Write CfgGnss message to buffer
-func (cfg CfgGnss) Put(buf []byte) error {
-	sz := cfg.Size()
-	if sz > len(buf) {
-		return io.ErrShortBuffer
-	}
-	copy(buf, []byte{0xb5, 0x62, byte(cfg.classID()), byte(cfg.classID() >> 8), 4 + byte(len(cfg.ConfigBlocks))*8, 0})
-	buf[6] = cfg.MsgVer
-	buf[7] = cfg.NumTrkChHw
-	buf[8] = cfg.NumTrkChUse
-	buf[9] = byte(len(cfg.ConfigBlocks))
-	offset := 10
-	for _, block := range cfg.ConfigBlocks {
-		buf[offset] = block.GnssId
-		buf[offset+1] = block.ResTrkCh
-		buf[offset+2] = block.MaxTrkCh
-		buf[offset+3] = block.Reserved1
-		buf[offset+4] = byte(block.Flags)
-		buf[offset+5] = byte(block.Flags >> 8)
-		buf[offset+6] = byte(block.Flags >> 16)
-		buf[offset+7] = byte(block.Flags >> 24)
-		offset += 8
-	}
-	return nil
-}
-
-// Size returns length of CfgGnss in bytes when sent over the wire.
-func (cfg CfgGnss) Size() int {
-	return 10 + 8*len(cfg.ConfigBlocks)
-}
@@ -1,189 +0,0 @@
-package gps
-
-import (
-	"testing"
-)
-
-func TestCfgNav5ClassID(t *testing.T) {
-	cfg := CfgNav5{}
-	if got := cfg.classID(); got != 0x2406 {
-		t.Errorf("expected 0x2406, got 0x%04x", got)
-	}
-}
-
-func TestCfgNav5Write(t *testing.T) {
-	cfg := CfgNav5{
-		Mask:                  CfgNav5Dyn | CfgNav5MinEl,
-		DynModel:              4,
-		FixMode:               3,
-		FixedAlt_me2:          10000,
-		FixedAltVar_m2e4:      10000,
-		MinElev_deg:           5,
-		DrLimit_s:             0,
-		PDop:                  250,
-		TDop:                  250,
-		PAcc_m:                100,
-		TAcc_m:                300,
-		StaticHoldThresh_cm_s: 50,
-		DgnssTimeout_s:        60,
-		CnoThreshNumSVs:       3,
-		CnoThresh_dbhz:        35,
-		Reserved1:             [2]byte{0, 0},
-		StaticHoldMaxDist_m:   200,
-		UtcStandard:           0,
-		Reserved2:             [5]byte{0, 0, 0, 0, 0},
-	}
-
-	buf := make([]byte, 64)
-	cfg.Put42Bytes(buf)
-
-	// Check sync chars
-	if buf[0] != 0xb5 || buf[1] != 0x62 {
-		t.Errorf("expected sync chars 0xb5 0x62, got 0x%02x 0x%02x", buf[0], buf[1])
-	}
-
-	// Check class/id (little-endian)
-	if buf[2] != 0x06 || buf[3] != 0x24 {
-		t.Errorf("expected class/id 0x06 0x24, got 0x%02x 0x%02x", buf[2], buf[3])
-	}
-
-	// Check length
-	if buf[4] != 36 || buf[5] != 0 {
-		t.Errorf("expected length 36, got %d", uint16(buf[4])|uint16(buf[5])<<8)
-	}
-
-	// Check Mask (little-endian)
-	mask := uint16(buf[6]) | uint16(buf[7])<<8
-	if mask != uint16(CfgNav5Dyn|CfgNav5MinEl) {
-		t.Errorf("expected mask 0x03, got 0x%04x", mask)
-	}
-
-	// Check DynModel
-	if buf[8] != 4 {
-		t.Errorf("expected DynModel 4, got %d", buf[8])
-	}
-
-	// Check FixMode
-	if buf[9] != 3 {
-		t.Errorf("expected FixMode 3, got %d", buf[9])
-	}
-
-	// Check FixedAlt_me2 (little-endian int32)
-	fixedAlt := int32(buf[10]) | int32(buf[11])<<8 | int32(buf[12])<<16 | int32(buf[13])<<24
-	if fixedAlt != 10000 {
-		t.Errorf("expected FixedAlt_me2 10000, got %d", fixedAlt)
-	}
-}
-
-func TestCfgGnssClassID(t *testing.T) {
-	cfg := CfgGnss{}
-	if got := cfg.classID(); got != 0x3e06 {
-		t.Errorf("expected 0x3e06, got 0x%04x", got)
-	}
-}
-
-func TestCfgGnssWrite(t *testing.T) {
-	testCases := []struct {
-		name           string
-		cfg            CfgGnss
-		expectedLen    int
-		expectedBlocks byte
-	}{
-		{
-			name: "no config blocks",
-			cfg: CfgGnss{
-				MsgVer:       0,
-				NumTrkChHw:   32,
-				NumTrkChUse:  32,
-				ConfigBlocks: nil,
-			},
-			expectedLen:    10,
-			expectedBlocks: 0,
-		},
-		{
-			name: "one config block",
-			cfg: CfgGnss{
-				MsgVer:      0,
-				NumTrkChHw:  32,
-				NumTrkChUse: 32,
-				ConfigBlocks: []CfgGnssConfigBlocksType{
-					{GnssId: 0, ResTrkCh: 8, MaxTrkCh: 16, Flags: CfgGnssEnable | 0x010000},
-				},
-			},
-			expectedLen:    18,
-			expectedBlocks: 1,
-		},
-		{
-			name: "two config blocks",
-			cfg: CfgGnss{
-				MsgVer:      0,
-				NumTrkChHw:  32,
-				NumTrkChUse: 32,
-				ConfigBlocks: []CfgGnssConfigBlocksType{
-					{GnssId: 0, ResTrkCh: 8, MaxTrkCh: 16, Flags: CfgGnssEnable | 0x010000},
-					{GnssId: 6, ResTrkCh: 8, MaxTrkCh: 14, Flags: CfgGnssEnable | 0x010000},
-				},
-			},
-			expectedLen:    26,
-			expectedBlocks: 2,
-		},
-	}
-
-	for _, tc := range testCases {
-		t.Run(tc.name, func(t *testing.T) {
-			buf := make([]byte, 64)
-			err := tc.cfg.Put(buf)
-			if err != nil {
-				t.Errorf("unexpected error, data too long?: %v", err)
-			}
-			// Check sync chars
-			if buf[0] != 0xb5 || buf[1] != 0x62 {
-				t.Errorf("expected sync chars 0xb5 0x62, got 0x%02x 0x%02x", buf[0], buf[1])
-			}
-
-			// Check class/id (little-endian)
-			if buf[2] != 0x06 || buf[3] != 0x3e {
-				t.Errorf("expected class/id 0x06 0x3e, got 0x%02x 0x%02x", buf[2], buf[3])
-			}
-
-			// Check number of config blocks
-			if buf[9] != tc.expectedBlocks {
-				t.Errorf("expected %d config blocks, got %d", tc.expectedBlocks, buf[9])
-			}
-		})
-	}
-}
-
-func TestCfgGnssWriteBlockContent(t *testing.T) {
-	cfg := CfgGnss{
-		MsgVer:      0,
-		NumTrkChHw:  32,
-		NumTrkChUse: 32,
-		ConfigBlocks: []CfgGnssConfigBlocksType{
-			{GnssId: 0, ResTrkCh: 8, MaxTrkCh: 16, Reserved1: 0, Flags: CfgGnssEnable | 0x010000},
-		},
-	}
-
-	buf := make([]byte, 64)
-	err := cfg.Put(buf)
-	if err != nil {
-		t.Fatal(err)
-	}
-	// Check first block at offset 10
-	if buf[10] != 0 {
-		t.Errorf("expected GnssId 0, got %d", buf[10])
-	}
-	if buf[11] != 8 {
-		t.Errorf("expected ResTrkCh 8, got %d", buf[11])
-	}
-	if buf[12] != 16 {
-		t.Errorf("expected MaxTrkCh 16, got %d", buf[12])
-	}
-
-	// Check flags (little-endian uint32)
-	flags := uint32(buf[14]) | uint32(buf[15])<<8 | uint32(buf[16])<<16 | uint32(buf[17])<<24
-	expectedFlags := uint32(CfgGnssEnable | 0x010000)
-	if flags != expectedFlags {
-		t.Errorf("expected flags 0x%08x, got 0x%08x", expectedFlags, flags)
-	}
-}
@@ -60,20 +60,16 @@ const (
 )

 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_203_125        // 203.125 kHz
-	Bandwidth_250_0          // 250.0 kHz
-	Bandwidth_406_25         // 406.25 kHz
-	Bandwidth_500_0          // 500.0 kHz
-	Bandwidth_812_5          // 812.5 kHz
-	Bandwidth_1625_0         // 1625 kHz
+	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 (
@@ -6,9 +6,6 @@ const (
 	RadioEventTimeout
 	RadioEventWatchdog
 	RadioEventCrcError
-	RadioEventValidHeader
-	RadioEventCadDone
-	RadioEventCadDetected
 	RadioEventUnhandled
 )

@@ -6,7 +6,6 @@
 package mcp2515 // import "tinygo.org/x/drivers/mcp2515"

 import (
-	"encoding/binary"
 	"errors"
 	"fmt"
 	"time"
@@ -16,30 +15,15 @@ import (
 	"tinygo.org/x/drivers/internal/pin"
 )

-var (
-	ErrNothingIsReceived          = errors.New("readMsg: nothing is received")
-	ErrRequestNewModeMaxTimeEx    = errors.New("requestNewMode max time expired")
-	ErrLengthIsLongerThanCapacity = errors.New("length is longer than capacity")
-	ErrTxTimeout                  = errors.New("Tx: Tx timeout")
-	ErrInvalidDirection           = errors.New("invalid direction")
-	ErrInvalidParameter           = errors.New("invalid parameter")
-	ErrCannotExpandBuffer         = errors.New("cannot expand buffer (to avoid memory allocation)")
-)
-
 // Device wraps MCP2515 SPI CAN Module.
 type Device struct {
 	spi           SPI
 	cs            pin.OutputFunc
 	msg           *CANMsg
-	extended      bool
 	mcpMode       byte
 	configurePins func()
 }

-type Configuration struct {
-	Extended bool
-}
-
 // CANMsg stores CAN message fields.
 type CANMsg struct {
 	ID   uint32
@@ -72,11 +56,10 @@ func New(b drivers.SPI, csPin pin.Output) *Device {
 }

 // Configure sets up the device for communication.
-func (d *Device) Configure(cfg Configuration) {
+func (d *Device) Configure() {
 	if d.configurePins == nil {
 		panic(legacy.ErrConfigBeforeInstantiated)
 	}
-	d.extended = cfg.Extended
 	d.configurePins()
 }

@@ -134,13 +117,9 @@ func (d *Device) Tx(canid uint32, dlc uint8, data []byte) error {
 		timeoutCount++
 	}
 	if timeoutCount == timeoutvalue {
-		return ErrTxTimeout
+		return fmt.Errorf("Tx: Tx timeout")
 	}
-	ext := byte(0)
-	if d.extended {
-		ext = 1
-	}
-	err = d.writeCANMsg(bufNum, canid, ext, 0, dlc, data)
+	err = d.writeCANMsg(bufNum, canid, 0, 0, dlc, data)
 	if err != nil {
 		return err
 	}
@@ -410,7 +389,7 @@ func (d *Device) configRate(speed, clock byte) error {
 		set = false
 	}
 	if !set {
-		return ErrInvalidParameter
+		return errors.New("invalid parameter")
 	}
 	if err := d.setRegister(mcpCNF1, cfg1); err != nil {
 		return err
@@ -470,7 +449,7 @@ func (d *Device) readMsg() error {
 			return err
 		}
 	} else {
-		return ErrNothingIsReceived
+		return fmt.Errorf("readMsg: nothing is received")
 	}

 	return nil
@@ -577,22 +556,39 @@ func (d *Device) writeCANMsg(bufNum uint8, canid uint32, ext, rtrBit, dlc uint8,
 }

 func (s *SPI) setTxBufData(canid uint32, ext, rtrBit, dlc uint8, data []byte) error {
-	var id [4]byte
+	canid = canid & 0x0FFFF
 	if ext == 1 {
-		canid = canid & extidBottom29Mask
-		extended_id := canid
-		high_11 := extended_id & extidTop11WriteMask
-		low_18 := extended_id & extidBottom18Mask
-		high_11 <<= 3
-		extended_id_shifted := high_11 | low_18
-		canid = extended_id_shifted | extidFlagMask
+		// TODO: add Extended ID
+		err := s.setTxData(0)
+		if err != nil {
+			return err
+		}
+		err = s.setTxData(0)
+		if err != nil {
+			return err
+		}
+		err = s.setTxData(0)
+		if err != nil {
+			return err
+		}
+		err = s.setTxData(0)
+		if err != nil {
+			return err
+		}
 	} else {
-		canid = canid & stdidBottom11Mask
-		canid <<= 16 + 5
-	}
-	binary.BigEndian.PutUint32(id[:], canid)
-	for _, b := range id {
-		err := s.setTxData(b)
+		err := s.setTxData(byte(canid >> 3))
+		if err != nil {
+			return err
+		}
+		err = s.setTxData(byte((canid & 0x07) << 5))
+		if err != nil {
+			return err
+		}
+		err = s.setTxData(0)
+		if err != nil {
+			return err
+		}
+		err = s.setTxData(0)
 		if err != nil {
 			return err
 		}
@@ -789,7 +785,7 @@ func (d *Device) requestNewMode(newMode byte) error {
 		if r&modeMask == newMode {
 			return nil
 		} else if e := time.Now(); e.Sub(s) > 200*time.Millisecond {
-			return ErrRequestNewModeMaxTimeEx
+			return errors.New("requestNewMode max time expired")
 		}
 	}
 }
@@ -865,23 +861,23 @@ func (s *SPI) clearBuffer(dir int) error { return s.setBufferLength(0, dir) }
 func (s *SPI) setBufferLength(length int, dir int) error {
 	if dir == tx {
 		if length > cap(s.tx) {
-			return ErrLengthIsLongerThanCapacity
+			return fmt.Errorf("length is longer than capacity")
 		}
 		s.tx = s.tx[:length]
 	} else if dir == rx {
 		if length > cap(s.rx) {
-			return ErrLengthIsLongerThanCapacity
+			return fmt.Errorf("length is longer than capacity")
 		}
 		s.rx = s.rx[:length]
 	} else {
-		return ErrInvalidDirection
+		return fmt.Errorf("invalid direction")
 	}
 	return nil
 }

 func (s *SPI) setTxData(data byte) error {
 	if len(s.tx) >= bufferSize {
-		return ErrCannotExpandBuffer
+		return fmt.Errorf("cannot expand buffer (to avoid memory allocation)")
 	}
 	s.tx = append(s.tx, data)

