Prepare for Drivers release 0.14.0

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

.circleci/config.yml

@@ -6,7 +6,6 @@ jobs:
   build:
     docker:
       - image: tinygo/tinygo-dev
-    working_directory: /usr/local/go/src/tinygo.org/x/drivers
     steps:
       - checkout
       - run: tinygo version

CHANGELOG.md

@@ -1,3 +1,94 @@
+0.14.0
+---
+- **new devices**
+    - lis2mdl: add LIS2MDL magnetometer (#187)
+    - waveshare: add Waveshare 4.2in B/W e-paper driver (#183)
+- **enhancements**
+    - adt7410: add connection test and for that matter connection method
+    - gps
+        - add speed and heading to fix, as parsed from RMC NMEA sentence
+        - improvements and bugfixes (#186)
+    - ili9341
+        - add support for setting framerate, vsync pause, and reading scanline data.
+        - renamed NewSpi() to NewSPI() in accordance with Go naming conventions
+    - ws2812
+        - add support for ESP8266
+        - add support for ESP32
+- **bugfixes**
+    - ili9341
+        - rix setWindow bug, add CS pin for Clue compatibility. (#180)
+        - bugfix for RAMWR bug
+    - lis2mdl: turn on read mode on every read, to ensure that magnetometer data is updated
+- **core**
+    - i2c
+        - switch all i2c drivers definitions to use i2c bus interface type instead of machine package concrete type
+        - correct interface definition for I2C Tx function
+- **testing**
+    - fix smoke-test unless avr-gcc installed
+    - add very basic mock structs for testing i2c devices, based on work done by @rogpeppe
+    - improve API surface and implement one more test function in lis2mdl driver
+- **docs**
+    - replace README badge for godocs with pkgdocs
+
+0.13.0
+---
+- **new devices**
+    - bmi160: add initial support
+    - bmp280: added support for the Bosch BMP280 temperature and pressure sensor. (#158)
+    - lsm303agr: add lsm303agr (#162)
+    - ssd1351: add SSD1351 OLED display driver (#146)
+- **enhancements**
+    - hd44780: add Hd44780i2c driver (#173)
+    - ili9341
+        - add ILI9341 TFT driver (SPI) for ATSAMD2x (#174)
+        - cache address window to prevent sending unnecessary commands (#171)
+        - ILI9341 TFT driver (SPI) (#153)
+        - improve performance of ILI9341 on ATSAMD5X
+    - ST77xx: fix DrawFastHLine for ST77xx, SSD1331 and SSD1351 DrawFastHLine uses FillRectangle(x,y,width,height,c), so height must be 1 to draw a horizontal line
+    - tmp102: add Connected func to check for device
+    - wifinina: added UDP support
+    - ws2812: update ws2812_avr_16m.go
+- **bugfixes**
+    - apa102: avoid creating garbage
+    - bmp180: fix temperature type conversion
+- **core**
+    - all
+        - added custom import path (#161)
+        - changeover to eliminate all direct use of master/slave terminology
+    - build: try vendor in working directory to match expected module path
+    - ci: support Go modules
+    - modules: update go version and dependency
+- **docs**
+    - docs: reorder to correct alpha and adjust count of supported drivers
+
+0.12.0
+---
+- **new devices**
+    - hcsr04: Added HC-SR04 ultrasonic distance sensor. (#143)
+    - spi/qspi: Low-level IO driver for serial flash memory via SPI and QSPI (#124)
+    - tmp102: TMP102 low-power digital temperature sensor (#141)
+    - amg88xx: AMG88xx thermal camera module
+- **bugfixes**
+    - mqtt: reduce use of goroutines in router to not start a new goroutine for each invocation of each callback
+
+0.11.0
+---
+- **new devices**
+    - shiftregister: Support for various shift register chips (#135)
+- **enhancements**
+    - shifter: simplify API surface for PyBadge (#137)
+    - shifter: new API for shifter driver
+    - mqtt: use buffered channels for incoming messages to handle bursts
+    - ili9341: Adding scroll functionality (#121)
+- **bugfixes**
+    - wifinina: fix typo on StartScanNetworks
+    - ili9341: various bugfixes for display
+- **examples**
+    - semihosting: add example
+- **docs**
+    - readme: Use degree sign instead of ordinal
+    - all: fix celsius symbol in all code comments
+
 0.10.0
 ---
 - **new devices**

CONTRIBUTING.md

@@ -20,7 +20,7 @@ Please first open a Github issue. We want to help, and also make sure that there
 
 ## How to use our Github repository
 
-The `master` branch of this repo will always have the latest released version of the TinyGo drivers. All of the active development work for the next release will take place in the `dev` branch. The TinyGo drivers will use semantic versioning and will create a tag/release for each release.
+The `release` branch of this repo will always have the latest released version of the TinyGo drivers. All of the active development work for the next release will take place in the `dev` branch. The TinyGo drivers will use semantic versioning and will create a tag/release for each release.
 
 Here is how to contribute back some code or documentation:
 

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2018-2019 The TinyGo Authors. All rights reserved.
+Copyright (c) 2018-2020 The TinyGo Authors. All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are

Makefile

@@ -13,6 +13,8 @@ smoke-test:
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adxl345/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/amg88xx
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/itsybitsy-m0/main.go
@@ -23,8 +25,12 @@ smoke-test:
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/blinkm/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmi160/main.go
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp180/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp280/main.go
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/sram/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/time/main.go
@@ -39,20 +45,38 @@ smoke-test:
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/espstation/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/flash/console/spi
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/flash/console/qspi
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/gps/i2c/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/gps/uart/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/hcsr04/main.go
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/customchar/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/text/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/hd44780i2c/main.go
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hub75/main.go
 	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/basic/main.go
+	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/basic
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/ili9341/basic
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/pyportal_boing
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/scroll
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/ili9341/scroll
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis3dh/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/lsm303agr/main.go
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/lsm6ds3/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mag3110/main.go
@@ -95,14 +119,22 @@ smoke-test:
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13x/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd4in2/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/ntpclient/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/udpstation/main.go
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/tcpclient/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/webclient/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/ws2812
 	@md5sum ./build/test.hex
+ifneq ($(AVR), 0)
 	tinygo build -size short -o ./build/test.hex -target=digispark ./examples/ws2812
 	@md5sum ./build/test.hex
+endif
 	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bme280/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/microphone/main.go
@@ -119,5 +151,11 @@ smoke-test:
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l9110x/speed/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=nucleo-f103rb ./examples/shiftregister/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=hifive1b ./examples/ssd1351/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis2mdl/main.go
+	@md5sum ./build/test.hex
 
 test: clean fmt-check smoke-test

README.md

@@ -1,6 +1,6 @@
 # TinyGo Drivers
 
-[![GoDoc](https://godoc.org/tinygo.org/x/drivers?status.svg)](https://godoc.org/tinygo.org/x/drivers) [![CircleCI](https://circleci.com/gh/tinygo-org/drivers/tree/dev.svg?style=svg)](https://circleci.com/gh/tinygo-org/drivers/tree/dev)
+[![PkgGoDev](https://pkg.go.dev/badge/tinygo.org/x/drivers)](https://pkg.go.dev/tinygo.org/x/drivers) [![CircleCI](https://circleci.com/gh/tinygo-org/drivers/tree/dev.svg?style=svg)](https://circleci.com/gh/tinygo-org/drivers/tree/dev)
 
 
 This package provides a collection of hardware drivers for devices that can be used together with [TinyGo](https://tinygo.org).
@@ -40,7 +40,7 @@ func main() {
 
     for {
         temp, _ := sensor.ReadTemperature()
-        println("Temperature:", float32(temp)/1000, "ºC")
+        println("Temperature:", float32(temp)/1000, "°C")
 
         pressure, _ := sensor.ReadPressure()
         println("Pressure", float32(pressure)/100000, "hPa")
@@ -52,52 +52,62 @@ func main() {
 
 ## Currently supported devices
 
-The following 44 devices are supported.
+The following 53 devices are supported.
 
 | Device Name | Interface Type |
 |----------|-------------|
 | [ADT7410 I2C Temperature Sensor](https://www.analog.com/media/en/technical-documentation/data-sheets/ADT7410.pdf) | I2C |
 | [ADXL345 accelerometer](http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf) | I2C |
+| [AMG88xx 8x8 Thermal camera sensor](https://cdn-learn.adafruit.com/assets/assets/000/043/261/original/Grid-EYE_SPECIFICATIONS%28Reference%29.pdf) | I2C |
 | [APA102 RGB LED](https://cdn-shop.adafruit.com/product-files/2343/APA102C.pdf) | SPI |
 | [AT24CX 2-wire serial EEPROM](https://www.openimpulse.com/blog/wp-content/uploads/wpsc/downloadables/24C32-Datasheet.pdf) | I2C |
+| [BBC micro:bit LED matrix](https://github.com/bbcmicrobit/hardware/blob/master/SCH_BBC-Microbit_V1.3B.pdf) | GPIO |
 | [BH1750 ambient light sensor](https://www.mouser.com/ds/2/348/bh1750fvi-e-186247.pdf) | I2C |
 | [BlinkM RGB LED](http://thingm.com/fileadmin/thingm/downloads/BlinkM_datasheet.pdf) | I2C |
 | [BME280 humidity/pressure sensor](https://cdn-shop.adafruit.com/datasheets/BST-BME280_DS001-10.pdf) | I2C |
+| [BMI160 accelerometer/gyroscope](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi160-ds000.pdf) | SPI |
 | [BMP180 barometer](https://cdn-shop.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf) | I2C |
+| [BMP280 temperature/barometer](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmp280-ds001.pdf) | I2C |
 | [Buzzer](https://en.wikipedia.org/wiki/Buzzer#Piezoelectric) | GPIO |
 | [DS1307 real time clock](https://datasheets.maximintegrated.com/en/ds/DS1307.pdf) | I2C |
 | [DS3231 real time clock](https://datasheets.maximintegrated.com/en/ds/DS3231.pdf) | I2C |
-| ["Easystepper" stepper motor controller](https://en.wikipedia.org/wiki/Stepper_motor) | GPIO |
 | [ESP32 as WiFi Coprocessor with Arduino nina-fw](https://github.com/arduino/nina-fw) | SPI |
 | [ESP8266/ESP32 AT Command set for WiFi/TCP/UDP](https://github.com/espressif/esp32-at) | UART |
 | [GPS module](https://www.u-blox.com/en/product/neo-6-series) | I2C/UART |
-| [HD44780 LCD controller](https://www.sparkfun.com/datasheets/LCD/HD44780.pdf) | GPIO |
+| [HC-SR04 Ultrasonic distance sensor](https://cdn.sparkfun.com/datasheets/Sensors/Proximity/HCSR04.pdf) | GPIO |
+| [HD44780 LCD controller](https://www.sparkfun.com/datasheets/LCD/HD44780.pdf) | GPIO/I2C |
 | [HUB75 RGB led matrix](https://cdn-learn.adafruit.com/downloads/pdf/32x16-32x32-rgb-led-matrix.pdf) | SPI |
 | [ILI9341 TFT color display](https://cdn-shop.adafruit.com/datasheets/ILI9341.pdf) | SPI |
 | [L293x motor driver](https://www.ti.com/lit/ds/symlink/l293d.pdf) | GPIO/PWM |
 | [L9110x motor driver](https://www.elecrow.com/download/datasheet-l9110.pdf) | GPIO/PWM |
+| [LIS2MDL magnetometer](https://www.st.com/resource/en/datasheet/lis2mdl.pdf) | I2C |
 | [LIS3DH accelerometer](https://www.st.com/resource/en/datasheet/lis3dh.pdf) | I2C |
 | [LSM6DS3 accelerometer](https://www.st.com/resource/en/datasheet/lsm6ds3.pdf) | I2C |
 | [MAG3110 magnetometer](https://www.nxp.com/docs/en/data-sheet/MAG3110.pdf) | I2C |
 | [MCP3008 analog to digital converter (ADC)](http://ww1.microchip.com/downloads/en/DeviceDoc/21295d.pdf) | SPI |
-| [BBC micro:bit LED matrix](https://github.com/bbcmicrobit/hardware/blob/master/SCH_BBC-Microbit_V1.3B.pdf) | GPIO |
 | [Microphone - PDM](https://cdn-learn.adafruit.com/assets/assets/000/049/977/original/MP34DT01-M.pdf) | I2S/PDM |
 | [MMA8653 accelerometer](https://www.nxp.com/docs/en/data-sheet/MMA8653FC.pdf) | I2C |
 | [MPU6050 accelerometer/gyroscope](https://store.invensense.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf) | I2C |
 | [PCD8544 display](http://eia.udg.edu/~forest/PCD8544_1.pdf) | SPI |
 | [Resistive Touchscreen (4-wire)](http://ww1.microchip.com/downloads/en/Appnotes/doc8091.pdf) | GPIO |
 | [Semihosting](https://wiki.segger.com/Semihosting) | Debug |
-| [Shift register](https://en.wikipedia.org/wiki/Shift_register#Parallel-in_serial-out_\(PISO\)) | GPIO |
+| [Shift register (PISO)](https://en.wikipedia.org/wiki/Shift_register#Parallel-in_serial-out_\(PISO\)) | GPIO |
+| [Shift registers (SIPO)](https://en.wikipedia.org/wiki/Shift_register#Serial-in_parallel-out_(SIPO)) | GPIO |
 | [SHT3x Digital Humidity Sensor](https://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/0_Datasheets/Humidity/Sensirion_Humidity_Sensors_SHT3x_Datasheet_digital.pdf) | I2C |
+| [SPI NOR Flash Memory](https://en.wikipedia.org/wiki/Flash_memory#NOR_flash) | SPI/QSPI |
 | [SSD1306 OLED display](https://cdn-shop.adafruit.com/datasheets/SSD1306.pdf) | I2C / SPI |
 | [SSD1331 TFT color display](https://www.crystalfontz.com/controllers/SolomonSystech/SSD1331/381/) | SPI |
+| [SSD1351 OLED display](https://download.mikroe.com/documents/datasheets/ssd1351-revision-1.3.pdf) | SPI |
 | [ST7735 TFT color display](https://www.crystalfontz.com/controllers/Sitronix/ST7735R/319/) | SPI |
 | [ST7789 TFT color display](https://cdn-shop.adafruit.com/product-files/3787/3787_tft_QT154H2201__________20190228182902.pdf) | SPI |
+| [Stepper motor "Easystepper" controller](https://en.wikipedia.org/wiki/Stepper_motor) | GPIO |
 | [Thermistor](https://www.farnell.com/datasheets/33552.pdf) | ADC |
+| [TMP102 I2C Temperature Sensor](https://download.mikroe.com/documents/datasheets/tmp102-data-sheet.pdf) | I2C |
 | [VEML6070 UV light sensor](https://www.vishay.com/docs/84277/veml6070.pdf) | I2C |
 | [VL53L1X time-of-flight distance sensor](https://www.st.com/resource/en/datasheet/vl53l1x.pdf) | I2C |
-| [Waveshare 2.13" e-paper display](https://www.waveshare.com/w/upload/e/e6/2.13inch_e-Paper_Datasheet.pdf) | SPI |
 | [Waveshare 2.13" (B & C) e-paper display](https://www.waveshare.com/w/upload/d/d3/2.13inch-e-paper-b-Specification.pdf) | SPI |
+| [Waveshare 2.13" e-paper display](https://www.waveshare.com/w/upload/e/e6/2.13inch_e-Paper_Datasheet.pdf) | SPI |
+| [Waveshare 4.2" e-paper B/W display](https://www.waveshare.com/w/upload/6/6a/4.2inch-e-paper-specification.pdf) | SPI |
 | [WS2812 RGB LED](https://cdn-shop.adafruit.com/datasheets/WS2812.pdf) | GPIO |
 
 ## Contributing

adt7410/adt7410.go

@@ -1,8 +1,13 @@
-package adt7410
+// Package adt7410 provides a driver for the adt7410 I2C Temperature Sensor.
+//
+// Datasheet: https://www.analog.com/media/en/technical-documentation/data-sheets/ADT7410.pdf
+//
+package adt7410 // import "tinygo.org/x/drivers/adt7410"
 
 import (
-	"machine"
 	"time"
+
+	"tinygo.org/x/drivers"
 )
 
 type Error uint8
@@ -21,54 +26,51 @@ func (e Error) Error() string {
 }
 
 type Device struct {
-	bus  *machine.I2C
-	buf  []byte
-	addr uint8
+	bus     drivers.I2C
+	buf     []byte
+	Address uint8
 }
 
-// New returns ADT7410 device for the provided I2C bus and address. The ADT7410
-// has a default address of 0x48 (1001000).  The last 2 bits of the address
+// New returns ADT7410 device for the provided I2C bus using default address.
+// of 0x48 (1001000).  To use multiple ADT7410 devices, the last 2 bits of the address
 // can be set using by connecting to the A1 and A0 pins to VDD or GND (for a
 // total of up to 4 devices on a I2C bus).  Also note that 10k pullups are
 // recommended for the SDA and SCL lines.
-func New(i2c *machine.I2C, addressBits uint8) *Device {
+func New(i2c drivers.I2C) *Device {
 	return &Device{
-		bus:  i2c,
-		buf:  make([]byte, 2),
-		addr: Address | (addressBits & 0x3),
+		bus:     i2c,
+		buf:     make([]byte, 2),
+		Address: Address,
 	}
 }
 
-func (dev *Device) Configure() (err error) {
-
-	// verify the chip ID
-	// TODO: According to datasheet, the check below should work; however
-	//       this does not seem to be working right, but is not exactly
-	//       necessary, so can revisit later to see if there is a bug
-	//id := dev.ReadByte(RegID) & 0xF8
-	//if id != 0xC8 {
-	//	err = ErrInvalidID
-	//}
-
+// Configure the ADT7410 device.
+func (d *Device) Configure() (err error) {
 	// reset the chip
-	dev.writeByte(RegReset, 0xFF)
+	d.writeByte(RegReset, 0xFF)
 	time.Sleep(10 * time.Millisecond)
 	return
-
 }
 