@@ -417,11 +417,4 @@ const (
 	canFail           = 0xff

 	canMaxCharInMessage = 8
-
-	// for extended id
-	extidTop11WriteMask = 0x1FFC0000
-	extidBottom29Mask   = (1 << 29) - 1 // extended id bits
-	extidBottom18Mask   = (1 << 18) - 1 // bottom 18 bits
-	stdidBottom11Mask   = 0x7FF
-	extidFlagMask       = 1 << 19
 )
@@ -5,154 +5,75 @@ const AddressDefault = 0x60     // Assumes ADDR pin is low
 const AddressAlternative = 0x61 // Assumes ADDR pin is high

 const (
-	XTAL_FREQ   = 25000000
-	PLL_FIXED   = 80000000000
-	FREQ_MULT   = 100
-	DEFAULT_CLK = 1000000000
+	OUTPUT_ENABLE_CONTROL = 3

-	PLL_VCO_MIN            = 600000000
-	PLL_VCO_MAX            = 900000000
-	MULTISYNTH_MIN_FREQ    = 500000
-	MULTISYNTH_DIVBY4_FREQ = 150000000
-	MULTISYNTH_MAX_FREQ    = 225000000
-	MULTISYNTH_SHARE_MAX   = 100000000
-	MULTISYNTH_SHARE_MIN   = 1024000
-	MULTISYNTH67_MAX_FREQ  = MULTISYNTH_DIVBY4_FREQ
-	CLKOUT_MIN_FREQ        = 4000
-	CLKOUT_MAX_FREQ        = MULTISYNTH_MAX_FREQ
-	CLKOUT67_MS_MIN        = PLL_VCO_MIN / MULTISYNTH67_A_MAX
-	CLKOUT67_MIN_FREQ      = CLKOUT67_MS_MIN / 128
-	CLKOUT67_MAX_FREQ      = MULTISYNTH67_MAX_FREQ
+	CLK0_CONTROL = 16
+	CLK1_CONTROL = 17
+	CLK2_CONTROL = 18
+	CLK3_CONTROL = 19
+	CLK4_CONTROL = 20
+	CLK5_CONTROL = 21
+	CLK6_CONTROL = 22
+	CLK7_CONTROL = 23

-	PLL_A_MIN          = 15
-	PLL_A_MAX          = 90
-	PLL_B_MAX          = PLL_C_MAX - 1
-	PLL_C_MAX          = 1048575
-	MULTISYNTH_A_MIN   = 6
-	MULTISYNTH_A_MAX   = 1800
-	MULTISYNTH67_A_MAX = 254
-	MULTISYNTH_B_MAX   = MULTISYNTH_C_MAX - 1
-	MULTISYNTH_C_MAX   = 1048575
-	MULTISYNTH_P1_MAX  = (1 << 18) - 1
-	MULTISYNTH_P2_MAX  = (1 << 20) - 1
-	MULTISYNTH_P3_MAX  = (1 << 20) - 1
-	VCXO_PULL_MIN      = 30
-	VCXO_PULL_MAX      = 240
-	VCXO_MARGIN        = 103
+	MULTISYNTH0_PARAMETERS_1 = 42
+	MULTISYNTH0_PARAMETERS_3 = 44
+	MULTISYNTH1_PARAMETERS_1 = 50
+	MULTISYNTH1_PARAMETERS_3 = 52
+	MULTISYNTH2_PARAMETERS_1 = 58
+	MULTISYNTH2_PARAMETERS_3 = 60

-	DEVICE_STATUS       = 0
-	INTERRUPT_STATUS    = 1
-	INTERRUPT_MASK      = 2
-	STATUS_SYS_INIT     = 1 << 7
-	STATUS_LOL_B        = 1 << 6
-	STATUS_LOL_A        = 1 << 5
-	STATUS_LOS          = 1 << 4
-	OUTPUT_ENABLE_CTRL  = 3
-	OEB_PIN_ENABLE_CTRL = 9
-	PLL_INPUT_SOURCE    = 15
-	CLKIN_DIV_MASK      = 3 << 6
-	CLKIN_DIV_1         = 0 << 6
-	CLKIN_DIV_2         = 1 << 6
-	CLKIN_DIV_4         = 2 << 6
-	CLKIN_DIV_8         = 3 << 6
-	PLLB_SOURCE         = 1 << 3
-	PLLA_SOURCE         = 1 << 2
+	SPREAD_SPECTRUM_PARAMETERS = 149

-	CLK0_CTRL                = 16
-	CLK1_CTRL                = 17
-	CLK2_CTRL                = 18
-	CLK3_CTRL                = 19
-	CLK4_CTRL                = 20
-	CLK5_CTRL                = 21
-	CLK6_CTRL                = 22
-	CLK7_CTRL                = 23
-	CLK_POWERDOWN            = 1 << 7
-	CLK_INTEGER_MODE         = 1 << 6
-	CLK_PLL_SELECT           = 1 << 5
-	CLK_INVERT               = 1 << 4
-	CLK_INPUT_MASK           = 3 << 2
-	CLK_INPUT_XTAL           = 0 << 2
-	CLK_INPUT_CLKIN          = 1 << 2
-	CLK_INPUT_MULTISYNTH_0_4 = 2 << 2
-	CLK_INPUT_MULTISYNTH_N   = 3 << 2
-	CLK_DRIVE_STRENGTH_MASK  = 3 << 0
-	CLK_DRIVE_STRENGTH_2MA   = 0 << 0
-	CLK_DRIVE_STRENGTH_4MA   = 1 << 0
-	CLK_DRIVE_STRENGTH_6MA   = 2 << 0
-	CLK_DRIVE_STRENGTH_8MA   = 3 << 0
+	PLL_RESET = 177