-// ReadTemperature returns the temperature in celsius milli degrees (ºC/1000)
+// Connected returns whether sensor has been found.
+func (d *Device) Connected() bool {
+	data := []byte{0}
+	d.bus.ReadRegister(uint8(d.Address), RegID, data)
+	return data[0]&0xF8 == 0xC8
+}
+
+// ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
 func (d *Device) ReadTemperature() (temperature int32, err error) {
 	return (int32(d.readUint16(RegTempValueMSB)) * 1000) / 128, nil
 }
 
-// ReadTempC returns the value in the temperature value register, in Celcius
+// ReadTempC returns the value in the temperature value register, in Celsius.
 func (d *Device) ReadTempC() float32 {
 	t := d.readUint16(RegTempValueMSB)
 	return float32(int(t)) / 128.0
 }
 
-// ReadTempF returns the value in the temperature value register, in Fahrenheit
+// ReadTempF returns the value in the temperature value register, in Fahrenheit.
 func (d *Device) ReadTempF() float32 {
 	return d.ReadTempC()*1.8 + 32.0
 }
@@ -76,15 +78,15 @@ func (d *Device) ReadTempF() float32 {
 func (d *Device) writeByte(reg uint8, data byte) {
 	d.buf[0] = reg
 	d.buf[1] = data
-	d.bus.Tx(uint16(d.addr), d.buf, nil)
+	d.bus.Tx(uint16(d.Address), d.buf, nil)
 }
 
 func (d *Device) readByte(reg uint8) byte {
-	d.bus.ReadRegister(d.addr, reg, d.buf)
+	d.bus.ReadRegister(d.Address, reg, d.buf)
 	return d.buf[0]
 }
 
 func (d *Device) readUint16(reg uint8) uint16 {
-	d.bus.ReadRegister(d.addr, reg, d.buf)
+	d.bus.ReadRegister(d.Address, reg, d.buf)
 	return uint16(d.buf[0])<<8 | uint16(d.buf[1])
 }

adt7410/adt7410_test.go

@@ -0,0 +1,49 @@
+package adt7410
+
+import (
+	"testing"
+
+	qt "github.com/frankban/quicktest"
+	"tinygo.org/x/drivers/tester"
+)
+
+func TestDefaultI2CAddress(t *testing.T) {
+	c := qt.New(t)
+	bus := tester.NewI2CBus(c)
+	dev := New(bus)
+	c.Assert(dev.Address, qt.Equals, uint8(Address))
+}
+
+func TestWhoAmI(t *testing.T) {
+	c := qt.New(t)
+	bus := tester.NewI2CBus(c)
+	fake := tester.NewI2CDevice(c, Address)
+	fake.SetupRegisters(defaultRegisters())
+	bus.AddDevice(fake)
+
+	dev := New(bus)
+	c.Assert(dev.Connected(), qt.Equals, true)
+
+	fake.SetupRegister(RegID, 0x99)
+	c.Assert(dev.Connected(), qt.Equals, false)
+}
+
+// defaultRegisters returns the default values for all of the device's registers.
+// see table 22 on page 27 of the datasheet.
+func defaultRegisters() []uint8 {
+	return []uint8{
+		RegTempValueMSB: 0,
+		RegTempValueLSB: 0,
+		RegStatus:       0,
+		RegConfig:       0,
+		RegTHIGHMsbReg:  0x20,
+		RegTHIGHLsbReg:  0,
+		RegTLOWMsbReg:   0x05,
+		RegTLOWLsbReg:   0,
+		RegTCRITMsbReg:  0x49,
+		RegTCRITLsbReg:  0x80,
+		RegTHYSTReg:     0x05,
+		RegID:           0xC8,
+		RegReset:        0,
+	}
+}

adt7410/registers.go

@@ -1,8 +1,33 @@
 package adt7410
 
+// 0x00 Temperature value most significant byte 0x00
+// 0x01 Temperature value least significant byte 0x00
+// 0x02 Status 0x00
+// 0x03 Configuration 0x00
+// 0x04 THIGH setpoint most significant byte 0x20 (64°C)
+// 0x05 THIGH setpoint least significant byte 0x00 (64°C)
+// 0x06 TLOW setpoint most significant byte 0x05 (10°C)
+// 0x07 TLOW setpoint least significant byte 0x00 (10°C)
+// 0x08 TCRIT setpoint most significant byte 0x49 (147°C)
+// 0x09 TCRIT setpoint least significant byte 0x80 (147°C)
+// 0x0A THYST setpoint 0x05 (5°C)
+// 0x0B ID 0xCX
+// 0x0C Reserved 0xXX
+// 0x0D Reserved 0xXX
+// 0x2E Reserved 0xXX
+// 0x2F Software reset 0xXX
+
 const (
-	// Default I2C address
+	// Address is default I2C address.
 	Address = 0x48
+	// Address1 is for first device, aka the default.
+	Address1 = Address
+	// Address2 is for second device.
+	Address2 = 0x49
+	// Address3 is for third device.
+	Address3 = 0x4A
+	// Address4 is for fourth device.
+	Address4 = 0x4B
 
 	// Temperature Value MSB Register
 	RegTempValueMSB = 0x0
@@ -16,7 +41,28 @@ const (
 	// Config Register
 	RegConfig = 0x3
 
-	// ID Register
+	// THIGH setpoint most significant byte 0x20 (64°C)
+	RegTHIGHMsbReg = 0x4
+
+	// THIGH setpoint least significant byte 0x00 (64°C)
+	RegTHIGHLsbReg = 0x5
+
+	// TLOW setpoint most significant byte 0x05 (10°C)
+	RegTLOWMsbReg = 0x6
+
+	// TLOW setpoint least significant byte 0x00 (10°C)
+	RegTLOWLsbReg = 0x7
+
+	// TCRIT setpoint most significant byte 0x49 (147°C)
+	RegTCRITMsbReg = 0x8
+
+	// TCRIT setpoint least significant byte 0x80 (147°C)
+	RegTCRITLsbReg = 0x9
+
+	// THYST setpoint 0x05 (5°C)
+	RegTHYSTReg = 0xA
+
+	// ID Register (0xCx)
 	RegID = 0x0B
 
 	// Software Reset Register

adxl345/adxl345.go

@@ -6,9 +6,7 @@
 //
 package adxl345 // import "tinygo.org/x/drivers/adxl345"
 
-import (
-	"machine"
-)
+import "tinygo.org/x/drivers"
 
 type Range uint8
 type Rate uint8
@@ -40,7 +38,7 @@ type bwRate struct {
 
 // Device wraps an I2C connection to a ADXL345 device.
 type Device struct {
-	bus        machine.I2C
+	bus        drivers.I2C
 	Address    uint16
 	powerCtl   powerCtl
 	dataFormat dataFormat
@@ -52,7 +50,7 @@ type Device struct {
 //
 // This function only creates the Device object, it does not init the device.
 // To do that you must call the Configure() method on the Device before using it.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{
 		bus: bus,
 		powerCtl: powerCtl{