-	CLK3_0_DISABLE_STATE    = 24
-	CLK7_4_DISABLE_STATE    = 25
-	CLK_DISABLE_STATE_MASK  = 3
-	CLK_DISABLE_STATE_LOW   = 0
-	CLK_DISABLE_STATE_HIGH  = 1
-	CLK_DISABLE_STATE_FLOAT = 2
-	CLK_DISABLE_STATE_NEVER = 3
-
-	PARAMETERS_LENGTH     = 8
-	PLLA_PARAMETERS       = 26
-	PLLB_PARAMETERS       = 34
-	CLK0_PARAMETERS       = 42
-	CLK1_PARAMETERS       = 50
-	CLK2_PARAMETERS       = 58
-	CLK3_PARAMETERS       = 66
-	CLK4_PARAMETERS       = 74
-	CLK5_PARAMETERS       = 82
-	CLK6_PARAMETERS       = 90
-	CLK7_PARAMETERS       = 91
-	CLK6_7_OUTPUT_DIVIDER = 92
-	OUTPUT_CLK_DIV_MASK   = 7 << 4
-	OUTPUT_CLK6_DIV_MASK  = 7 << 0
-	OUTPUT_CLK_DIV_SHIFT  = 4
-	OUTPUT_CLK_DIV6_SHIFT = 0
-	OUTPUT_CLK_DIV_1      = 0
-	OUTPUT_CLK_DIV_2      = 1
-	OUTPUT_CLK_DIV_4      = 2
-	OUTPUT_CLK_DIV_8      = 3
-	OUTPUT_CLK_DIV_16     = 4
-	OUTPUT_CLK_DIV_32     = 5
-	OUTPUT_CLK_DIV_64     = 6
-	OUTPUT_CLK_DIV_128    = 7
-	OUTPUT_CLK_DIVBY4     = 3 << 2
-
-	SSC_PARAM0  = 149
-	SSC_PARAM1  = 150
-	SSC_PARAM2  = 151
-	SSC_PARAM3  = 152
-	SSC_PARAM4  = 153
-	SSC_PARAM5  = 154
-	SSC_PARAM6  = 155
-	SSC_PARAM7  = 156
-	SSC_PARAM8  = 157
-	SSC_PARAM9  = 158
-	SSC_PARAM10 = 159
-	SSC_PARAM11 = 160
-	SSC_PARAM12 = 161
-
-	VXCO_PARAMETERS_LOW  = 162
-	VXCO_PARAMETERS_MID  = 163
-	VXCO_PARAMETERS_HIGH = 164
-
-	CLK0_PHASE_OFFSET = 165
-	CLK1_PHASE_OFFSET = 166
-	CLK2_PHASE_OFFSET = 167
-	CLK3_PHASE_OFFSET = 168
-	CLK4_PHASE_OFFSET = 169
-	CLK5_PHASE_OFFSET = 170
-
-	PLL_RESET   = 177
-	PLL_RESET_B = 1 << 7
-	PLL_RESET_A = 1 << 5
-
-	CRYSTAL_LOAD      = 183
-	CRYSTAL_LOAD_MASK = 3 << 6
-	CRYSTAL_LOAD_0PF  = 0 << 6
-	CRYSTAL_LOAD_6PF  = 1 << 6
-	CRYSTAL_LOAD_8PF  = 2 << 6
-	CRYSTAL_LOAD_10PF = 3 << 6
-
-	FANOUT_ENABLE     = 187
-	CLKIN_ENABLE      = 1 << 7
-	XTAL_ENABLE       = 1 << 6
-	MULTISYNTH_ENABLE = 1 << 4
+	CRYSTAL_INTERNAL_LOAD_CAPACITANCE = 183
+)
+
+const (
+	CRYSTAL_LOAD_6PF  = (1 << 6)
+	CRYSTAL_LOAD_8PF  = (2 << 6)
+	CRYSTAL_LOAD_10PF = (3 << 6)
+)
+
+const (
+	CRYSTAL_FREQ_25MHZ = 25000000
+	CRYSTAL_FREQ_27MHZ = 27000000
+)
+
+const (
+	PLL_A = iota
+	PLL_B
+)
+
+const (
+	R_DIV_1 = iota
+	R_DIV_2
+	R_DIV_4
+	R_DIV_8
+	R_DIV_16
+	R_DIV_32
+	R_DIV_64
+	R_DIV_128
+)
+
+const (
+	MULTISYNTH_DIV_4 = 4
+	MULTISYNTH_DIV_6 = 6
+	MULTISYNTH_DIV_8 = 8
+)
+
+// Frequency constants (in Hz)
+const (
+	CLKOUT_MIN_FREQ        = 8000      // 8 kHz
+	CLKOUT_MAX_FREQ        = 150000000 // 150 MHz
+	MULTISYNTH_MAX_FREQ    = 150000000 // 150 MHz
+	MULTISYNTH_SHARE_MAX   = 100000000 // 100 MHz
+	MULTISYNTH_DIVBY4_FREQ = 150000000 // 150 MHz
+	PLL_VCO_MIN            = 600000000 // 600 MHz
+	PLL_VCO_MAX            = 900000000 // 900 MHz
+)
+
+const (
+	SI5351_PLL_C_MAX = 1048575
 )
@@ -1,214 +0,0 @@
-package si5351
-
-import (
-	"testing"
-)
-
-func TestSelectRDiv(t *testing.T) {
-	d := &Device{}
-
-	tests := []struct {
-		name     string
-		freq     Frequency
-		wantDiv  uint8
-		wantFreq Frequency
-	}{
-		{"4kHz", 4000 * FREQ_MULT, OUTPUT_CLK_DIV_128, 4000 * FREQ_MULT * 128},
-		{"8kHz", 8000 * FREQ_MULT, OUTPUT_CLK_DIV_64, 8000 * FREQ_MULT * 64},
-		{"16kHz", 16000 * FREQ_MULT, OUTPUT_CLK_DIV_32, 16000 * FREQ_MULT * 32},
-		{"32kHz", 32000 * FREQ_MULT, OUTPUT_CLK_DIV_16, 32000 * FREQ_MULT * 16},
-		{"64kHz", 64000 * FREQ_MULT, OUTPUT_CLK_DIV_8, 64000 * FREQ_MULT * 8},
-		{"128kHz", 128000 * FREQ_MULT, OUTPUT_CLK_DIV_4, 128000 * FREQ_MULT * 4},
-		{"256kHz", 256000 * FREQ_MULT, OUTPUT_CLK_DIV_2, 256000 * FREQ_MULT * 2},
-		{"512kHz", 512000 * FREQ_MULT, OUTPUT_CLK_DIV_1, 512000 * FREQ_MULT},
-		{"1MHz", 1000000 * FREQ_MULT, OUTPUT_CLK_DIV_1, 1000000 * FREQ_MULT},
-	}
-
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			freq := tt.freq
-			freq, gotDiv := d.selectRDiv(freq)
-			if gotDiv != tt.wantDiv {
-				t.Errorf("selectRDiv() div = %v, want %v", gotDiv, tt.wantDiv)
-			}
-			if freq != tt.wantFreq {
-				t.Errorf("selectRDiv() freq = %v, want %v", freq, tt.wantFreq)
-			}
-		})
-	}
-}
-
-func TestSelectRDivMS67(t *testing.T) {
-	d := &Device{}
-
-	tests := []struct {
-		name     string
-		freq     Frequency
-		wantDiv  uint8
-		wantFreq Frequency
-	}{
-		{"4kHz", 4000 * FREQ_MULT, OUTPUT_CLK_DIV_128, 4000 * FREQ_MULT * 128},
-		{"8kHz", 8000 * FREQ_MULT, OUTPUT_CLK_DIV_64, 8000 * FREQ_MULT * 64},
-		{"16kHz", 16000 * FREQ_MULT, OUTPUT_CLK_DIV_32, 16000 * FREQ_MULT * 32},
-		{"64kHz", 64000 * FREQ_MULT, OUTPUT_CLK_DIV_8, 64000 * FREQ_MULT * 8},
-		{"256kHz", 256000 * FREQ_MULT, OUTPUT_CLK_DIV_2, 256000 * FREQ_MULT * 2},
-		{"512kHz", 512000 * FREQ_MULT, OUTPUT_CLK_DIV_1, 512000 * FREQ_MULT},
-		{"1MHz", 1000000 * FREQ_MULT, OUTPUT_CLK_DIV_1, 1000000 * FREQ_MULT},
-	}
-
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			freq := tt.freq
-			freq, gotDiv := d.selectRDivMS67(freq)
-			if gotDiv != tt.wantDiv {
-				t.Errorf("selectRDivMS67() div = %v, want %v", gotDiv, tt.wantDiv)
-			}
-			if freq != tt.wantFreq {
-				t.Errorf("selectRDivMS67() freq = %v, want %v", freq, tt.wantFreq)
-			}
-		})
-	}
-}
-
-func TestCalculatePLL(t *testing.T) {
-	d := &Device{}
-	d.crystalFreq[0] = 25000000
-
-	tests := []struct {
-		name    string
-		freq    Frequency
-		wantMin Frequency
-		wantMax Frequency
-	}{
-		{"600MHz", 600000000 * FREQ_MULT, 599000000 * FREQ_MULT, 601000000 * FREQ_MULT},
-		{"750MHz", 750000000 * FREQ_MULT, 749000000 * FREQ_MULT, 751000000 * FREQ_MULT},
-		{"900MHz", 900000000 * FREQ_MULT, 899000000 * FREQ_MULT, 901000000 * FREQ_MULT},
-		{"BelowMin", 500000000 * FREQ_MULT, 600000000 * FREQ_MULT, 600000000 * FREQ_MULT},
-		{"AboveMax", 1000000000 * FREQ_MULT, 900000000 * FREQ_MULT, 900000000 * FREQ_MULT},
-	}
-
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			got, reg := d.CalculatePLL(PLL_A, tt.freq, 0, false)
-			if got < tt.wantMin || got > tt.wantMax {
-				t.Errorf("CalculatePLL() = %v, want between %v and %v", got, tt.wantMin, tt.wantMax)
-			}
-			if reg.p1 == 0 || reg.p3 == 0 {
-				t.Errorf("CalculatePLL() invalid register values: p1=%v, p2=%v, p3=%v", reg.p1, reg.p2, reg.p3)
-			}
-		})
-	}
-}
-
-func TestCalculateMultisynth(t *testing.T) {
-	d := &Device{}
-
-	tests := []struct {
-		name    string
-		freq    Frequency
-		pllFreq Frequency
-		wantDiv bool
-	}{
-		{"10MHz from 800MHz", 10000000 * FREQ_MULT, 800000000 * FREQ_MULT, false},
-		{"1MHz from 800MHz", 1000000 * FREQ_MULT, 800000000 * FREQ_MULT, false},
-		{"Auto PLL 10MHz", 10000000 * FREQ_MULT, 0, false},
-		{"150MHz DivBy4", 150000000 * FREQ_MULT, 600000000 * FREQ_MULT, true},
-		{"BelowMin", 100000 * FREQ_MULT, 800000000 * FREQ_MULT, false},
-	}
-
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			got, reg := d.CalculateMultisynth(tt.freq, tt.pllFreq)
-			if tt.pllFreq == 0 {
-				// Auto mode should return a valid PLL frequency
-				if got < PLL_VCO_MIN*FREQ_MULT || got > PLL_VCO_MAX*FREQ_MULT {
-					t.Errorf("CalculateMultisynth() returned invalid PLL freq %v", got)
-				}
-			}
-			if reg.p3 == 0 {
-				t.Errorf("CalculateMultisynth() p3 should not be 0")
-			}
-		})
-	}
-}
-
-func TestMultisynth67Calc(t *testing.T) {
-	d := &Device{}
-
-	tests := []struct {
-		name    string
-		freq    Frequency
-		pllFreq Frequency
-		wantErr bool
-	}{
-		{"10MHz Auto", 10000000 * FREQ_MULT, 0, false},
-		{"100MHz Auto", 100000000 * FREQ_MULT, 0, false},
-		{"100MHz from 800MHz", 100000000 * FREQ_MULT, 800000000 * FREQ_MULT, false},
-		{"Invalid Division", 10000000 * FREQ_MULT, 777000000 * FREQ_MULT, true},
-	}
-
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			got, reg := d.multisynth67Calc(tt.freq, tt.pllFreq)
-			if tt.pllFreq == 0 {
-				if got < PLL_VCO_MIN*FREQ_MULT || got > PLL_VCO_MAX*FREQ_MULT {
-					t.Errorf("multisynth67Calc() returned invalid PLL freq %v", got)
-				}
-			} else if tt.wantErr {
-				if got != 0 {
-					t.Errorf("multisynth67Calc() should return 0 for invalid division, got %v", got)
-				}
-			}
-			if reg.p1 == 0 && !tt.wantErr {
-				t.Errorf("multisynth67Calc() p1 should not be 0")
-			}
-		})
-	}
-}
-
-func TestSetCorrection(t *testing.T) {
-	// Skip this test as it requires a mock I2C bus
-	t.Skip("Requires mock I2C bus implementation")
-}
-
-func TestSetRefFreq(t *testing.T) {
-	d := &Device{}
-
-	tests := []struct {
-		name     string
-		freq     CrystalFrequency
-		wantFreq CrystalFrequency
-		wantDiv  uint8
-	}{
-		{"25MHz", 25000000, 25000000, CLKIN_DIV_1},
-		{"50MHz", 50000000, 25000000, CLKIN_DIV_2},
-		{"100MHz", 100000000, 25000000, CLKIN_DIV_4},
-		{"30MHz", 30000000, 30000000, CLKIN_DIV_1},
-		{"60MHz", 60000000, 30000000, CLKIN_DIV_2},
-	}
-
-	for _, tt := range tests {
-		t.Run(tt.name, func(t *testing.T) {
-			d.SetReferenceFrequency(PLLInputClockIn, tt.freq)
-			if d.crystalFreq[PLLInputClockIn] != tt.wantFreq {
-				t.Errorf("SetReferenceFrequency() freq = %v, want %v", d.crystalFreq[PLLInputClockIn], tt.wantFreq)
-			}
-			if d.clkinDiv != tt.wantDiv {
-				t.Errorf("SetReferenceFrequency() clkinDiv = %v, want %v", d.clkinDiv, tt.wantDiv)
-			}
-		})
-	}
-}
-
-func TestGetCorrection(t *testing.T) {
-	d := &Device{}
-	d.refCorrection[PLLInputXO] = 5000
-	d.refCorrection[PLLInputClockIn] = -3000
-
-	if got := d.GetCorrection(PLLInputXO); got != 5000 {
-		t.Errorf("GetCorrection(PLLInputXO) = %v, want 5000", got)
-	}
-	if got := d.GetCorrection(PLLInputClockIn); got != -3000 {
-		t.Errorf("GetCorrection(PLLInputClockIn) = %v, want -3000", got)
-	}
-}
@@ -74,7 +74,7 @@ tinygo build -size short -o ./build/test.hex -target=xiao-rp2040 ./examples/ssd1
 tinygo build -size short -o ./build/test.hex -target=thumby ./examples/ssd1306/
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1331/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7735/main.go
-tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7789/main.go
+tinygo build -size short -o ./build/test.hex -target=clue ./examples/st7789/main.go
 tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/thermistor/main.go
 tinygo build -size short -o ./build/test.hex -target=circuitplay-bluefruit ./examples/tone
 tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/tm1637/main.go
@@ -124,11 +124,9 @@ tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/xpt2046/mai
 tinygo build -size short -o ./build/test.elf -target=m5stack-core2 ./examples/ft6336/basic/
 tinygo build -size short -o ./build/test.elf -target=m5stack-core2 ./examples/ft6336/touchpaint/
 tinygo build -size short -o ./build/test.hex -target=nucleo-wl55jc ./examples/sx126x/lora_rxtx/
-tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/sx127x/lora_rxtx/
 tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/ssd1289/main.go
 tinygo build -size short -o ./build/test.hex -target=pico ./examples/irremote/main.go
 tinygo build -size short -o ./build/test.hex -target=badger2040 ./examples/uc8151/main.go
-tinygo build -size short -o ./build/test.hex -target=badger2040 ./examples/waveshare-epd/epd2in9v2/main.go
 tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/scd4x/main.go
 tinygo build -size short -o ./build/test.uf2 -target=circuitplay-express ./examples/makeybutton/main.go
 tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ds18b20/main.go
@@ -5,13 +5,12 @@ package st7735 // import "tinygo.org/x/drivers/st7735"

 import (
 	"image/color"
+	"machine"
 	"time"

 	"errors"

 	"tinygo.org/x/drivers"
-	"tinygo.org/x/drivers/internal/legacy"
-	"tinygo.org/x/drivers/internal/pin"
 	"tinygo.org/x/drivers/pixel"
 )

@@ -40,10 +39,10 @@ type Device = DeviceOf[pixel.RGB565BE]
 // formats.
 type DeviceOf[T Color] struct {
 	bus          drivers.SPI
-	dcPin        pin.OutputFunc
-	resetPin     pin.OutputFunc
-	csPin        pin.OutputFunc
-	blPin        pin.OutputFunc
+	dcPin        machine.Pin
+	resetPin     machine.Pin
+	csPin        machine.Pin
+	blPin        machine.Pin
 	width        int16
 	height       int16
 	columnOffset int16
@@ -66,25 +65,23 @@ type Config struct {
 }

 // New creates a new ST7735 connection. The SPI wire must already be configured.
-func New(bus drivers.SPI, resetPin, dcPin, csPin, blPin pin.Output) Device {
+func New(bus drivers.SPI, resetPin, dcPin, csPin, blPin machine.Pin) Device {
 	return NewOf[pixel.RGB565BE](bus, resetPin, dcPin, csPin, blPin)
 }

 // NewOf creates a new ST7735 connection with a particular pixel format. The SPI
 // wire must already be configured.
-func NewOf[T Color](bus drivers.SPI, resetPin, dcPin, csPin, blPin pin.Output) DeviceOf[T] {
-	// IMPORTANT: pin configuration should really be done outside of this driver,
-	// but for backwards compatibility with existing code, we do it here.
-	legacy.ConfigurePinOut(dcPin)
-	legacy.ConfigurePinOut(resetPin)
-	legacy.ConfigurePinOut(csPin)
-	legacy.ConfigurePinOut(blPin)
+func NewOf[T Color](bus drivers.SPI, resetPin, dcPin, csPin, blPin machine.Pin) DeviceOf[T] {
+	dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	blPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
 	return DeviceOf[T]{
 		bus:      bus,
-		dcPin:    dcPin.Set,
-		resetPin: resetPin.Set,
-		csPin:    csPin.Set,
-		blPin:    blPin.Set,
+		dcPin:    dcPin,
+		resetPin: resetPin,
+		csPin:    csPin,
+		blPin:    blPin,
 	}
 }

@@ -426,7 +423,7 @@ func (d *DeviceOf[T]) Data(data uint8) {

 // Tx sends data to the display
 func (d *DeviceOf[T]) Tx(data []byte, isCommand bool) {
-	d.dcPin(!isCommand)
+	d.dcPin.Set(!isCommand)
 	d.bus.Tx(data, nil)
 }

@@ -0,0 +1,8 @@
+package st7789
+
+// Bus is the interface that wraps the basic Tx and Transfer methods
+// for communication buses like SPI or Parallel.
+type Bus interface {
+	Tx(w, r []byte) error
+	Transfer(w byte) (byte, error)
+}
@@ -4,56 +4,63 @@ import "tinygo.org/x/drivers"