amg88xx/amg88xx.go

@@ -0,0 +1,159 @@
+// Package amg88xx provides a driver for the AMG88XX Thermal Camera
+//
+// Datasheet:
+// https://cdn-learn.adafruit.com/assets/assets/000/043/261/original/Grid-EYE_SPECIFICATIONS%28Reference%29.pdf
+package amg88xx // import "tinygo.org/x/drivers/amg88xx"
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+// Device wraps an I2C connection to a AMG88xx device.
+type Device struct {
+	bus             drivers.I2C
+	Address         uint16
+	data            []uint8
+	interruptMode   InterruptMode
+	interruptEnable uint8
+}
+
+type InterruptMode uint8
+
+type Config struct {
+}
+
+// New creates a new AMG88xx connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C) Device {
+	return Device{
+		bus:     bus,
+		Address: AddressHigh,
+	}
+}
+
+// Configure sets up the device for communication
+func (d *Device) Configure(cfg Config) {
+	d.data = make([]uint8, 128)
+
+	d.SetPCTL(NORMAL_MODE)
+	d.SetReset(INITIAL_RESET)
+	d.SetFrameRate(FPS_10)
+
+	time.Sleep(100 * time.Millisecond)
+}
+
+// ReadPixels returns the 64 values (8x8 grid) of the sensor converted to  millicelsius
+func (d *Device) ReadPixels(buffer *[64]int16) {
+	d.bus.ReadRegister(uint8(d.Address), PIXEL_OFFSET, d.data)
+	for i := 0; i < 64; i++ {
+		buffer[i] = int16((uint16(d.data[2*i+1]) << 8) | uint16(d.data[2*i]))
+		if (buffer[i] & (1 << 11)) > 0 { // temperature negative
+			buffer[i] &= ^(1 << 11)
+			buffer[i] = -buffer[i]
+		}
+		buffer[i] *= PIXEL_TEMP_CONVERSION
+	}
+}
+
+// SetPCTL sets the PCTL
+func (d *Device) SetPCTL(pctl uint8) {
+	d.bus.WriteRegister(uint8(d.Address), PCTL, []byte{pctl})
+}
+
+// SetReset sets the reset value
+func (d *Device) SetReset(rst uint8) {
+	d.bus.WriteRegister(uint8(d.Address), RST, []byte{rst})
+}
+
+// SetFrameRate configures the frame rate
+func (d *Device) SetFrameRate(framerate uint8) {
+	d.bus.WriteRegister(uint8(d.Address), FPSC, []byte{framerate & 0x01})
+}
+
+// SetMovingAverageMode sets the moving average mode
+func (d *Device) SetMovingAverageMode(mode bool) {
+	var value uint8
+	if mode {
+		value = 1
+	}
+	d.bus.WriteRegister(uint8(d.Address), AVE, []byte{value << 5})
+}
+
+// SetInterruptLevels sets the interrupt levels
+func (d *Device) SetInterruptLevels(high int16, low int16) {
+	d.SetInterruptLevelsHysteresis(high, low, (high*95)/100)
+}
+
+// SetInterruptLevelsHysteresis sets the interrupt levels with hysteresis
+func (d *Device) SetInterruptLevelsHysteresis(high int16, low int16, hysteresis int16) {
+	high = high / PIXEL_TEMP_CONVERSION
+	if high < -4095 {
+		high = -4095
+	}
+	if high > 4095 {
+		high = 4095
+	}
+	d.bus.WriteRegister(uint8(d.Address), INTHL, []byte{uint8(high & 0xFF)})
+	d.bus.WriteRegister(uint8(d.Address), INTHL, []byte{uint8((high & 0xFF) >> 4)})
+
+	low = low / PIXEL_TEMP_CONVERSION
+	if low < -4095 {
+		low = -4095
+	}
+	if low > 4095 {
+		low = 4095
+	}
+	d.bus.WriteRegister(uint8(d.Address), INTHL, []byte{uint8(low & 0xFF)})
+	d.bus.WriteRegister(uint8(d.Address), INTHL, []byte{uint8((low & 0xFF) >> 4)})
+
+	hysteresis = hysteresis / PIXEL_TEMP_CONVERSION
+	if hysteresis < -4095 {
+		hysteresis = -4095
+	}
+	if hysteresis > 4095 {
+		hysteresis = 4095
+	}
+	d.bus.WriteRegister(uint8(d.Address), INTHL, []byte{uint8(hysteresis & 0xFF)})
+	d.bus.WriteRegister(uint8(d.Address), INTHL, []byte{uint8((hysteresis & 0xFF) >> 4)})
+}
+
+// EnableInterrupt enables the interrupt pin on the device
+func (d *Device) EnableInterrupt() {
+	d.interruptEnable = 1
+	d.bus.WriteRegister(uint8(d.Address), INTC, []byte{((uint8(d.interruptMode) << 1) | d.interruptEnable) & 0x03})
+}
+
+// DisableInterrupt disables the interrupt pin on the device
+func (d *Device) DisableInterrupt() {
+	d.interruptEnable = 0
+	d.bus.WriteRegister(uint8(d.Address), INTC, []byte{((uint8(d.interruptMode) << 1) | d.interruptEnable) & 0x03})
+}
+
+// SetInterruptMode sets the interrupt mode
+func (d *Device) SetInterruptMode(mode InterruptMode) {
+	d.interruptMode = mode
+	d.bus.WriteRegister(uint8(d.Address), INTC, []byte{((uint8(d.interruptMode) << 1) | d.interruptEnable) & 0x03})
+}
+
+// GetInterrupt reads the state of the triggered interrupts
+func (d *Device) GetInterrupt() []uint8 {
+	data := make([]uint8, 8)
+	d.bus.ReadRegister(uint8(d.Address), INT_OFFSET, data)
+	return data
+}
+
+// ClearInterrupt clears any triggered interrupts
+func (d *Device) ClearInterrupt() {
+	d.SetReset(FLAG_RESET)
+}
+
+// ReadThermistor reads the onboard thermistor
+func (d *Device) ReadThermistor() int16 {
+	data := make([]uint8, 2)
+	d.bus.ReadRegister(uint8(d.Address), TTHL, data)
+	return (int16((uint16(data[1])<<8)|uint16(data[0])) * THERMISTOR_CONVERSION) / 10
+}

amg88xx/registers.go

@@ -0,0 +1,46 @@
+package amg88xx
+
+// The I2C address which this device listens to.
+const AddressHigh = 0x69
+const AddressLow = 0x68
+
+const (
+	PCTL         = 0x00
+	RST          = 0x01
+	FPSC         = 0x02
+	INTC         = 0x03
+	STAT         = 0x04
+	SCLR         = 0x05
+	AVE          = 0x07
+	INTHL        = 0x08
+	INTHH        = 0x09
+	INTLL        = 0x0A
+	INTLH        = 0x0B
+	IHYSL        = 0x0C
+	IHYSH        = 0x0D
+	TTHL         = 0x0E
+	TTHH         = 0x0F
+	INT_OFFSET   = 0x010
+	PIXEL_OFFSET = 0x80
+
+	// power modes
+	NORMAL_MODE = 0x00
+	SLEEP_MODE  = 0x01
+	STAND_BY_60 = 0x20
+	STAND_BY_10 = 0x21
+
+	// resets
+	FLAG_RESET    = 0x30
+	INITIAL_RESET = 0x3F
+
+	// frame rates
+	FPS_10 = 0x00
+	FPS_1  = 0x01
+
+	// interrupt modes
+	DIFFERENCE     InterruptMode = 0x00
+	ABSOLUTE_VALUE InterruptMode = 0x01
+
+	PIXEL_TEMP_CONVERSION = 250
+	THERMISTOR_CONVERSION = 625
+)

apa102/apa102.go

@@ -19,6 +19,8 @@ const (
 	GRB
 )
 
+var startFrame = []byte{0x00, 0x00, 0x00, 0x00}
+
 // Device wraps APA102 SPI LEDs.
 type Device struct {
 	bus   SPI
@@ -30,6 +32,7 @@ type Device struct {
 // SPI from the TinyGo "machine" package implements this already.
 type SPI interface {
 	Tx(w, r []byte) error
+	Transfer(b byte) (byte, error)
 }
 
 // New returns a new APA102 driver. Pass in a fully configured SPI bus.
@@ -39,8 +42,8 @@ func New(b SPI) Device {
 
 // NewSoftwareSPI returns a new APA102 driver that will use a software based
 // implementation of the SPI protocol.
-func NewSoftwareSPI(sckPin, mosiPin machine.Pin, delay uint32) Device {
-	return New(&bbSPI{SCK: sckPin, MOSI: mosiPin, Delay: delay})
+func NewSoftwareSPI(sckPin, sdoPin machine.Pin, delay uint32) Device {
+	return New(&bbSPI{SCK: sckPin, SDO: sdoPin, Delay: delay})
 }
 
 // WriteColors writes the given RGBA color slice out using the APA102 protocol.
@@ -51,22 +54,22 @@ func (d Device) WriteColors(cs []color.RGBA) (n int, err error) {
 	// write data
 	for _, c := range cs {
 		// brightness is scaled to 5 bit value
-		d.bus.Tx([]byte{0xe0 | (c.A >> 3)}, nil)
+		d.bus.Transfer(0xe0 | (c.A >> 3))
 
 		// set the colors
 		switch d.Order {
 		case BRG:
-			d.bus.Tx([]byte{c.B}, nil)
-			d.bus.Tx([]byte{c.R}, nil)
-			d.bus.Tx([]byte{c.G}, nil)
+			d.bus.Transfer(c.B)
+			d.bus.Transfer(c.R)
+			d.bus.Transfer(c.G)
 		case GRB:
-			d.bus.Tx([]byte{c.G}, nil)
-			d.bus.Tx([]byte{c.R}, nil)
-			d.bus.Tx([]byte{c.B}, nil)
+			d.bus.Transfer(c.G)
+			d.bus.Transfer(c.R)
+			d.bus.Transfer(c.B)
 		case BGR:
-			d.bus.Tx([]byte{c.B}, nil)
-			d.bus.Tx([]byte{c.G}, nil)
-			d.bus.Tx([]byte{c.R}, nil)
+			d.bus.Transfer(c.B)
+			d.bus.Transfer(c.G)
+			d.bus.Transfer(c.R)
 		}
 	}
 
@@ -86,7 +89,7 @@ func (d Device) Write(buf []byte) (n int, err error) {
 
 // startFrame sends the start bytes for a strand of LEDs.
 func (d Device) startFrame() {
-	d.bus.Tx([]byte{0x00, 0x00, 0x00, 0x00}, nil)
+	d.bus.Tx(startFrame, nil)
 }
 