 // Registers
 const (
-	NOP        = 0x00
-	SWRESET    = 0x01
-	RDDID      = 0x04
-	RDDST      = 0x09
-	SLPIN      = 0x10
-	SLPOUT     = 0x11
-	PTLON      = 0x12
-	NORON      = 0x13
-	INVOFF     = 0x20
-	INVON      = 0x21
-	DISPOFF    = 0x28
-	DISPON     = 0x29
-	CASET      = 0x2A
-	RASET      = 0x2B
-	RAMWR      = 0x2C
-	RAMRD      = 0x2E
-	PTLAR      = 0x30
-	COLMOD     = 0x3A
-	MADCTL     = 0x36
-	MADCTL_MY  = 0x80
-	MADCTL_MX  = 0x40
-	MADCTL_MV  = 0x20
-	MADCTL_ML  = 0x10
-	MADCTL_RGB = 0x00
-	MADCTL_BGR = 0x08
-	MADCTL_MH  = 0x04
-	RDID1      = 0xDA
-	RDID2      = 0xDB
-	RDID3      = 0xDC
-	RDID4      = 0xDD
-	FRMCTR1    = 0xB1
-	RGBCTRL    = 0xB1
-	FRMCTR2    = 0xB2
-	PORCTRL    = 0xB2
-	FRMCTR3    = 0xB3
-	INVCTR     = 0xB4
-	DISSET5    = 0xB6
-	PWCTR1     = 0xC0
-	PWCTR2     = 0xC1
-	PWCTR3     = 0xC2
-	PWCTR4     = 0xC3
-	PWCTR5     = 0xC4
-	VMCTR1     = 0xC5
-	FRCTRL2    = 0xC6
-	PWCTR6     = 0xFC
-	GMCTRP1    = 0xE0
-	GMCTRN1    = 0xE1
-	GSCAN      = 0x45
-	VSCRDEF    = 0x33
-	VSCRSADD   = 0x37
+	NOP       = 0x00
+	SWRESET   = 0x01
+	RDDID     = 0x04
+	RDDST     = 0x09
+	SLPIN     = 0x10
+	SLPOUT    = 0x11
+	PTLON     = 0x12
+	NORON     = 0x13
+	INVOFF    = 0x20
+	INVON     = 0x21
+	DISPOFF   = 0x28
+	DISPON    = 0x29
+	CASET     = 0x2A
+	RASET     = 0x2B
+	RAMWR     = 0x2C
+	RAMRD     = 0x2E
+	PTLAR     = 0x30
+	VSCRDEF   = 0x33
+	TEOFF     = 0x34
+	TEON      = 0x35
+	VSCRSADD  = 0x37
+	COLMOD    = 0x3A
+	MADCTL    = 0x36
+	GSCAN     = 0x45
+	PWCTRL1   = 0xD0
+	RDID1     = 0xDA
+	RDID2     = 0xDB
+	RDID3     = 0xDC
+	RDID4     = 0xDD
+	RAMCTRL   = 0xB0
+	FRMCTR1   = 0xB1
+	RGBCTRL   = 0xB1
+	FRMCTR2   = 0xB2
+	PORCTRL   = 0xB2
+	FRMCTR3   = 0xB3
+	INVCTR    = 0xB4
+	DISSET5   = 0xB6
+	GCTRL     = 0xB7
+	VCOMS     = 0xBB
+	LCMCTRL   = 0xC0
+	PWCTR2    = 0xC1
+	VDVVRHEN  = 0xC2
+	VRHS      = 0xC3
+	VDVS      = 0xC4
+	VMCTR1    = 0xC5
+	FRCTRL2   = 0xC6
+	PVGAMCTRL = 0xE0
+	NVGAMCTRL = 0xE1
+	PWCTR6    = 0xFC
+
+	MADCTL_RGB       = 0x00
+	MADCTL_ROWORDER  = 0x80
+	MADCTL_COLORDER  = 0x40
+	MADCTL_SWAPXY    = 0x20
+	MADCTL_SCANORDER = 0x10
+	MADCTL_BGR       = 0x08
+	MADCTL_MH        = 0x04

 	ColorRGB444 ColorFormat = 0b011
 	ColorRGB565 ColorFormat = 0b101
@@ -7,13 +7,14 @@ package st7789 // import "tinygo.org/x/drivers/st7789"

 import (
 	"image/color"
-	"machine"
 	"math"
 	"time"

 	"errors"

 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 	"tinygo.org/x/drivers/pixel"
 )

@@ -45,11 +46,11 @@ type Device = DeviceOf[pixel.RGB565BE]
 // DeviceOf is a generic version of Device. It supports multiple different pixel
 // formats.
 type DeviceOf[T Color] struct {
-	bus             drivers.SPI
-	dcPin           machine.Pin
-	resetPin        machine.Pin
-	csPin           machine.Pin
-	blPin           machine.Pin
+	bus             Bus
+	dcPin           pin.OutputFunc
+	resetPin        pin.OutputFunc
+	csPin           pin.OutputFunc
+	blPin           pin.OutputFunc
 	width           int16
 	height          int16
 	columnOffsetCfg int16
@@ -68,13 +69,15 @@ type DeviceOf[T Color] struct {

 // Config is the configuration for the display
 type Config struct {
-	Width        int16
-	Height       int16
-	Rotation     drivers.Rotation
-	RowOffset    int16
-	ColumnOffset int16
-	FrameRate    FrameRate
-	VSyncLines   int16
+	Width            int16
+	Height           int16
+	Rotation         drivers.Rotation
+	RowOffset        int16
+	ColumnOffset     int16
+	FrameRate        FrameRate
+	VSyncLines       int16
+	IdleModePorch    byte
+	PartialModePorch byte

 	// Gamma control. Look in the LCD panel datasheet or provided example code
 	// to find these values. If not set, the defaults will be used.
@@ -83,23 +86,27 @@ type Config struct {
 }

 // New creates a new ST7789 connection. The SPI wire must already be configured.
-func New(bus drivers.SPI, resetPin, dcPin, csPin, blPin machine.Pin) Device {
+func New(bus Bus, resetPin, dcPin, csPin, blPin pin.Output) Device {
 	return NewOf[pixel.RGB565BE](bus, resetPin, dcPin, csPin, blPin)
 }

 // NewOf creates a new ST7789 connection with a particular pixel format. The SPI
 // wire must already be configured.
-func NewOf[T Color](bus drivers.SPI, resetPin, dcPin, csPin, blPin machine.Pin) DeviceOf[T] {
-	dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	blPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+func NewOf[T Color](bus Bus, resetPin, dcPin, csPin, blPin pin.Output) DeviceOf[T] {
+	// IMPORTANT: pin configuration should really be done outside of this
+	// driver, but for backwards compatibility with existing code, we do it
+	// here.
+	legacy.ConfigurePinOut(dcPin)
+	legacy.ConfigurePinOut(resetPin)
+	legacy.ConfigurePinOut(csPin)
+	legacy.ConfigurePinOut(blPin)
+
 	return DeviceOf[T]{
 		bus:      bus,
-		dcPin:    dcPin,
-		resetPin: resetPin,
-		csPin:    csPin,
-		blPin:    blPin,
+		dcPin:    dcPin.Set,
+		resetPin: resetPin.Set,
+		csPin:    csPin.Set,
+		blPin:    blPin.Set,
 	}
 }

@@ -129,7 +136,7 @@ func (d *DeviceOf[T]) Configure(cfg Config) {
 	if cfg.VSyncLines >= 2 && cfg.VSyncLines <= 254 {
 		d.vSyncLines = cfg.VSyncLines
 	} else {
-		d.vSyncLines = 16
+		d.vSyncLines = 0 // Default: no VSYNC pause
 	}

 	d.batchLength = int32(d.width)
@@ -139,21 +146,18 @@ func (d *DeviceOf[T]) Configure(cfg Config) {
 	d.batchLength += d.batchLength & 1

 	// Reset the device
-	d.resetPin.High()
-	time.Sleep(50 * time.Millisecond)
-	d.resetPin.Low()
-	time.Sleep(50 * time.Millisecond)
-	d.resetPin.High()
-	time.Sleep(50 * time.Millisecond)
+	d.Reset()

 	// Common initialization
 	d.startWrite()
 	d.sendCommand(SWRESET, nil) // Soft reset
 	d.endWrite()
-	time.Sleep(150 * time.Millisecond) //
-	d.startWrite()

-	d.sendCommand(SLPOUT, nil) // Exit sleep mode
+	time.Sleep(150 * time.Millisecond) //
+
+	d.startWrite()
+	// enable frame sync signal if used
+	d.sendCommand(TEON, nil)

 	// Memory initialization
 	var zeroColor T
@@ -164,54 +168,121 @@ func (d *DeviceOf[T]) Configure(cfg Config) {
 		// Use default RGB565 color format.
 		d.setColorFormat(ColorRGB565) // 16 bits per pixel
 	}
-	time.Sleep(10 * time.Millisecond)
-
-	d.setRotation(d.rotation) // Memory orientation
-
-	d.setWindow(0, 0, d.width, d.height)   // Full draw window
-	d.fillScreen(color.RGBA{0, 0, 0, 255}) // Clear screen
-
-	// Framerate
-	d.sendCommand(FRCTRL2, []byte{byte(d.frameRate)}) // Frame rate for normal mode (default 60Hz)

 	// Frame vertical sync and "porch"
 	//
 	// Front and back porch controls vertical scanline sync time before and after
 	// a frame, where memory can be safely written without tearing.
 	//
-	fp := uint8(d.vSyncLines / 2)         // Split the desired pause half and half
-	bp := uint8(d.vSyncLines - int16(fp)) // between front and back porch.
+	// TODO: is this correct? fp := uint8(d.vSyncLines / 2)         // Split the desired pause half and half
+	fp := byte(0x0c)
+	// TODO: is this correct? bp := uint8(d.vSyncLines - int16(fp)) // between front and back porch.
+	bp := byte(0x0c)
+	if cfg.IdleModePorch == 0 {
+		cfg.IdleModePorch = 0x22 // Default value
+	}
+	if cfg.PartialModePorch == 0 {
+		cfg.PartialModePorch = 0x22 // Default value
+	}

 	d.sendCommand(PORCTRL, []byte{
-		bp,   // Back porch 5bit     (0x7F max 0x08 default)
-		fp,   // Front porch 5bit    (0x7F max 0x08 default)
-		0x00, // Seprarate porch     (TODO: what is this?)
-		0x22, // Idle mode porch     (4bit-back 4bit-front 0x22 default)
-		0x22, // Partial mode porch  (4bit-back 4bit-front 0x22 default)
+		bp,                   // Back porch 5bit     (0x7F max 0x08 default)
+		fp,                   // Front porch 5bit    (0x7F max 0x08 default)
+		0x00,                 // Separate porch      (TODO: what is this?)
+		cfg.IdleModePorch,    // Idle mode porch     (4bit-back 4bit-front 0x22 default)
+		cfg.PartialModePorch, // Partial mode porch  (4bit-back 4bit-front 0x22 default)
 	})

-	// Ready to display
-	d.sendCommand(INVON, nil)         // Inversion ON
-	time.Sleep(10 * time.Millisecond) //
+	// LCM control, power on sequence
+	d.sendCommand(LCMCTRL, []byte{0x2C})
+
+	// VDV and VRH Command Enable - 0x01 power on sequence
+	d.sendCommand(VDVVRHEN, []byte{0x01})
+
+	// VRH Set - 0x12 5.3+( vcom+vcom offset+vdv)
+	d.sendCommand(VRHS, []byte{0x12})
+
+	// VDV Set - 0x20 0V
+	d.sendCommand(VDVS, []byte{0x20})
+
+	// PWCTRL1 Power control 1 - power on sequence
+	d.sendCommand(PWCTRL1, []byte{0xA4, 0xA1})
+
+	// Framerate
+	d.sendCommand(FRCTRL2, []byte{byte(d.frameRate)}) // Frame rate for normal mode (default 60Hz)
+
+	// As noted in https://github.com/pimoroni/pimoroni-pico/issues/1040
+	// this is required to avoid a weird light grey banding issue with low brightness green.
+	// The banding is not visible without tweaking gamma settings (GMCTRP1 & GMCTRN1) but
+	// it makes sense to fix it anyway.
+	d.sendCommand(RAMCTRL, []byte{0x00, 0xC0})

 	// Set gamma tables, if configured.
 	if len(cfg.PVGAMCTRL) == 14 {
-		d.sendCommand(GMCTRP1, cfg.PVGAMCTRL) // PVGAMCTRL: Positive Voltage Gamma Control
+		d.sendCommand(PVGAMCTRL, cfg.PVGAMCTRL) // PVGAMCTRL: Positive Voltage Gamma Control
 	}
 	if len(cfg.NVGAMCTRL) == 14 {
-		d.sendCommand(GMCTRN1, cfg.NVGAMCTRL) // NVGAMCTRL: Negative Voltage Gamma Control
+		d.sendCommand(NVGAMCTRL, cfg.NVGAMCTRL) // NVGAMCTRL: Negative Voltage Gamma Control
 	}

-	d.sendCommand(NORON, nil)         // Normal mode ON
-	time.Sleep(10 * time.Millisecond) //
+	switch {
+	case d.width == 240 && d.height == 240:
+		// 	command(reg::GCTRL, 1, "\x14");
+		// Gate Control - power on sequence for 240x240
+		d.sendCommand(GCTRL, []byte{0x35})

-	d.sendCommand(DISPON, nil)        // Screen ON
-	time.Sleep(10 * time.Millisecond) //
+		// command(reg::VCOMS, 1, "\x37");
+		// VCOM Setting
+		d.sendCommand(VCOMS, []byte{0x37})

+		// command(reg::GMCTRP1, 14, "\xD0\x04\x0D\x11\x13\x2B\x3F\x54\x4C\x18\x0D\x0B\x1F\x23");
+		d.sendCommand(PVGAMCTRL, []byte{0xD0, 0x04, 0x0D, 0x11, 0x13, 0x2B, 0x3F, 0x54, 0x4C, 0x18, 0x0D, 0x0B, 0x1F, 0x23})
+
+		// command(reg::GMCTRN1, 14, "\xD0\x04\x0C\x11\x13\x2C\x3F\x44\x51\x2F\x1F\x1F\x20\x23");
+		d.sendCommand(NVGAMCTRL, []byte{0xD0, 0x04, 0x0C, 0x11, 0x13, 0x2C, 0x3F, 0x44, 0x51, 0x2F, 0x1F, 0x1F, 0x20, 0x23})
+	case d.width == 320 && d.height == 240:
+		// Gate Control - power on sequence for 320x240
+		d.sendCommand(GCTRL, []byte{0x35})
+
+		// VCOM Setting - 0.875V
+		d.sendCommand(VCOMS, []byte{0x1f})
+
+		// command(reg::GMCTRP1, 14, "\xD0\x08\x11\x08\x0C\x15\x39\x33\x50\x36\x13\x14\x29\x2D");
+		d.sendCommand(PVGAMCTRL, []byte{0xD0, 0x08, 0x11, 0x08, 0x0C, 0x15, 0x39, 0x33, 0x50, 0x36, 0x13, 0x14, 0x29, 0x2D})
+
+		// command(reg::GMCTRN1, 14, "\xD0\x08\x10\x08\x06\x06\x39\x44\x51\x0B\x16\x14\x2F\x31");
+		d.sendCommand(NVGAMCTRL, []byte{0xD0, 0x08, 0x10, 0x08, 0x06, 0x06, 0x39, 0x44, 0x51, 0x0B, 0x16, 0x14, 0x2F, 0x31})
+	}
+
+	// Ready to display
+	d.sendCommand(INVON, nil)  // Inversion ON
+	d.sendCommand(SLPOUT, nil) // Exit sleep mode
+	d.sendCommand(DISPON, nil) // Screen ON
 	d.endWrite()
+
+	time.Sleep(100 * time.Millisecond)
+
+	d.startWrite()
+	d.setRotation(d.rotation)              // Memory orientation
+	d.setWindow(0, 0, d.width, d.height)   // Full draw window
+	d.fillScreen(color.RGBA{0, 0, 0, 255}) // Clear screen
+	d.endWrite()
+
+	time.Sleep(50 * time.Millisecond)
+
 	d.blPin.High() // Backlight ON
 }

+// Reset performs a hardware reset of the display.
+func (d *DeviceOf[T]) Reset() {
+	d.resetPin.High()
+	time.Sleep(50 * time.Millisecond)
+	d.resetPin.Low()
+	time.Sleep(50 * time.Millisecond)
+	d.resetPin.High()
+	time.Sleep(50 * time.Millisecond)
+}
+
 // Send a command with data to the display. It does not change the chip select
 // pin (it must be low when calling). The DC pin is left high after return,
 // meaning that data can be sent right away.
@@ -229,7 +300,7 @@ func (d *DeviceOf[T]) sendCommand(command uint8, data []byte) error {
 // startWrite must be called at the beginning of all exported methods to set the
 // chip select pin low.
 func (d *DeviceOf[T]) startWrite() {
-	if d.csPin != machine.NoPin {
+	if d.csPin != nil {
 		d.csPin.Low()
 	}
 }
@@ -237,7 +308,7 @@ func (d *DeviceOf[T]) startWrite() {
 // endWrite must be called at the end of all exported methods to set the chip
 // select pin high.
 func (d *DeviceOf[T]) endWrite() {
-	if d.csPin != machine.NoPin {
+	if d.csPin != nil {
 		d.csPin.High()
 	}
 }
@@ -509,18 +580,20 @@ func (d *DeviceOf[T]) setRotation(rotation Rotation) error {
 	madctl := uint8(0)
 	switch rotation % 4 {
 	case drivers.Rotation0:
+		madctl = MADCTL_COLORDER
+		madctl |= MADCTL_SWAPXY | MADCTL_SCANORDER
 		d.rowOffset = 0
 		d.columnOffset = 0
 	case drivers.Rotation90:
-		madctl = MADCTL_MX | MADCTL_MV
-		d.rowOffset = d.columnOffsetCfg
-		d.columnOffset = d.rowOffsetCfg
+		madctl = MADCTL_COLORDER | MADCTL_SWAPXY
+		d.rowOffset = 0
+		d.columnOffset = 0
 	case drivers.Rotation180:
-		madctl = MADCTL_MX | MADCTL_MY
+		madctl = MADCTL_COLORDER | MADCTL_ROWORDER
 		d.rowOffset = d.rowOffsetCfg
 		d.columnOffset = d.columnOffsetCfg
 	case drivers.Rotation270:
-		madctl = MADCTL_MY | MADCTL_MV
+		madctl = MADCTL_ROWORDER | MADCTL_SWAPXY
 		d.rowOffset = d.columnOffsetCfg
 		d.columnOffset = d.rowOffsetCfg
 	}
@@ -593,18 +666,8 @@ func (d *DeviceOf[T]) SetScrollArea(topFixedArea, bottomFixedArea int16) {
 		// The screen doesn't use the full 320 pixel height.
 		// Enlarge the bottom fixed area to fill the 320 pixel height, so that
 		// bottomFixedArea starts from the visible bottom of the screen.
-		//
-		// VSCRDEF/VSCRSADD always operate on physical frame memory rows (0-319),
-		// regardless of MADCTL. For rotations with MV set (90°/270°), CASET
-		// addresses physical rows due to row/column exchange, so the physical row
-		// offset is d.columnOffset (= rowOffsetCfg). For other rotations,
-		// d.rowOffset is the physical row offset.
-		physRowOffset := d.rowOffset
-		if d.rotation == drivers.Rotation90 || d.rotation == drivers.Rotation270 {
-			physRowOffset = d.columnOffset
-		}
-		topFixedArea += physRowOffset
-		bottomFixedArea += (320 - d.height) - physRowOffset
+		topFixedArea += d.rowOffset
+		bottomFixedArea += (320 - d.height) - d.rowOffset
 	}
 	if d.rotation == drivers.Rotation180 {
 		// The screen is rotated by 180°, so we have to switch the top and
@@ -623,20 +686,10 @@ func (d *DeviceOf[T]) SetScrollArea(topFixedArea, bottomFixedArea int16) {

 // SetScroll sets the vertical scroll address of the display.
 func (d *DeviceOf[T]) SetScroll(line int16) {
-	switch d.rotation {
-	case drivers.Rotation90:
-		// With MV set, hardware scroll operates on physical rows, which map to the
-		// visual X axis. Add the physical row offset (d.columnOffset = rowOffsetCfg)
-		// so that line=0 addresses the first visible physical row.
-		line = line + d.columnOffset
-	case drivers.Rotation180:
+	if d.rotation == drivers.Rotation180 {
 		// The screen is rotated by 180°, so we have to invert the scroll line
 		// (taking care of the RowOffset).
 		line = (319 - d.rowOffset) - line
-	case drivers.Rotation270:
-		// With MV+MY, physical rows map to the visual X axis in reverse direction.
-		// line=0 addresses the last physical row of the visible area.
-		line = (d.columnOffset + d.height - 1) - line
 	}
 	d.buf[0] = uint8(line >> 8)
 	d.buf[1] = uint8(line)
@@ -96,12 +96,6 @@ const (
 	SX127X_OPMODE_RX_SINGLE = uint8(0x06)
 	SX127X_OPMODE_CAD       = uint8(0x07)

-	SX127X_OPMODE_LOW_FREQUENCY = uint8(0x4)
-
-	SX127X_OPMODE_MODULATION_MASK = uint8(0x60)
-	SX127X_OPMODE_MODULATION_FSK  = uint8(0x0)
-	SX127X_OPMODE_MODULATION_OOK  = uint8(0x20)
-
 	SX127X_LORA_MAC_PUBLIC_SYNCWORD  = 0x34
 	SX127X_LORA_MAC_PRIVATE_SYNCWORD = 0x14
 )
@@ -25,9 +25,9 @@ type Device struct {
 	rstPin         machine.Pin          // GPIO for reset
 	radioEventChan chan lora.RadioEvent // Channel for Receiving events
 	loraConf       lora.Config          // Current Lora configuration
-	controller     RadioController      // to manage interrupts with the radio
+	controller     RadioController      // to manage interactions with the radio
 	deepSleep      bool                 // Internal Sleep state
-	deviceType     int                  // sx1272, sx1273, sx1276, sx1279 (defaults sx1276)
+	deviceType     int                  // sx1261,sx1262,sx1268 (defaults sx1261)
 	spiTxBuf       []byte               // global Tx buffer to avoid heap allocations in interrupt
 	spiRxBuf       []byte               // global Rx buffer to avoid heap allocations in interrupt
 }
@@ -65,11 +65,6 @@ func (d *Device) SetRadioController(rc RadioController) error {
 	return nil
 }

-// Specify device type (sx1272, sx1273, sx1276, sx1279)
-func (d *Device) SetDeviceType(devType int) {
-	d.deviceType = devType
-}
-
 // Reset re-initialize the sx127x device
 func (d *Device) Reset() {
 	d.rstPin.Low()
@@ -86,11 +81,9 @@ func (d *Device) DetectDevice() bool {

 // ReadRegister reads register value
 func (d *Device) ReadRegister(reg uint8) uint8 {
-	if d.controller != nil {
-		d.controller.SetNss(false)
-	}
-
+	d.controller.SetNss(false)
 	// Send register
+	//d.spiTxBuf = []byte{reg & 0x7f}
 	d.spiTxBuf = d.spiTxBuf[:0]
 	d.spiTxBuf = append(d.spiTxBuf, byte(reg&0x7f))
 	d.spi.Tx(d.spiTxBuf, nil)
@@ -98,19 +91,13 @@ func (d *Device) ReadRegister(reg uint8) uint8 {
 	d.spiRxBuf = d.spiRxBuf[:0]
 	d.spiRxBuf = append(d.spiRxBuf, 0)
 	d.spi.Tx(nil, d.spiRxBuf)
-	if d.controller != nil {
-		d.controller.SetNss(true)
-	}
-
+	d.controller.SetNss(true)
 	return d.spiRxBuf[0]
 }

 // WriteRegister writes value to register
 func (d *Device) WriteRegister(reg uint8, value uint8) uint8 {
-	if d.controller != nil {
-		d.controller.SetNss(false)
-	}
-
+	d.controller.SetNss(false)
 	// Send register
 	d.spiTxBuf = d.spiTxBuf[:0]
 	d.spiTxBuf = append(d.spiTxBuf, byte(reg|0x80))
@@ -121,10 +108,7 @@ func (d *Device) WriteRegister(reg uint8, value uint8) uint8 {
 	d.spiRxBuf = d.spiRxBuf[:0]
 	d.spiRxBuf = append(d.spiRxBuf, 0)
 	d.spi.Tx(d.spiTxBuf, d.spiRxBuf)
-	if d.controller != nil {
-		d.controller.SetNss(true)
-	}
-
+	d.controller.SetNss(true)
 	return d.spiRxBuf[0]
 }

@@ -135,20 +119,9 @@ func (d *Device) SetOpMode(mode uint8) {
 	d.WriteRegister(SX127X_REG_OP_MODE, new)
 }

-// SetOpModeLora changes the sx1276 mode to lora.
+// SetOpMode changes the sx1276 mode
 func (d *Device) SetOpModeLora() {
-	d.WriteRegister(SX127X_REG_OP_MODE, d.ReadRegister(SX127X_REG_OP_MODE)|SX127X_OPMODE_LORA)
-}
-
-// SetOpModeFsk changes the sx1276 mode to fsk/ook.
-func (d *Device) SetOpModeFsk() {
-	d.WriteRegister(SX127X_REG_OP_MODE, d.ReadRegister(SX127X_REG_OP_MODE)&^SX127X_OPMODE_LORA)
-}
-
-// SetModulationType changes the modulation type (SX127X_OPMODE_MODULATION_FSK, SX127X_OPMODE_MODULATION_OOK)
-func (d *Device) SetModulationType(typ uint8) {
-	cleared := d.ReadRegister(SX127X_REG_OP_MODE) &^ SX127X_OPMODE_MODULATION_MASK
-	d.WriteRegister(SX127X_REG_OP_MODE, cleared|typ)
+	d.WriteRegister(SX127X_REG_OP_MODE, SX127X_OPMODE_LORA)
 }

 // GetVersion returns hardware version of sx1276 chipset
@@ -271,9 +244,9 @@ func (d *Device) SetLowDataRateOptim(val uint8) {
 // SetLowFrequencyModeOn enables Low Data Rate Optimization
 func (d *Device) SetLowFrequencyModeOn(val bool) {
 	if val {
-		d.WriteRegister(SX127X_REG_OP_MODE, d.ReadRegister(SX127X_REG_OP_MODE)|SX127X_OPMODE_LOW_FREQUENCY)
+		d.WriteRegister(SX127X_REG_OP_MODE, d.ReadRegister(SX127X_REG_OP_MODE)|0x04)
 	} else {
-		d.WriteRegister(SX127X_REG_OP_MODE, d.ReadRegister(SX127X_REG_OP_MODE)&^SX127X_OPMODE_LOW_FREQUENCY)
+		d.WriteRegister(SX127X_REG_OP_MODE, d.ReadRegister(SX127X_REG_OP_MODE)&0xfb)
 	}
 }