 // endFrame sends the end frame marker with one extra bit per LED so
@@ -94,6 +97,6 @@ func (d Device) startFrame() {
 // See https://cpldcpu.wordpress.com/2014/11/30/understanding-the-apa102-superled/
 func (d Device) endFrame(count int) {
 	for i := 0; i < count/16; i++ {
-		d.bus.Tx([]byte{0xff}, nil)
+		d.bus.Transfer(0xff)
 	}
 }

apa102/softspi.go

@@ -9,16 +9,16 @@ import "machine"
 // this more generic and include it in the TinyGo "machine" package instead.
 type bbSPI struct {
 	SCK   machine.Pin
-	MOSI  machine.Pin
+	SDO   machine.Pin
 	Delay uint32
 }
 
-// Configure sets up the SCK and MOSI pins as outputs and sets them low
+// Configure sets up the SCK and SDO pins as outputs and sets them low
 func (s *bbSPI) Configure() {
 	s.SCK.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	s.MOSI.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	s.SDO.Configure(machine.PinConfig{Mode: machine.PinOutput})
 	s.SCK.Low()
-	s.MOSI.Low()
+	s.SDO.Low()
 	if s.Delay == 0 {
 		s.Delay = 1
 	}
@@ -41,19 +41,20 @@ func (s *bbSPI) delay() {
 	}
 }
 
-// Transfer is used to send a single byte.
-func (s *bbSPI) Transfer(b byte) {
+// Transfer matches signature of machine.SPI.Transfer() and is used to send a
+// single byte. The received data is ignored and no error will ever be returned.
+func (s *bbSPI) Transfer(b byte) (byte, error) {
 	for i := uint8(0); i < 8; i++ {
 
 		// half clock cycle high to start
 		s.SCK.High()
 		s.delay()
 
-		// write the value to MOSI (MSB first)
+		// write the value to SDO (MSB first)
 		if b&(1<<(7-i)) == 0 {
-			s.MOSI.Low()
+			s.SDO.Low()
 		} else {
-			s.MOSI.High()
+			s.SDO.High()
 		}
 		s.delay()
 
@@ -61,8 +62,9 @@ func (s *bbSPI) Transfer(b byte) {
 		s.SCK.Low()
 		s.delay()
 
-		// for actual SPI would try to read the MISO value here
+		// for actual SPI would try to read the SDI value here
 		s.delay()
-
 	}
+
+	return 0, nil
 }

at24cx/at24cx.go

@@ -6,13 +6,14 @@ package at24cx // import "tinygo.org/x/drivers/at24cx"
 
 import (
 	"errors"
-	"machine"
 	"time"
+
+	"tinygo.org/x/drivers"
 )
 
 // Device wraps an I2C connection to a DS3231 device.
 type Device struct {
-	bus               machine.I2C
+	bus               drivers.I2C
 	Address           uint16
 	pageSize          uint16
 	currentRAMAddress uint16
@@ -30,7 +31,7 @@ type Config struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{
 		bus:     bus,
 		Address: Address,

bh1750/bh1750.go

@@ -8,7 +8,7 @@ package bh1750 // import "tinygo.org/x/drivers/bh1750"
 import (
 	"time"
 
-	"machine"
+	"tinygo.org/x/drivers"
 )
 
 // SamplingMode is the sampling's resolution of the measurement
@@ -16,7 +16,7 @@ type SamplingMode byte
 
 // Device wraps an I2C connection to a bh1750 device.
 type Device struct {
-	bus     machine.I2C
+	bus     drivers.I2C
 	Address uint16
 	mode    SamplingMode
 }
@@ -25,7 +25,7 @@ type Device struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{
 		bus:     bus,
 		Address: Address,

blinkm/blinkm.go

@@ -1,15 +1,14 @@
 // Package blinkm implements a driver for the BlinkM I2C RGB LED.
 //
 // Datasheet: http://thingm.com/fileadmin/thingm/downloads/BlinkM_datasheet.pdf
+//
 package blinkm // import "tinygo.org/x/drivers/blinkm"
 
-import (
-	"machine"
-)
+import "tinygo.org/x/drivers"
 
 // Device wraps an I2C connection to a BlinkM device.
 type Device struct {
-	bus     machine.I2C
+	bus     drivers.I2C
 	Address uint16
 }
 
@@ -17,7 +16,7 @@ type Device struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{bus, Address}
 }
 

bme280/bme280.go

@@ -7,8 +7,9 @@
 package bme280
 
 import (
-	"machine"
 	"math"
+
+	"tinygo.org/x/drivers"
 )
 
 // calibrationCoefficients reads at startup and stores the calibration coefficients
@@ -35,7 +36,7 @@ type calibrationCoefficients struct {
 
 // Device wraps an I2C connection to a BME280 device.
 type Device struct {
-	bus                     machine.I2C
+	bus                     drivers.I2C
 	Address                 uint16
 	calibrationCoefficients calibrationCoefficients
 }
@@ -44,7 +45,7 @@ type Device struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{
 		bus:     bus,
 		Address: Address,
@@ -112,7 +113,7 @@ func (d *Device) Reset() {
 	d.bus.WriteRegister(uint8(d.Address), CMD_RESET, []byte{0xB6})
 }
 
-// ReadTemperature returns the temperature in celsius milli degrees (ºC/1000)
+// ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
 func (d *Device) ReadTemperature() (int32, error) {
 	data, err := d.readData()
 	if err != nil {