@@ -1,290 +0,0 @@
-// Package unoqmatrix provides a driver for the UnoQMatrix LED matrix display.
-//
-// The UnoQMatrix is an 8x13 LED matrix display that can be controlled using a single pin.
-// It uses a multiplexing technique to control the LEDs, which allows for a large number of LEDs to be controlled with fewer pins.
-//
-// This driver provides basic functionality to set individual pixels, clear the display, and refresh the display.
-//
-// Note: The UnoQMatrix does not support brightness control or color depth. Each pixel can only be turned on or off.
-// Could it suppport brightness control by using PWM on the pin? To be investigated.
-package unoqmatrix
-
-import (
-	"image/color"
-	"time"
-
-	pin "tinygo.org/x/drivers/internal/pin"
-)
-
-type Config struct {
-	// Rotation of the LED matrix.
-	Rotation uint8
-}
-
-// Valid values:
-//
-//	0: regular orientation, (0 degree rotation)
-//	1: 90 degree rotation clockwise
-//	2: 180 degree rotation clockwise
-//	3: 270 degree rotation clockwise
-const (
-	RotationNormal = 0
-	Rotation90     = 1
-	Rotation180    = 2
-	Rotation270    = 3
-)
-
-const (
-	ledRows = 8
-	ledCols = 13
-
-	pixelRefreshDelay = 10 * time.Microsecond
-)
-
-// CharlieplexPin represents a pin used for charlieplexing.
-// It must be able to drive high/low (output mode) and float (high-impedance/input mode).
-//
-// Example construction from a machine.Pin using the pin HAL pattern:
-//
-//	var isOutput bool
-//	cp := unoqmatrix.CharlieplexPin{
-//		Set: pin.OutputFunc(func(level bool) {
-//			if !isOutput {
-//				p.Configure(machine.PinConfig{Mode: machine.PinOutput})
-//				isOutput = true
-//			}
-//			p.Set(level)
-//		}),
-//		Float: func() {
-//			if isOutput {
-//				p.Configure(machine.PinConfig{Mode: machine.PinInput})
-//				isOutput = false
-//			}
-//		},
-//	}
-type CharlieplexPin struct {
-	Set   pin.OutputFunc // Drive pin high (true) or low (false); auto-configures to output mode.
-	Float func()         // Put pin into high-impedance (input) mode.
-}
-
-const numPins = 11
-
-// Device represents the UnoQMatrix LED matrix display.
-type Device struct {
-	pins     [numPins]CharlieplexPin
-	buffer   [ledRows][ledCols]color.RGBA
-	rotation uint8
-}
-
-// New returns a new unoqmatrix driver.
-// The provided pins are the 11 charlieplex pins used to control the LED matrix.
-func New(pins [numPins]CharlieplexPin) Device {
-	return Device{pins: pins}
-}
-
-// Configure sets up the device.
-func (d *Device) Configure(cfg Config) {
-	d.SetRotation(cfg.Rotation)
-}
-
-// SetRotation changes the rotation of the LED matrix.
-//
-// Valid values for rotation:
-//
-//	0: regular orientation, (0 degree rotation)
-//	1: 90 degree rotation clockwise
-//	2: 180 degree rotation clockwise
-//	3: 270 degree rotation clockwise
-func (d *Device) SetRotation(rotation uint8) {
-	d.rotation = rotation % 4
-}
-
-// SetPixel sets the color of a specific pixel.
-func (d *Device) SetPixel(x int16, y int16, c color.RGBA) {
-	d.buffer[y][x] = c
-}
-
-// GetPixel returns the color of a specific pixel.
-func (d *Device) GetPixel(x int16, y int16) color.RGBA {
-	return d.buffer[y][x]
-}
-
-// Display sends the buffer (if any) to the screen.
-// Only lights active (non-black) pixels, and resets only the 2 previously
-// driven pins between LEDs instead of all 11, making each refresh cycle
-// proportional to the number of lit LEDs.
-func (d *Device) Display() error {
-	d.clearDisplay()
-
-	var lastIdx0, lastIdx1 uint8
-	hasLast := false
-
-	for row := 0; row < ledRows; row++ {
-		for col := 0; col < ledCols; col++ {
-			c := d.buffer[row][col]
-			if c.R == 0 && c.G == 0 && c.B == 0 {
-				continue
-			}
-
-			idx := row*ledCols + col
-			if idx < 0 || idx >= len(pinMapping) {
-				continue
-			}
-
-			// Float only the two pins that were driving the previous LED.
-			if hasLast {
-				d.pins[lastIdx0].Float()
-				d.pins[lastIdx1].Float()
-			}
-			hasLast = true
-
-			idx0 := pinMapping[idx][0]
-			idx1 := pinMapping[idx][1]
-			d.pins[idx0].Set.High()
-			d.pins[idx1].Set.Low()
-			lastIdx0 = idx0
-			lastIdx1 = idx1
-
-			time.Sleep(pixelRefreshDelay)
-		}
-	}
-
-	// Float the last driven LED.
-	if hasLast {
-		d.pins[lastIdx0].Float()
-		d.pins[lastIdx1].Float()
-	}
-
-	return nil
-}
-
-// ClearDisplay turns off all the LEDs on the display.
-func (d *Device) ClearDisplay() {
-	for row := 0; row < ledRows; row++ {
-		for col := 0; col < ledCols; col++ {
-			d.buffer[row][col] = color.RGBA{0, 0, 0, 255}
-		}
-	}
-}
-
-// Size returns the current size of the display.
-func (d *Device) Size() (w, h int16) {
-	return ledCols, ledRows
-}
-
-// pinMapping defines the mapping of LED indices to pin pairs. Each entry corresponds
-// to an LED index (0-104) and contains the two pin numbers that need to be set to turn on that LED.
-// based on https://github.com/arduino/ArduinoCore-zephyr/blob/main/loader/matrix.inc#L13
-var pinMapping = [][2]uint8{
-	{0, 1}, // 0
-	{1, 0},
-	{0, 2},
-	{2, 0},
-	{1, 2},
-	{2, 1},
-	{0, 3},
-	{3, 0},
-	{1, 3},
-	{3, 1},
-	{2, 3}, // 10
-	{3, 2},
-	{0, 4},
-	{4, 0},
-	{1, 4},
-	{4, 1},
-	{2, 4},
-	{4, 2},
-	{3, 4},
-	{4, 3},
-	{0, 5}, // 20
-	{5, 0},
-	{1, 5},
-	{5, 1},
-	{2, 5},
-	{5, 2},
-	{3, 5},
-	{5, 3},
-	{4, 5},
-	{5, 4},
-	{0, 6}, // 30
-	{6, 0},
-	{1, 6},
-	{6, 1},
-	{2, 6},
-	{6, 2},
-	{3, 6},
-	{6, 3},
-	{4, 6},
-	{6, 4},
-	{5, 6}, // 40
-	{6, 5},
-	{0, 7},
-	{7, 0},
-	{1, 7},
-	{7, 1},
-	{2, 7},
-	{7, 2},
-	{3, 7},
-	{7, 3},
-	{4, 7}, // 50
-	{7, 4},
-	{5, 7},
-	{7, 5},
-	{6, 7},
-	{7, 6},
-	{0, 8},
-	{8, 0},
-	{1, 8},
-	{8, 1},
-	{2, 8}, // 60
-	{8, 2},
-	{3, 8},
-	{8, 3},
-	{4, 8},
-	{8, 4},
-	{5, 8},
-	{8, 5},
-	{6, 8},
-	{8, 6},
-	{7, 8}, // 70
-	{8, 7},
-	{0, 9},
-	{9, 0},
-	{1, 9},
-	{9, 1},
-	{2, 9},
-	{9, 2},
-	{3, 9},
-	{9, 3},
-	{4, 9}, // 80
-	{9, 4},
-	{5, 9},
-	{9, 5},
-	{6, 9},
-	{9, 6},
-	{7, 9},
-	{9, 7},
-	{8, 9},
-	{9, 8},
-	{0, 10}, // 90
-	{10, 0},
-	{1, 10},
-	{10, 1},
-	{2, 10},
-	{10, 2},
-	{3, 10},
-	{10, 3},
-	{4, 10},
-	{10, 4},
-	{5, 10}, // 100
-	{10, 5},
-	{6, 10},
-	{10, 6},
-}
-
-// clearDisplay turns off all the LEDs on the display by floating all pins.
-func (d *Device) clearDisplay() {
-	for i := range d.pins {
-		d.pins[i].Float()
-	}
-}
@@ -1,325 +0,0 @@
-package unoqmatrix
-
-import (
-	"image/color"
-	"testing"
-
-	pin "tinygo.org/x/drivers/internal/pin"
-)
-
-// pinState tracks the state of a mock charlieplex pin.
-type pinState struct {
-	level    bool // true=high, false=low
-	isOutput bool // true=output mode, false=floating (high-Z)
-}
-
-// mockPins creates 11 mock CharlieplexPins and returns them along with their observable state.
-func mockPins() ([numPins]CharlieplexPin, *[numPins]pinState) {
-	var pins [numPins]CharlieplexPin
-	var states [numPins]pinState
-	for i := range pins {
-		idx := i // capture
-		pins[i] = CharlieplexPin{
-			Set: pin.OutputFunc(func(level bool) {
-				states[idx].isOutput = true
-				states[idx].level = level
-			}),
-			Float: func() {
-				states[idx].isOutput = false
-				states[idx].level = false
-			},
-		}
-	}
-	return pins, &states
-}
-
-func newTestDevice() (Device, *[numPins]pinState) {
-	pins, states := mockPins()
-	d := New(pins)
-	return d, states
-}
-
-func TestNew(t *testing.T) {
-	d, _ := newTestDevice()
-	w, h := d.Size()
-	if w != ledCols || h != ledRows {
-		t.Errorf("Size() = (%d, %d), want (%d, %d)", w, h, ledCols, ledRows)
-	}
-}
-
-func TestSize(t *testing.T) {
-	d, _ := newTestDevice()
-	w, h := d.Size()
-	if w != 13 {
-		t.Errorf("width = %d, want 13", w)
-	}
-	if h != 8 {
-		t.Errorf("height = %d, want 8", h)
-	}
-}
-
-func TestSetGetPixel(t *testing.T) {
-	d, _ := newTestDevice()
-	c := color.RGBA{R: 255, G: 128, B: 64, A: 255}
-
-	d.SetPixel(3, 2, c)
-	got := d.GetPixel(3, 2)
-	if got != c {
-		t.Errorf("GetPixel(3,2) = %v, want %v", got, c)
-	}
-
-	// Unset pixel should be zero-value.
-	got = d.GetPixel(0, 0)
-	if got != (color.RGBA{}) {
-		t.Errorf("GetPixel(0,0) = %v, want zero", got)
-	}
-}
-
-func TestClearDisplay(t *testing.T) {
-	d, _ := newTestDevice()
-	on := color.RGBA{R: 255, G: 255, B: 255, A: 255}
-	off := color.RGBA{A: 255}
-
-	d.SetPixel(0, 0, on)
-	d.SetPixel(5, 3, on)
-	d.ClearDisplay()
-
-	for y := int16(0); y < ledRows; y++ {
-		for x := int16(0); x < ledCols; x++ {
-			got := d.GetPixel(x, y)
-			if got != off {
-				t.Errorf("after ClearDisplay, GetPixel(%d,%d) = %v, want %v", x, y, got, off)
-			}
-		}
-	}
-}
-
-func TestSetRotation(t *testing.T) {
-	d, _ := newTestDevice()
-
-	tests := []struct {
-		input uint8
-		want  uint8
-	}{
-		{0, 0},
-		{1, 1},
-		{2, 2},
-		{3, 3},
-		{4, 0}, // wraps
-		{7, 3}, // wraps
-	}
-	for _, tt := range tests {
-		d.SetRotation(tt.input)
-		if d.rotation != tt.want {
-			t.Errorf("SetRotation(%d): rotation = %d, want %d", tt.input, d.rotation, tt.want)
-		}
-	}
-}
-
-func TestConfigure(t *testing.T) {
-	d, _ := newTestDevice()
-	d.Configure(Config{Rotation: 2})
-	if d.rotation != 2 {
-		t.Errorf("Configure(Rotation:2): rotation = %d, want 2", d.rotation)
-	}
-}
-
-func TestDisplayEmptyBuffer(t *testing.T) {
-	d, states := newTestDevice()
-
-	err := d.Display()
-	if err != nil {
-		t.Fatalf("Display() error: %v", err)
-	}
-
-	// All pins should be floating after displaying an empty buffer.
-	for i, s := range states {
-		if s.isOutput {
-			t.Errorf("pin %d still in output mode after empty Display()", i)
-		}
-	}
-}
-
-func TestDisplaySinglePixel(t *testing.T) {
-	d, states := newTestDevice()
-	on := color.RGBA{R: 255, G: 255, B: 255, A: 255}
-
-	// LED index 0 -> pinMapping[0] = {0, 1}: pin 0 high, pin 1 low.
-	d.SetPixel(0, 0, on)
-	err := d.Display()
-	if err != nil {
-		t.Fatalf("Display() error: %v", err)
-	}
-
-	// After Display completes, all pins should be floating (last LED turned off).
-	for i, s := range states {
-		if s.isOutput {
-			t.Errorf("pin %d still in output mode after Display()", i)
-		}
-	}
-}
-
-func TestDisplayMultiplePixels(t *testing.T) {
-	d, states := newTestDevice()
-	on := color.RGBA{R: 255, G: 255, B: 255, A: 255}
-
-	d.SetPixel(0, 0, on) // idx 0 -> pins {0,1}
-	d.SetPixel(1, 0, on) // idx 1 -> pins {1,0}
-	d.SetPixel(2, 0, on) // idx 2 -> pins {0,2}
-
-	err := d.Display()
-	if err != nil {
-		t.Fatalf("Display() error: %v", err)
-	}
-
-	// All pins floating after display completes.
-	for i, s := range states {
-		if s.isOutput {
-			t.Errorf("pin %d still in output mode after Display()", i)
-		}
-	}
-}
-
-// pinEvent records a single pin action during Display().
-type pinEvent struct {
-	pinIdx int
-	action string // "high", "low", or "float"
-}
-
-// traceDevice creates a device that records every pin event for verification.
-func traceDevice() (Device, *[]pinEvent) {
-	var pins [numPins]CharlieplexPin
-	events := &[]pinEvent{}
-	for i := range pins {
-		idx := i
-		pins[i] = CharlieplexPin{
-			Set: pin.OutputFunc(func(level bool) {
-				action := "low"
-				if level {
-					action = "high"
-				}
-				*events = append(*events, pinEvent{pinIdx: idx, action: action})
-			}),
-			Float: func() {
-				*events = append(*events, pinEvent{pinIdx: idx, action: "float"})
-			},
-		}
-	}
-	d := New(pins)
-	return d, events
-}
-
-func TestDisplayDrivesCorrectPins(t *testing.T) {
-	d, events := traceDevice()
-	on := color.RGBA{R: 255, A: 255}
-
-	// Set pixel at (0,0) -> LED index 0 -> pinMapping[0] = {0, 1}.
-	d.SetPixel(0, 0, on)
-	d.Display()
-
-	// Expected sequence:
-	// 1. clearDisplay: float pins 0..10
-	// 2. Drive LED 0: pin 0 high, pin 1 low
-	// 3. Cleanup: float pin 0, float pin 1
-
-	// Find the high/low events (skip initial floats from clearDisplay).
-	var driveEvents []pinEvent
-	for _, e := range *events {
-		if e.action == "high" || e.action == "low" {
-			driveEvents = append(driveEvents, e)
-		}
-	}
-
-	if len(driveEvents) != 2 {
-		t.Fatalf("expected 2 drive events, got %d: %v", len(driveEvents), driveEvents)
-	}
-	if driveEvents[0].pinIdx != 0 || driveEvents[0].action != "high" {
-		t.Errorf("first drive event = %v, want pin 0 high", driveEvents[0])
-	}
-	if driveEvents[1].pinIdx != 1 || driveEvents[1].action != "low" {
-		t.Errorf("second drive event = %v, want pin 1 low", driveEvents[1])
-	}
-}
-
-func TestDisplaySkipsBlackPixels(t *testing.T) {
-	d, events := traceDevice()
-	on := color.RGBA{R: 255, A: 255}
-
-	// Only set one pixel in the middle of the matrix.
-	d.SetPixel(4, 1, on) // idx = 1*13+4 = 17 -> pinMapping[17] = {4,2}
-	d.Display()
-
-	var driveEvents []pinEvent
-	for _, e := range *events {
-		if e.action == "high" || e.action == "low" {
-			driveEvents = append(driveEvents, e)
-		}
-	}
-
-	// Should only drive one LED's worth of pin events.
-	if len(driveEvents) != 2 {
-		t.Fatalf("expected 2 drive events for 1 lit pixel, got %d", len(driveEvents))
-	}
-	if driveEvents[0].pinIdx != 4 || driveEvents[0].action != "high" {
-		t.Errorf("expected pin 4 high, got %v", driveEvents[0])
-	}
-	if driveEvents[1].pinIdx != 2 || driveEvents[1].action != "low" {
-		t.Errorf("expected pin 2 low, got %v", driveEvents[1])
-	}
-}
-
-func TestDisplayFloatsBetweenLEDs(t *testing.T) {
-	d, events := traceDevice()
-	on := color.RGBA{R: 255, A: 255}
-
-	d.SetPixel(0, 0, on) // idx 0 -> {0,1}
-	d.SetPixel(1, 0, on) // idx 1 -> {1,0}
-	d.Display()
-
-	// After the initial clearDisplay floats, the sequence for two LEDs should be:
-	// drive LED0 (pin0 high, pin1 low)
-	// float pin0, float pin1  (between LEDs)
-	// drive LED1 (pin1 high, pin0 low)
-	// float pin1, float pin0  (cleanup)
-
-	// Skip the initial 11 float events from clearDisplay.
-	postClear := (*events)[numPins:]
-
-	// Verify pin 0 and 1 are floated between the two LEDs.
-	foundFloatBetween := false
-	driveCount := 0
-	for _, e := range postClear {
-		if e.action == "high" || e.action == "low" {
-			driveCount++
-		}
-		// After the first pair of drive events, we should see floats before the next pair.
-		if driveCount == 2 && e.action == "float" {
-			foundFloatBetween = true
-			break
-		}
-	}
-	if !foundFloatBetween {
-		t.Error("expected float events between LED drives, found none")
-	}
-}
-
-func TestPinMappingLength(t *testing.T) {
-	expected := 104 // 8x13 matrix = 104 LEDs
-	if len(pinMapping) != expected {
-		t.Errorf("pinMapping has %d entries, want %d", len(pinMapping), expected)
-	}
-}
-
-func TestPinMappingIndicesInRange(t *testing.T) {
-	for i, pair := range pinMapping {
-		if pair[0] >= numPins {
-			t.Errorf("pinMapping[%d][0] = %d, exceeds numPins (%d)", i, pair[0], numPins)
-		}
-		if pair[1] >= numPins {
-			t.Errorf("pinMapping[%d][1] = %d, exceeds numPins (%d)", i, pair[1], numPins)
-		}
-		if pair[0] == pair[1] {
-			t.Errorf("pinMapping[%d] has same pin for both: %d", i, pair[0])
-		}
-	}
-}
@@ -1,36 +0,0 @@
-//go:build baremetal
-
-package unoqmatrix
-
-import (
-	"machine"
-
-	pin "tinygo.org/x/drivers/internal/pin"
-)
-
-// NewFromBasePin creates a Device from a base machine.Pin.
-// It constructs 11 CharlieplexPin values from consecutive pins starting at basePin.
-// Each pin lazily switches between output and input mode as needed.
-func NewFromBasePin(basePin machine.Pin) Device {
-	var pins [numPins]CharlieplexPin
-	for i := range pins {
-		p := basePin + machine.Pin(i)
-		var isOutput bool
-		pins[i] = CharlieplexPin{
-			Set: pin.OutputFunc(func(level bool) {
-				if !isOutput {
-					p.Configure(machine.PinConfig{Mode: machine.PinOutput})
-					isOutput = true
-				}
-				p.Set(level)
-			}),
-			Float: func() {
-				if isOutput {
-					p.Configure(machine.PinConfig{Mode: machine.PinInput})
-					isOutput = false
-				}
-			},
-		}
-	}
-	return New(pins)
-}
@@ -2,4 +2,4 @@ package drivers

 // Version returns a user-readable string showing the version of the drivers package for support purposes.
 // Update this value before release of new version of software.
-const Version = "0.35.0"
+const Version = "0.34.0"
@@ -1,465 +0,0 @@
-// Package epd2in9v2 implements a driver for the Waveshare 2.9in V2 black and white e-paper display.
-//
-// This is for the V2 device using the SSD1680 chipset. For the V1 device (using IL3820),
-// use the epd2in9 package instead.
-//
-// Datasheet:
-// https://files.waveshare.com/upload/7/79/2.9inch-e-paper-v2-specification.pdf
-// https://cdn-learn.adafruit.com/assets/assets/000/097/631/original/SSD1680_Datasheet.pdf?1607625960
-//
-// Reference: https://github.com/waveshareteam/e-Paper/tree/master/RaspberryPi_JetsonNano/c/lib/e-Paper
-package epd2in9v2 // import "tinygo.org/x/drivers/waveshare-epd/epd2in9v2"
-
-import (
-	"image/color"
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers"
-)
-
-type Config struct {
-	Width    int16
-	Height   int16
-	Rotation Rotation
-	Speed    Speed
-	Blocking bool
-}
-
-type Device struct {
-	bus          drivers.SPI
-	cs           machine.Pin
-	dc           machine.Pin
-	rst          machine.Pin
-	busy         machine.Pin
-	width        int16
-	height       int16
-	buffer       []uint8
-	bufferLength uint32
-	rotation     Rotation
-	speed        Speed
-	blocking     bool
-}
-
-type Rotation uint8
-type Speed uint8
-
-// LUT for normal full refresh (~2s)
-var lutDefault = [159]uint8{
-	0x80, 0x66, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x0, 0x0,
-	0x10, 0x66, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x20, 0x0, 0x0, 0x0,
-	0x80, 0x66, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x40, 0x0, 0x0, 0x0,
-	0x10, 0x66, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x20, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x14, 0x8, 0x0, 0x0, 0x0, 0x0, 0x1,
-	0xA, 0xA, 0x0, 0xA, 0xA, 0x0, 0x1,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x14, 0x8, 0x0, 0x1, 0x0, 0x0, 0x1,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x44, 0x44, 0x44, 0x44, 0x44, 0x44, 0x0, 0x0, 0x0,
-	0x22, 0x17, 0x41, 0x0, 0x32, 0x36,
-}
-
-// LUT for fast full refresh (~1s)
-var lutFast = [159]uint8{
-	0x90, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x90, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x60, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x19, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-	0x24, 0x42, 0x22, 0x22, 0x23, 0x32, 0x00, 0x00, 0x00,
-	0x22, 0x17, 0x41, 0xAE, 0x32, 0x38,
-}
-
-// LUT for partial refresh
-var lutPartial = [159]uint8{
-	0x0, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x80, 0x80, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x40, 0x40, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x80, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0A, 0x0, 0x0, 0x0, 0x0, 0x0, 0x2,
-	0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x1, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
-	0x22, 0x22, 0x22, 0x22, 0x22, 0x22, 0x0, 0x0, 0x0,
-	0x22, 0x17, 0x41, 0xB0, 0x32, 0x36,
-}
-
-// New returns a new epd2in9v2 driver. Pass in a fully configured SPI bus.
-func New(bus drivers.SPI, csPin, dcPin, rstPin, busyPin machine.Pin) Device {
-	csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	rstPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	busyPin.Configure(machine.PinConfig{Mode: machine.PinInput})
-	return Device{
-		bus:  bus,
-		cs:   csPin,
-		dc:   dcPin,
-		rst:  rstPin,
-		busy: busyPin,
-	}
-}
-
-// Configure sets up the device.
-func (d *Device) Configure(cfg Config) {
-	if cfg.Width != 0 {
-		d.width = cfg.Width
-	} else {
-		d.width = EPD_WIDTH
-	}
-	if cfg.Height != 0 {
-		d.height = cfg.Height
-	} else {
-		d.height = EPD_HEIGHT
-	}
-	d.rotation = cfg.Rotation
-	d.speed = cfg.Speed
-	d.blocking = cfg.Blocking
-	d.bufferLength = (uint32(d.width) * uint32(d.height)) / 8
-	d.buffer = make([]uint8, d.bufferLength)
-	for i := uint32(0); i < d.bufferLength; i++ {
-		d.buffer[i] = 0xFF
-	}
-
-	d.Reset()
-	time.Sleep(100 * time.Millisecond)
-
-	d.WaitUntilIdle()
-	d.SendCommand(SW_RESET)
-	d.WaitUntilIdle()
-
-	d.SendCommand(DRIVER_OUTPUT_CONTROL)
-	d.SendData(uint8((d.height - 1) & 0xFF))
-	d.SendData(uint8((d.height - 1) >> 8))
-	d.SendData(0x00)
-
-	d.SendCommand(DATA_ENTRY_MODE)
-	d.SendData(0x03)
-
-	d.setWindow(0, 0, d.width-1, d.height-1)
-
-	if cfg.Speed == SPEED_FAST {
-		d.SendCommand(BORDER_WAVEFORM_CONTROL)
-		d.SendData(0x05)
-	}
-
-	d.SendCommand(DISPLAY_UPDATE_CONTROL_1)
-	d.SendData(0x00)
-	d.SendData(0x80)
-
-	d.setCursor(0, 0)
-	d.WaitUntilIdle()
-
-	switch cfg.Speed {
-	case SPEED_FAST:
-		d.setLUTByHost(&lutFast)
-	default:
-		d.setLUTByHost(&lutDefault)
-	}
-}
-
-// HardwareReset resets the device via the RST pin.
-func (d *Device) Reset() {
-	d.rst.High()
-	time.Sleep(10 * time.Millisecond)
-	d.rst.Low()
-	time.Sleep(2 * time.Millisecond)
-	d.rst.High()
-	time.Sleep(10 * time.Millisecond)
-}
-
-// SendCommand sends a command byte to the display.
-func (d *Device) SendCommand(command uint8) {
-	d.dc.Low()
-	d.cs.Low()
-	d.bus.Transfer(command)
-	d.cs.High()
-}
-
-// SendData sends a data byte to the display.
-func (d *Device) SendData(data uint8) {
-	d.dc.High()
-	d.cs.Low()
-	d.bus.Transfer(data)
-	d.cs.High()
-}
-
-// WaitUntilIdle waits until the display is ready.
-// On SSD1680, BUSY pin is HIGH when busy, LOW when idle.
-func (d *Device) WaitUntilIdle() {
-	for d.busy.Get() {
-		time.Sleep(50 * time.Millisecond)
-	}
-	time.Sleep(50 * time.Millisecond)
-}
-
-// IsBusy returns the busy status of the display.
-func (d *Device) IsBusy() bool {
-	return d.busy.Get()
-}
-
-// SetPixel modifies the internal buffer in a single pixel.
-// Uses color.RGBA where black (0,0,0) = black pixel, anything else = white pixel.
-func (d *Device) SetPixel(x int16, y int16, c color.RGBA) {
-	x, y = d.xy(x, y)
-
-	if x < 0 || x >= d.width || y < 0 || y >= d.height {
-		return
-	}
-	byteIndex := (y * (d.width / 8)) + (x / 8)
-	if c.R == 0 && c.G == 0 && c.B == 0 {
-		d.buffer[byteIndex] &^= 0x80 >> uint8(x%8)
-	} else {
-		d.buffer[byteIndex] |= 0x80 >> uint8(x%8)
-	}
-}
-
-// Display sends the buffer to the screen.
-func (d *Device) Display() error {
-	if d.blocking {
-		d.WaitUntilIdle()
-	}
-
-	d.setCursor(0, 0)
-	d.SendCommand(WRITE_RAM_BW)
-	for i := uint32(0); i < d.bufferLength; i++ {
-		d.SendData(d.buffer[i])
-	}
-
-	d.turnOnDisplay()
-
-	if d.blocking {
-		d.WaitUntilIdle()
-	}
-	return nil
-}
-
-// DisplayWithBase writes the buffer to both BW and RED RAM then refreshes.
-// This is useful before partial updates to set the base image.
-func (d *Device) DisplayWithBase() error {
-	if d.blocking {
-		d.WaitUntilIdle()
-	}
-
-	d.setCursor(0, 0)
-	d.SendCommand(WRITE_RAM_BW)
-	for i := uint32(0); i < d.bufferLength; i++ {
-		d.SendData(d.buffer[i])
-	}
-
-	d.setCursor(0, 0)
-	d.SendCommand(WRITE_RAM_RED)
-	for i := uint32(0); i < d.bufferLength; i++ {
-		d.SendData(d.buffer[i])
-	}
-
-	d.turnOnDisplay()
-
-	if d.blocking {
-		d.WaitUntilIdle()
-	}
-	return nil
-}
-
-// DisplayPartial performs a partial refresh of the display.
-// Call DisplayWithBase first to set the base image before using partial updates.
-func (d *Device) DisplayPartial() error {
-	d.rst.Low()
-	time.Sleep(1 * time.Millisecond)
-	d.rst.High()
-	time.Sleep(2 * time.Millisecond)
-
-	d.setLUT(&lutPartial)
-
-	d.SendCommand(OTP_SELECTION_CONTROL)
-	d.SendData(0x00)
-	d.SendData(0x00)
-	d.SendData(0x00)
-	d.SendData(0x00)
-	d.SendData(0x00)
-	d.SendData(0x40)
-	d.SendData(0x00)
-	d.SendData(0x00)
-	d.SendData(0x00)
-	d.SendData(0x00)
-
-	d.SendCommand(BORDER_WAVEFORM_CONTROL)
-	d.SendData(0x80)
-
-	d.SendCommand(DISPLAY_UPDATE_CONTROL_2)
-	d.SendData(0xC0)
-	d.SendCommand(MASTER_ACTIVATION)
-	d.WaitUntilIdle()
-
-	d.setWindow(0, 0, d.width-1, d.height-1)
-	d.setCursor(0, 0)
-
-	d.SendCommand(WRITE_RAM_BW)
-	for i := uint32(0); i < d.bufferLength; i++ {
-		d.SendData(d.buffer[i])
-	}
-
-	d.turnOnDisplayPartial()
-	d.WaitUntilIdle()
-	return nil
-}
-
-// ClearDisplay erases the display.
-func (d *Device) ClearDisplay() {
-	d.ClearBuffer()
-	d.Display()
-}
-
-// ClearBuffer sets the buffer to 0xFF (white).
-func (d *Device) ClearBuffer() {
-	for i := uint32(0); i < d.bufferLength; i++ {
-		d.buffer[i] = 0xFF
-	}
-}
-
-// Size returns the current size of the display.
-func (d *Device) Size() (w, h int16) {
-	if d.rotation == ROTATION_90 || d.rotation == ROTATION_270 {
-		return d.height, d.width
-	}
-	return d.width, d.height
-}
-
-// SetRotation changes the rotation (clock-wise) of the device.
-func (d *Device) SetRotation(rotation Rotation) {
-	d.rotation = rotation
-}
-
-// SetBlocking changes the blocking flag of the device.
-func (d *Device) SetBlocking(blocking bool) {
-	d.blocking = blocking
-}
-
-// SetSpeed changes the refresh speed and reconfigures the device.
-func (d *Device) SetSpeed(speed Speed) {
-	d.Configure(Config{
-		Width:    d.width,
-		Height:   d.height,
-		Rotation: d.rotation,
-		Speed:    speed,
-		Blocking: d.blocking,
-	})
-}
-
-// Sleep puts the display into deep sleep mode. A hardware reset is needed to wake it.
-func (d *Device) Sleep() {
-	d.SendCommand(DEEP_SLEEP_MODE)
-	d.SendData(0x01)
-	time.Sleep(100 * time.Millisecond)
-}
-
-// PowerOff disables the display analog/clock. Lighter than Sleep.
-func (d *Device) PowerOff() {
-	d.SendCommand(DISPLAY_UPDATE_CONTROL_2)
-	d.SendData(0x03)
-	d.SendCommand(MASTER_ACTIVATION)
-	d.WaitUntilIdle()
-}
-
-func (d *Device) xy(x, y int16) (int16, int16) {
-	switch d.rotation {
-	case NO_ROTATION:
-		return x, y
-	case ROTATION_90:
-		return d.width - y - 1, x
-	case ROTATION_180:
-		return d.width - x - 1, d.height - y - 1
-	case ROTATION_270:
-		return y, d.height - x - 1
-	}
-	return x, y
-}
-
-func (d *Device) setWindow(xStart, yStart, xEnd, yEnd int16) {
-	d.SendCommand(SET_RAM_X_ADDRESS)
-	d.SendData(uint8((xStart >> 3) & 0xFF))
-	d.SendData(uint8((xEnd >> 3) & 0xFF))
-
-	d.SendCommand(SET_RAM_Y_ADDRESS)
-	d.SendData(uint8(yStart & 0xFF))
-	d.SendData(uint8((yStart >> 8) & 0xFF))
-	d.SendData(uint8(yEnd & 0xFF))
-	d.SendData(uint8((yEnd >> 8) & 0xFF))
-}
-
-func (d *Device) setCursor(x, y int16) {
-	d.SendCommand(SET_RAM_X_COUNTER)
-	d.SendData(uint8(x & 0xFF))
-
-	d.SendCommand(SET_RAM_Y_COUNTER)
-	d.SendData(uint8(y & 0xFF))
-	d.SendData(uint8((y >> 8) & 0xFF))
-}
-
-func (d *Device) turnOnDisplay() {
-	d.SendCommand(DISPLAY_UPDATE_CONTROL_2)
-	d.SendData(0xC7)
-	d.SendCommand(MASTER_ACTIVATION)
-	d.WaitUntilIdle()
-}
-
-func (d *Device) turnOnDisplayPartial() {
-	d.SendCommand(DISPLAY_UPDATE_CONTROL_2)
-	d.SendData(0x0F)
-	d.SendCommand(MASTER_ACTIVATION)
-	d.WaitUntilIdle()
-}
-
-func (d *Device) setLUT(lut *[159]uint8) {
-	d.SendCommand(WRITE_LUT_REGISTER)
-	for i := 0; i < 153; i++ {
-		d.SendData(lut[i])
-	}
-	d.WaitUntilIdle()
-}
-
-func (d *Device) setLUTByHost(lut *[159]uint8) {
-	d.setLUT(lut)
-
-	d.SendCommand(END_OPTION)
-	d.SendData(lut[153])
-
-	d.SendCommand(GATE_DRIVING_VOLTAGE)
-	d.SendData(lut[154])
-
-	d.SendCommand(SOURCE_DRIVING_VOLTAGE)
-	d.SendData(lut[155])
-	d.SendData(lut[156])
-	d.SendData(lut[157])
-
-	d.SendCommand(WRITE_VCOM_REGISTER)
-	d.SendData(lut[158])
-}
@@ -1,50 +0,0 @@
-package epd2in9v2
-
-// Commands from SSD1680 datasheet
-const (
-	EPD_WIDTH  = 128
-	EPD_HEIGHT = 296
-
-	DRIVER_OUTPUT_CONTROL     = 0x01
-	GATE_DRIVING_VOLTAGE      = 0x03
-	SOURCE_DRIVING_VOLTAGE    = 0x04
-	DEEP_SLEEP_MODE           = 0x10
-	DATA_ENTRY_MODE           = 0x11
-	SW_RESET                  = 0x12
-	MASTER_ACTIVATION         = 0x20
-	DISPLAY_UPDATE_CONTROL_1  = 0x21
-	DISPLAY_UPDATE_CONTROL_2  = 0x22
-	WRITE_RAM_BW              = 0x24
-	WRITE_RAM_RED             = 0x26
-	VCOM_SENSE                = 0x28
-	VCOM_SENSE_DURATION       = 0x29
-	PROGRAM_VCOM_OTP          = 0x2A
-	WRITE_VCOM_CONTROL        = 0x2B
-	WRITE_VCOM_REGISTER       = 0x2C
-	OTP_READ_DISPLAY_OPTION   = 0x2D
-	USER_ID_READ              = 0x2E
-	PROGRAM_WS_OTP            = 0x30
-	LOAD_WS_OTP               = 0x31
-	WRITE_LUT_REGISTER        = 0x32
-	PROGRAM_OTP_SELECTION     = 0x36
-	OTP_SELECTION_CONTROL     = 0x37
-	WRITE_USER_ID             = 0x38
-	OTP_PROGRAM_MODE          = 0x39
-	BORDER_WAVEFORM_CONTROL   = 0x3C
-	END_OPTION                = 0x3F
-	SET_RAM_X_ADDRESS         = 0x44
-	SET_RAM_Y_ADDRESS         = 0x45
-	SET_RAM_X_COUNTER         = 0x4E
-	SET_RAM_Y_COUNTER         = 0x4F
-	SET_ANALOG_BLOCK_CONTROL  = 0x74
-	SET_DIGITAL_BLOCK_CONTROL = 0x7E
-
-	NO_ROTATION  Rotation = 0
-	ROTATION_90  Rotation = 1
-	ROTATION_180 Rotation = 2
-	ROTATION_270 Rotation = 3
-
-	SPEED_DEFAULT Speed = 0
-	SPEED_FAST    Speed = 1
-	SPEED_PARTIAL Speed = 2
-)
@@ -1,7 +1,4 @@
 // Package ws2812 implements a driver for WS2812 and SK6812 RGB LED strips.
-//
-// On most platforms NewWS2812 uses bit-banging.
-// On RP2040/RP2350 it uses PIO for hardware-timed control.
 package ws2812 // import "tinygo.org/x/drivers/ws2812"