bmi160/bmi160.go

@@ -0,0 +1,201 @@
+package bmi160
+
+import "machine"
+
+import "time"
+
+// DeviceSPI is the SPI interface to a BMI160 accelerometer/gyroscope. There is
+// also an I2C interface, but it is not yet supported.
+type DeviceSPI struct {
+	// Chip select pin
+	CSB machine.Pin
+
+	// SPI bus (requires chip select to be usable).
+	Bus machine.SPI
+}
+
+// NewSPI returns a new device driver. The pin and SPI interface are not
+// touched, provide a fully configured SPI object and call Configure to start
+// using this device.
+func NewSPI(csb machine.Pin, spi machine.SPI) *DeviceSPI {
+	return &DeviceSPI{
+		CSB: csb, // chip select
+		Bus: spi,
+	}
+}
+
+// Configure configures the BMI160 for use. It configures the CSB pin and
+// configures the BMI160, but it does not configure the SPI interface (it is
+// assumed to be up and running).
+func (d *DeviceSPI) Configure() error {
+	d.CSB.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.CSB.High()
+
+	// The datasheet recommends doing a register read from address 0x7F to get
+	// SPI communication going:
+	// > If CSB sees a rising edge after power-up, the BMI160 interface switches
+	// > to SPI until a reset or the next power-up occurs. Therefore, a CSB
+	// > rising edge is needed before starting the SPI communication. Hence, it
+	// > is recommended to perform a SPI single read access to the ADDRESS 0x7F
+	// > before the actual communication in order to use the SPI interface.
+	d.readRegister(0x7F)
+
+	// Power up the accelerometer. 0b0001_00nn is the command format, with 0b01
+	// indicating normal mode.
+	d.runCommand(0b0001_0001)
+
+	// Power up the gyroscope. 0b0001_01nn is the command format, with 0b01
+	// indicating normal mode.
+	d.runCommand(0b0001_0101)
+
+	// Wait until the device is fully initialized. Even after the command has
+	// finished, the gyroscope may not be fully powered on. Therefore, wait
+	// until we get an expected value.
+	// This takes 30ms or so.
+	for {
+		// Wait for the acc_pmu_status and gyr_pmu_status to both be 0b01.
+		if d.readRegister(reg_PMU_STATUS) == 0b0001_0100 {
+			break
+		}
+	}
+
+	return nil
+}
+
+// Connected check whether the device appears to be properly connected. It reads
+// the CHIPID, which must be 0xD1 for the BMI160.
+func (d *DeviceSPI) Connected() bool {
+	return d.readRegister(reg_CHIPID) == 0xD1
+}
+
+// Reset restores the device to the state after power up. This can be useful to
+// easily disable the accelerometer and gyroscope to reduce current consumption.
+func (d *DeviceSPI) Reset() error {
+	d.runCommand(0xB6) // softreset
+	return nil
+}
+
+// ReadTemperature returns the temperature in celsius milli degrees (°C/1000).
+func (d *DeviceSPI) ReadTemperature() (temperature int32, err error) {
+	data := []byte{0x80 | reg_TEMPERATURE_0, 0, 0}
+	d.CSB.Low()
+	err = d.Bus.Tx(data, data)
+	d.CSB.High()
+	if err != nil {
+		return
+	}
+	rawTemperature := int16(uint16(data[1]) | uint16(data[2])<<8)
+	// 0x0000 is 23°C
+	// 0x7fff is ~87°C
+	// We use 0x8000 instead of 0x7fff to make the formula easier. The result
+	// should be near identical and shouldn't affect the result too much (the
+	// temperature sensor has an offset of around 2°C so isn't very reliable).
+	// So the formula is as follows:
+	// 1. Scale from 0x0000..0x8000 to 0..(87-23).
+	//    rawTemperature * (87-23) / 0x8000
+	// 2. Convert to centidegrees.
+	//    rawTemperature * 1000 * (87-23) / 0x8000
+	// 3. Add 23°C offset.
+	//    rawTemperature * 1000 * (87-23) / 0x8000 + 23000
+	// 4. Simplify.
+	//    rawTemperature * 1000 * 64 / 0x8000 + 23000
+	//    rawTemperature * 64000 / 0x8000 + 23000
+	//    rawTemperature * 125 / 64 + 23000
+	temperature = int32(rawTemperature)*125/64 + 23000
+	return
+}
+
+// ReadAcceleration reads the current acceleration from the device and returns
+// it in µg (micro-gravity). When one of the axes is pointing straight to Earth
+// and the sensor is not moving the returned value will be around 1000000 or
+// -1000000.
+func (d *DeviceSPI) ReadAcceleration() (x int32, y int32, z int32, err error) {
+	data := []byte{0x80 | reg_ACC_XL, 0, 0, 0, 0, 0, 0}
+	d.CSB.Low()
+	err = d.Bus.Tx(data, data)
+	d.CSB.High()
+	if err != nil {
+		return
+	}
+	// Now do two things:
+	// 1. merge the two values to a 16-bit number (and cast to a 32-bit integer)
+	// 2. scale the value to bring it in the -1000000..1000000 range.
+	//    This is done with a trick. What we do here is essentially multiply by
+	//    1000000 and divide by 16384 to get the original scale, but to avoid
+	//    overflow we do it at 1/64 of the value:
+	//      1000000 / 64 = 15625
+	//      16384   / 64 = 256
+	x = int32(int16(uint16(data[1])|uint16(data[2])<<8)) * 15625 / 256
+	y = int32(int16(uint16(data[3])|uint16(data[4])<<8)) * 15625 / 256
+	z = int32(int16(uint16(data[5])|uint16(data[6])<<8)) * 15625 / 256
+	return
+}
+
+// ReadRotation reads the current rotation from the device and returns it in
+// µ°/s (micro-degrees/sec). This means that if you were to do a complete
+// rotation along one axis and while doing so integrate all values over time,
+// you would get a value close to 360000000.
+func (d *DeviceSPI) ReadRotation() (x int32, y int32, z int32, err error) {
+	data := []byte{0x80 | reg_GYR_XL, 0, 0, 0, 0, 0, 0}
+	d.CSB.Low()
+	err = d.Bus.Tx(data, data)
+	d.CSB.High()
+	if err != nil {
+		return
+	}
+	// First the value is converted from a pair of bytes to a signed 16-bit
+	// value and then to a signed 32-bit value to avoid integer overflow.
+	// Then the value is scaled to µ°/s (micro-degrees per second).
+	// The default is 2000°/s full scale range for -32768..32767.
+	// The formula works as follows (taking X as an example):
+	// 1. Scale from 32768 to 2000. This means that it is in °/s units.
+	//    rawX * 2000 / 32768
+	// 2. Scale to µ°/s by multiplying by 1e6.
+	//    rawX * 1e6 * 2000 / 32768
+	// 3. Simplify.
+	//    rawX * 2e9 / 32768
+	//    rawX * 1953125 / 32
+	rawX := int32(int16(uint16(data[1]) | uint16(data[2])<<8))
+	rawY := int32(int16(uint16(data[3]) | uint16(data[4])<<8))
+	rawZ := int32(int16(uint16(data[5]) | uint16(data[6])<<8))
+	x = int32(int64(rawX) * 1953125 / 32)
+	y = int32(int64(rawY) * 1953125 / 32)
+	z = int32(int64(rawZ) * 1953125 / 32)
+	return
+}
+
+// runCommand runs a BMI160 command through the CMD register. It waits for the
+// command to complete before returning.
+func (d *DeviceSPI) runCommand(command uint8) {
+	d.writeRegister(reg_CMD, command)
+	for {
+		response := d.readRegister(reg_CMD)
+		if response == 0 {
+			return // command was completed
+		}
+	}
+}
+
+// readRegister reads from a single BMI160 register. It should only be used for
+// single register reads, not for reading multiple registers at once.
+func (d *DeviceSPI) readRegister(address uint8) uint8 {
+	// I don't know why but it appears necessary to sleep for a bit here.
+	time.Sleep(time.Millisecond)
+
+	data := []byte{0x80 | address, 0}
+	d.CSB.Low()
+	d.Bus.Tx(data, data)
+	d.CSB.High()
+	return data[1]
+}
+
+// writeRegister writes a single byte BMI160 register. It should only be used
+// for writing to a single register.
+func (d *DeviceSPI) writeRegister(address, data uint8) {
+	// I don't know why but it appears necessary to sleep for a bit here.
+	time.Sleep(time.Millisecond)
+
+	d.CSB.Low()
+	d.Bus.Tx([]byte{address, data}, []byte{0, 0})
+	d.CSB.High()
+}

bmi160/registers.go

@@ -0,0 +1,44 @@
+package bmi160
+
+const (
+	reg_CHIPID        = 0x00
+	reg_ERR_REG       = 0x02
+	reg_PMU_STATUS    = 0x03
+	reg_MAG_XL        = 0x04
+	reg_MAG_XH        = 0x05
+	reg_MAG_YL        = 0x06
+	reg_MAG_YH        = 0x07
+	reg_MAG_ZL        = 0x08
+	reg_MAG_ZH        = 0x09
+	reg_RHALL_L       = 0x0A
+	reg_RHALL_H       = 0x0B
+	reg_GYR_XL        = 0x0C
+	reg_GYR_XH        = 0x0D
+	reg_GYR_YL        = 0x0E
+	reg_GYR_YH        = 0x0F
+	reg_GYR_ZL        = 0x10
+	reg_GYR_ZH        = 0x11
+	reg_ACC_XL        = 0x12
+	reg_ACC_XH        = 0x13
+	reg_ACC_YL        = 0x14
+	reg_ACC_YH        = 0x15
+	reg_ACC_ZL        = 0x16
+	reg_ACC_ZH        = 0x17
+	reg_SENSORTIME_0  = 0x18
+	reg_SENSORTIME_1  = 0x19
+	reg_SENSORTIME_2  = 0x1A
+	reg_STATUS        = 0x1B
+	reg_INT_STATUS_0  = 0x1C
+	reg_INT_STATUS_1  = 0x1D
+	reg_INT_STATUS_2  = 0x1E
+	reg_INT_STATUS_3  = 0x1F
+	reg_TEMPERATURE_0 = 0x20
+	reg_TEMPERATURE_1 = 0x21
+	reg_FIFO_LENGTH_0 = 0x22
+	reg_FIFO_LENGTH_1 = 0x23
+	reg_FIFO_DATA     = 0x24
+
+	// ...
+
+	reg_CMD = 0x7E
+)

bmp180/bmp180.go

@@ -9,7 +9,7 @@ package bmp180 // import "tinygo.org/x/drivers/bmp180"
 import (
 	"time"
 
-	"machine"
+	"tinygo.org/x/drivers"
 )
 
 // OversamplingMode is the oversampling ratio of the pressure measurement.
@@ -32,7 +32,7 @@ type calibrationCoefficients struct {
 
 // Device wraps an I2C connection to a BMP180 device.
 type Device struct {
-	bus                     machine.I2C
+	bus                     drivers.I2C
 	Address                 uint16
 	mode                    OversamplingMode
 	calibrationCoefficients calibrationCoefficients
@@ -43,7 +43,7 @@ type Device struct {
 //
 // This function only creates the Device object, it does not initialize the device.
 // You must call Configure() first in order to use the device itself.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{
 		bus:     bus,
 		Address: Address,
@@ -80,7 +80,7 @@ func (d *Device) Configure() {
 	d.calibrationCoefficients.md = readInt(data[20], data[21])
 }
 
-// ReadTemperature returns the temperature in celsius milli degrees (ºC/1000).
+// ReadTemperature returns the temperature in celsius milli degrees (°C/1000).
 func (d *Device) ReadTemperature() (temperature int32, err error) {
 	rawTemp, err := d.rawTemp()
 	if err != nil {
@@ -125,7 +125,7 @@ func (d *Device) ReadPressure() (pressure int32, err error) {
 }
 
 // rawTemp returns the sensor's raw values of the temperature
-func (d *Device) rawTemp() (int16, error) {
+func (d *Device) rawTemp() (int32, error) {
 	d.bus.WriteRegister(uint8(d.Address), REG_CTRL, []byte{CMD_TEMP})
 	time.Sleep(5 * time.Millisecond)
 	data := make([]byte, 2)
@@ -133,12 +133,12 @@ func (d *Device) rawTemp() (int16, error) {
 	if err != nil {
 		return 0, err
 	}
-	return readInt(data[0], data[1]), nil
+	return int32(uint16(data[0])<<8 | uint16(data[1])), nil
 }
 
 // calculateB5 calculates intermediate value B5 as per page 15 of datasheet
-func (d *Device) calculateB5(rawTemp int16) int32 {
-	x1 := (int32(rawTemp) - int32(d.calibrationCoefficients.ac6)) * int32(d.calibrationCoefficients.ac5) >> 15
+func (d *Device) calculateB5(rawTemp int32) int32 {
+	x1 := (rawTemp - int32(d.calibrationCoefficients.ac6)) * int32(d.calibrationCoefficients.ac5) >> 15
 	x2 := int32(d.calibrationCoefficients.mc) << 11 / (x1 + int32(d.calibrationCoefficients.md))
 	return x1 + x2
 }

bmp280/bmp280.go

@@ -0,0 +1,244 @@
+package bmp280
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+// OversamplingMode is the oversampling ratio of the temperature or pressure measurement.
+type Oversampling uint
+
+// Mode is the Power Mode.
+type Mode uint
+
+// Standby is the inactive period between the reads when the sensor is in normal power mode.
+type Standby uint
+
+// Filter unwanted changes in measurement caused by external (environmental) or internal changes (IC).
+type Filter uint
+
+// Device wraps an I2C connection to a BMP280 device.
+type Device struct {
+	bus         drivers.I2C
+	Address     uint16
+	cali        calibrationCoefficients
+	Temperature Oversampling
+	Pressure    Oversampling
+	Mode        Mode
+	Standby     Standby
+	Filter      Filter
+}
+
+type calibrationCoefficients struct {
+	// Temperature compensation
+	t1 uint16
+	t2 int16
+	t3 int16
+
+	// Pressure compensation
+	p1 uint16
+	p2 int16
+	p3 int16
+	p4 int16
+	p5 int16
+	p6 int16
+	p7 int16
+	p8 int16
+	p9 int16
+}
+
+// New creates a new BMP280 connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not initialize the device.
+// You must call Configure() first in order to use the device itself.
+func New(bus drivers.I2C) Device {
+	return Device{
+		bus:     bus,
+		Address: Address,
+	}
+}
+
+// Connected returns whether a BMP280 has been found.
+// It does a "who am I" request and checks the response.
+func (d *Device) Connected() bool {
+	data := make([]byte, 1)
+	d.bus.ReadRegister(uint8(d.Address), REG_ID, data)
+	return data[0] == CHIP_ID
+}
+
+// Reset preforms complete power-on-reset procedure.
+// It is required to call Configure afterwards.
+func (d *Device) Reset() {
+	d.bus.WriteRegister(uint8(d.Address), REG_RESET, []byte{CMD_RESET})
+}
+
+// Configure sets up the device for communication and
+// read the calibration coefficients.
+func (d *Device) Configure(standby Standby, filter Filter, temp Oversampling, pres Oversampling, mode Mode) {
+	d.Standby = standby
+	d.Filter = filter
+	d.Temperature = temp
+	d.Pressure = pres
+	d.Mode = mode
+
+	//  Write the configuration (standby, filter, spi 3 wire)
+	config := uint(d.Standby<<5) | uint(d.Filter<<2) | 0x00
+	d.bus.WriteRegister(uint8(d.Address), REG_CONFIG, []byte{byte(config)})
+
+	// Write the control (temperature oversampling, pressure oversampling,
+	config = uint(d.Temperature<<5) | uint(d.Pressure<<2) | uint(d.Mode)
+	d.bus.WriteRegister(uint8(d.Address), REG_CTRL_MEAS, []byte{byte(config)})
+
+	// Read Calibration data
+	data := make([]byte, 24)
+	err := d.bus.ReadRegister(uint8(d.Address), REG_CALI, data)
+	if err != nil {
+		return
+	}
+
+	// Datasheet: 3.11.2 Trimming parameter readout
+	d.cali.t1 = readUintLE(data[0], data[1])
+	d.cali.t2 = readIntLE(data[2], data[3])
+	d.cali.t3 = readIntLE(data[4], data[5])
+
+	d.cali.p1 = readUintLE(data[6], data[7])
+	d.cali.p2 = readIntLE(data[8], data[9])
+	d.cali.p3 = readIntLE(data[10], data[11])
+	d.cali.p4 = readIntLE(data[12], data[13])
+	d.cali.p5 = readIntLE(data[14], data[15])
+	d.cali.p6 = readIntLE(data[16], data[17])
+	d.cali.p7 = readIntLE(data[18], data[19])
+	d.cali.p8 = readIntLE(data[20], data[21])
+	d.cali.p9 = readIntLE(data[22], data[23])
+}
+
+// PrintCali prints the Calibration information.
+func (d *Device) PrintCali() {
+	println("T1:", d.cali.t1)
+	println("T2:", d.cali.t2)
+	println("T3:", d.cali.t3)
+
+	println("P1:", d.cali.p1)
+	println("P2:", d.cali.p2)
+	println("P3:", d.cali.p3)
+	println("P4:", d.cali.p4)
+	println("P5:", d.cali.p5)
+	println("P6:", d.cali.p6)
+	println("P7:", d.cali.p7)
+	println("P8:", d.cali.p8)
+	println("P9:", d.cali.p9, "\n")
+}
+
+// ReadTemperature returns the temperature in celsius milli degrees (°C/1000).
+func (d *Device) ReadTemperature() (temperature int32, err error) {
+	data, err := d.readData(REG_TEMP, 3)
+	if err != nil {
+		return
+	}
+
+	rawTemp := convert3Bytes(data[0], data[1], data[2])
+
+	// Datasheet: 8.2 Compensation formula in 32 bit fixed point
+	// Temperature compensation
+	var1 := ((rawTemp >> 3) - int32(d.cali.t1<<1)) * int32(d.cali.t2) >> 11
+	var2 := (((rawTemp >> 4) - int32(d.cali.t1)) * ((rawTemp >> 4) - int32(d.cali.t1)) >> 12) *
+		int32(d.cali.t3) >> 14
+
+	tFine := var1 + var2
+
+	// Convert from degrees to milli degrees by multiplying by 10.
+	// Will output 30250 milli degrees celsius for 30.25 degrees celsius
+	temperature = 10 * ((tFine*5 + 128) >> 8)
+	return
+}
+
+// ReadPressure returns the pressure in milli pascals (mPa).
+func (d *Device) ReadPressure() (pressure int32, err error) {
+	// First 3 bytes are Pressure, last 3 bytes are Temperature
+	data, err := d.readData(REG_PRES, 6)
+	if err != nil {
+		return
+	}
+
+	rawTemp := convert3Bytes(data[3], data[4], data[5])
+
+	// Datasheet: 8.2 Compensation formula in 32 bit fixed point
+	// Calculate tFine (temperature), used for the Pressure compensation
+	var1 := ((rawTemp >> 3) - int32(d.cali.t1<<1)) * int32(d.cali.t2) >> 11
+	var2 := (((rawTemp >> 4) - int32(d.cali.t1)) * ((rawTemp >> 4) - int32(d.cali.t1)) >> 12) *
+		int32(d.cali.t3) >> 14
+
+	tFine := var1 + var2
+
+	rawPres := convert3Bytes(data[0], data[1], data[2])
+
+	// Datasheet: 8.2 Compensation formula in 32 bit fixed point
+	// Pressure compensation
+	var1 = (tFine >> 1) - 64000
+	var2 = (((var1 >> 2) * (var1 >> 2)) >> 11) * int32(d.cali.p6)
+	var2 = var2 + ((var1 * int32(d.cali.p5)) << 1)
+	var2 = (var2 >> 2) + (int32(d.cali.p4) << 16)
+	var1 = (((int32(d.cali.p3) * (((var1 >> 2) * (var1 >> 2)) >> 13)) >> 3) +
+		((int32(d.cali.p2) * var1) >> 1)) >> 18
+	var1 = ((32768 + var1) * int32(d.cali.p1)) >> 15
+
+	if var1 == 0 {
+		return 0, nil
+	}
+
+	p := uint32(((1048576 - rawPres) - (var2 >> 12)) * 3125)
+	if p < 0x80000000 {
+		p = (p << 1) / uint32(var1)
+	} else {
+		p = (p / uint32(var1)) * 2
+	}
+
+	var1 = (int32(d.cali.p9) * int32(((p>>3)*(p>>3))>>13)) >> 12
+	var2 = (int32(p>>2) * int32(d.cali.p8)) >> 13
+
+	return 1000 * (int32(p) + ((var1 + var2 + int32(d.cali.p7)) >> 4)), nil
+}
+
+// readData reads n number of bytes of the specified register
+func (d *Device) readData(register int, n int) ([]byte, error) {
+	// If not in normal mode, set the mode to FORCED mode, to prevent incorrect measurements
+	// After the measurement in FORCED mode, the sensor will return to SLEEP mode
+	if d.Mode != MODE_NORMAL {
+		config := uint(d.Temperature<<5) | uint(d.Pressure<<2) | uint(MODE_FORCED)
+		d.bus.WriteRegister(uint8(d.Address), REG_CTRL_MEAS, []byte{byte(config)})
+	}
+
+	// Check STATUS register, wait if data is not available yet
+	status := make([]byte, 1)
+	for d.bus.ReadRegister(uint8(d.Address), uint8(REG_STATUS), status[0:]); status[0] != 4 && status[0] != 0; d.bus.ReadRegister(uint8(d.Address), uint8(REG_STATUS), status[0:]) {
+		time.Sleep(time.Millisecond)
+	}
+
+	// Read the requested register
+	data := make([]byte, n)
+	err := d.bus.ReadRegister(uint8(d.Address), uint8(register), data[:])
+	return data, err
+}
+
+// convert3Bytes converts three bytes to int32
+func convert3Bytes(msb byte, b1 byte, lsb byte) int32 {
+	return int32(((((uint32(msb) << 8) | uint32(b1)) << 8) | uint32(lsb)) >> 4)
+}
+
+// readUint converts two bytes to uint16
+func readUint(msb byte, lsb byte) uint16 {
+	return (uint16(msb) << 8) | uint16(lsb)
+}
+
+// readUintLE converts two little endian bytes to uint16
+func readUintLE(msb byte, lsb byte) uint16 {
+	temp := readUint(msb, lsb)
+	return (temp >> 8) | (temp << 8)
+}
+
+// readIntLE converts two little endian bytes to int16
+func readIntLE(msb byte, lsb byte) int16 {
+	return int16(readUintLE(msb, lsb))
+}