 //go:generate go run gen-ws2812.go -arch=cortexm 16 48 64 120 125 150 168 200
@@ -18,8 +15,7 @@ var errUnknownClockSpeed = errors.New("ws2812: unknown CPU clock speed")
 // Device wraps a pin object for an easy driver interface.
 type Device struct {
 	Pin            machine.Pin
-	brightness     uint8
-	writeColorFunc func(Device, []color.RGBA, uint8) error
+	writeColorFunc func(Device, []color.RGBA) error
 }

 // deprecated, use NewWS2812 or NewSK6812 depending on which device you want.
@@ -28,28 +24,24 @@ func New(pin machine.Pin) Device {
 	return NewWS2812(pin)
 }

-// NewWS2812 returns a new WS2812(RGB) driver.
-// On RP2040/RP2350, it uses PIO for hardware-timed control.
-// On other platforms, you must configure the pin as output before calling this.
+// New returns a new WS2812(RGB) driver.
+// It does not touch the pin object: you have
+// to configure it as an output pin before calling New.
 func NewWS2812(pin machine.Pin) Device {
-	return newWS2812Device(pin)
-}
-
-// NewSK6812 returns a new SK6812W/RGBW driver (4 channels, GRBW order, 32-bit protocol), for the 3 channels version use NewWS2812
-// Use this for SK6812W strips that have a dedicated white channel controlled via color.A.
-// It does not touch the pin object: you have to configure it as an output pin before
-// calling this.
-func NewSK6812(pin machine.Pin) Device {
 	return Device{
 		Pin:            pin,
-		brightness:     255,
-		writeColorFunc: writeColorsRGBA,
+		writeColorFunc: writeColorsRGB,
 	}
 }

-// SetBrightness sets the global brightness (0-255).
-func (d *Device) SetBrightness(b uint8) {
-	d.brightness = b
+// New returns a new SK6812(RGBA) driver.
+// It does not touch the pin object: you have
+// to configure it as an output pin before calling New.
+func NewSK6812(pin machine.Pin) Device {
+	return Device{
+		Pin:            pin,
+		writeColorFunc: writeColorsRGBA,
+	}
 }

 // Write the raw bitstring out using the WS2812 protocol.
@@ -63,35 +55,24 @@ func (d Device) Write(buf []byte) (n int, err error) {
 // Write the given color slice out using the WS2812 protocol.
 // Colors are sent out in the usual GRB(A) format.
 func (d Device) WriteColors(buf []color.RGBA) (err error) {
-	return d.writeColorFunc(d, buf, d.brightness)
+	return d.writeColorFunc(d, buf)
 }

-func writeColorsRGB(d Device, buf []color.RGBA, brightness uint8) (err error) {
+func writeColorsRGB(d Device, buf []color.RGBA) (err error) {
 	for _, color := range buf {
-		r, g, b := applyBrightness(color, brightness)
-		d.WriteByte(g)       // green
-		d.WriteByte(r)       // red
-		err = d.WriteByte(b) // blue
+		d.WriteByte(color.G)       // green
+		d.WriteByte(color.R)       // red
+		err = d.WriteByte(color.B) // blue
 	}
 	return
 }

-func writeColorsRGBA(d Device, buf []color.RGBA, brightness uint8) (err error) {
+func writeColorsRGBA(d Device, buf []color.RGBA) (err error) {
 	for _, color := range buf {
-		r, g, b := applyBrightness(color, brightness)
-
-		d.WriteByte(g)             // green
-		d.WriteByte(r)             // red
-		d.WriteByte(b)             // blue
+		d.WriteByte(color.G)       // green
+		d.WriteByte(color.R)       // red
+		d.WriteByte(color.B)       // blue
 		err = d.WriteByte(color.A) // alpha
 	}
 	return
 }
-
-// applyBrightness scales a color by the brightness value.
-func applyBrightness(c color.RGBA, brightness uint8) (r, g, b uint8) {
-	r = uint8((uint16(c.R) * uint16(brightness)) >> 8)
-	g = uint8((uint16(c.G) * uint16(brightness)) >> 8)
-	b = uint8((uint16(c.B) * uint16(brightness)) >> 8)
-	return
-}
@@ -1,10 +0,0 @@
-//go:build !rp2040 && !rp2350
-
-package ws2812
-
-import "machine"
-
-// newWS2812Device creates a WS2812 device using the bit-bang driver.
-func newWS2812Device(pin machine.Pin) Device {
-	return Device{Pin: pin, brightness: 255, writeColorFunc: writeColorsRGB}
-}
@@ -1,35 +0,0 @@
-//go:build rp2040 || rp2350
-
-package ws2812
-
-import (
-	"image/color"
-	"machine"
-
-	pio "github.com/tinygo-org/pio/rp2-pio"
-	"github.com/tinygo-org/pio/rp2-pio/piolib"
-)
-
-// newWS2812Device creates a WS2812 device using PIO for hardware-timed control.
-// If PIO initialization fails, it falls back to the bit-bang driver.
-func newWS2812Device(pin machine.Pin) Device {
-	sm, err := pio.PIO0.ClaimStateMachine()
-	if err != nil {
-		return Device{Pin: pin, brightness: 255, writeColorFunc: writeColorsRGB}
-	}
-	ws, err := piolib.NewWS2812B(sm, pin)
-	if err != nil {
-		return Device{Pin: pin, brightness: 255, writeColorFunc: writeColorsRGB}
-	}
-	return Device{
-		Pin:        pin,
-		brightness: 255,
-		writeColorFunc: func(_ Device, buf []color.RGBA, brightness uint8) error {
-			for _, c := range buf {
-				r, g, b := applyBrightness(c, brightness)
-				ws.PutRGB(r, g, b)
-			}
-			return nil
-		},
-	}
-}
Author	SHA1	Message	Date
deadprogram	85e123eeb2	st7789: work in progress on display refactor Signed-off-by: deadprogram <ron@hybridgroup.com>	2025-12-20 10:29:55 +01:00
deadprogram	51561d4eab	st7789: add Bus interface to accomodate both SPI and parallel connections to display Signed-off-by: deadprogram <ron@hybridgroup.com>	2025-12-20 10:29:55 +01:00
deadprogram	b561dc36f2	examples: switch st7789 example to use the Adafruit Clue since that device actually comes with one. Signed-off-by: deadprogram <ron@hybridgroup.com>	2025-12-20 10:29:55 +01:00
deadprogram	85b24b3418	st7789: remove dependency on the machine package by using internal/pin instead Signed-off-by: deadprogram <ron@hybridgroup.com>	2025-12-20 10:29:55 +01:00