bmp280/registers.go

@@ -0,0 +1,56 @@
+// Package bmp280 provides a driver for the BMP280 digital temperature & pressure sensor by Bosch.
+//
+// Datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmp280-ds001.pdf
+package bmp280
+
+// The I2C address which this device listens to.
+const Address = 0x77
+
+// Registers
+const (
+	REG_ID        = 0xD0 // WHO_AM_I
+	REG_RESET     = 0xE0
+	REG_STATUS    = 0xF3
+	REG_CTRL_MEAS = 0xF4
+	REG_CONFIG    = 0xF5
+	REG_TEMP      = 0xFA
+	REG_PRES      = 0xF7
+	REG_CALI      = 0x88
+
+	CHIP_ID   = 0x58
+	CMD_RESET = 0xB6
+)
+
+const (
+	SAMPLING_SKIPPED Oversampling = iota
+	SAMPLING_1X
+	SAMPLING_2X
+	SAMPLING_4X
+	SAMPLING_8X
+	SAMPLING_16X
+)
+
+const (
+	MODE_SLEEP  Mode = 0x00
+	MODE_FORCED Mode = 0x01
+	MODE_NORMAL Mode = 0x03
+)
+
+const (
+	STANDBY_1MS Standby = iota
+	STANDBY_63MS
+	STANDBY_125MS
+	STANDBY_250MS
+	STANDBY_500MS
+	STANDBY_1000MS
+	STANDBY_2000MS
+	STANDBY_4000MS
+)
+
+const (
+	FILTER_OFF Filter = iota
+	FILTER_2X
+	FILTER_4X
+	FILTER_8X
+	FILTER_16X
+)

drivers.go

@@ -26,7 +26,7 @@
 //
 //		for {
 //			temp, _ := sensor.ReadTemperature()
-//			println("Temperature:", float32(temp)/1000, "ºC")
+//			println("Temperature:", float32(temp)/1000, "°C")
 //
 //			pressure, _ := sensor.ReadPressure()
 //			println("Pressure", float32(pressure)/100000, "hPa")

ds1307/ds1307.go

@@ -9,18 +9,18 @@ import (
 	"errors"
 	"time"
 
-	"machine"
+	"tinygo.org/x/drivers"
 )
 
 // Device wraps an I2C connection to a DS1307 device.
 type Device struct {
-	bus         machine.I2C
+	bus         drivers.I2C
 	Address     uint8
 	AddressSRAM uint8
 }
 
 // New creates a new DS1307 connection. I2C bus must be already configured.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{bus: bus,
 		Address:     uint8(I2CAddress),
 		AddressSRAM: SRAMBeginAddres,

ds3231/ds3231.go

@@ -5,15 +5,16 @@
 package ds3231 // import "tinygo.org/x/drivers/ds3231"
 
 import (
-	"machine"
 	"time"
+
+	"tinygo.org/x/drivers"
 )
 
 type Mode uint8
 
 // Device wraps an I2C connection to a DS3231 device.
 type Device struct {
-	bus     machine.I2C
+	bus     drivers.I2C
 	Address uint16
 }
 
@@ -21,7 +22,7 @@ type Device struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{
 		bus:     bus,
 		Address: Address,

easystepper/easystepper.go

@@ -18,8 +18,7 @@ type DualDevice struct {
 	devices [2]Device
 }
 
-// New returns a new easystepper driver given 4 pins numbers (not pin object),
-// number of steps and rpm
+// New returns a new easystepper driver given 4 pins, number of steps and rpm
 func New(pin1, pin2, pin3, pin4 machine.Pin, steps int32, rpm int32) Device {
 	return Device{
 		pins:      [4]machine.Pin{pin1, pin2, pin3, pin4},
@@ -34,8 +33,7 @@ func (d *Device) Configure() {
 	}
 }
 
-// NewDual returns a new dual easystepper driver given 8 pins numbers (not pin object),
-// number of steps and rpm
+// NewDual returns a new dual easystepper driver given 8 pins, number of steps and rpm
 func NewDual(pin1, pin2, pin3, pin4, pin5, pin6, pin7, pin8 machine.Pin, steps int32, rpm int32) DualDevice {
 	var dual DualDevice
 	dual.devices[0] = Device{

examples/adt7410/main.go

@@ -10,7 +10,7 @@ import (
 
 var (
 	i2c    = &machine.I2C0
-	sensor = adt7410.New(i2c, 0)
+	sensor = adt7410.New(i2c)
 )
 
 func main() {

examples/amg88xx/main.go

@@ -0,0 +1,56 @@
+package main
+
+import (
+	"image/color"
+	"machine"
+
+	"tinygo.org/x/drivers/st7735"
+
+	"tinygo.org/x/drivers/amg88xx"
+)
+
+func main() {
+
+	machine.SPI1.Configure(machine.SPIConfig{
+		SCK:       machine.SPI1_SCK_PIN,
+		SDO:       machine.SPI1_SDO_PIN,
+		SDI:       machine.SPI1_SDI_PIN,
+		Frequency: 8000000,
+	})
+	machine.I2C0.Configure(machine.I2CConfig{SCL: machine.SCL_PIN, SDA: machine.SDA_PIN})
+
+	display := st7735.New(machine.SPI1, machine.TFT_RST, machine.TFT_DC, machine.TFT_CS, machine.TFT_LITE)
+	display.Configure(st7735.Config{
+		Rotation: st7735.ROTATION_90,
+	})
+	display.FillScreen(color.RGBA{0, 0, 0, 255})
+
+	camera := amg88xx.New(machine.I2C0)
+	camera.Configure(amg88xx.Config{})
+
+	var data [64]int16
+	var value int16
+	for {
+		// get the values of the sensor in millicelsius
+		camera.ReadPixels(&data)
+
+		for j := int16(0); j < 8; j++ {
+			for i := int16(0); i < 8; i++ {
+				value = data[63-(i+j*8)]
+				// treat anything below 18°C as 18°C
+				if value < 18000 {
+					value = 0
+				} else {
+					value = (value - 18000) / 36
+					// our color array only have 433 values, avoid getting a value that doesn't exist
+					if value > 432 {
+						value = 432
+					}
+				}
+				// show the image on the PyBadge's display
+				display.FillRectangle(16+i*16, j*16, 16, 16, colors[value])
+			}
+		}
+	}
+
+}

examples/bme280/main.go

@@ -22,7 +22,7 @@ func main() {
 
 	for {
 		temp, _ := sensor.ReadTemperature()
-		println("Temperature:", strconv.FormatFloat(float64(temp)/1000, 'f', 2, 64), "ºC")
+		println("Temperature:", strconv.FormatFloat(float64(temp)/1000, 'f', 2, 64), "°C")
 		press, _ := sensor.ReadPressure()
 		println("Pressure:", strconv.FormatFloat(float64(press)/100000, 'f', 2, 64), "hPa")
 		hum, _ := sensor.ReadHumidity()

examples/bmi160/main.go

@@ -0,0 +1,46 @@
+package main
+
+import (
+	"fmt"
+	"machine"
+	"time"
+	"tinygo.org/x/drivers/bmi160"
+)
+
+func main() {
+	time.Sleep(5 * time.Second)
+
+	machine.SPI0.Configure(machine.SPIConfig{})
+	sensor := bmi160.NewSPI(machine.A5, machine.SPI0)
+	sensor.Configure()
+
+	if !sensor.Connected() {
+		println("BMI160 not connected")
+		return
+	}
+
+	for {
+		time.Sleep(time.Second)
+
+		t, err := sensor.ReadTemperature()
+		if err != nil {
+			println("Error reading temperature", err)
+			continue
+		}
+		fmt.Printf("Temperature: %.2f °C\n", float32(t)/1000)
+
+		accelX, accelY, accelZ, err := sensor.ReadAcceleration()
+		if err != nil {
+			println("Error reading acceleration", err)
+			continue
+		}
+		fmt.Printf("Acceleration: %.2fg %.2fg %.2fg\n", float32(accelX)/1e6, float32(accelY)/1e6, float32(accelZ)/1e6)
+
+		gyroX, gyroY, gyroZ, err := sensor.ReadRotation()
+		if err != nil {
+			println("Error reading rotation", err)
+			continue
+		}
+		fmt.Printf("Rotation: %.2f°/s %.2f°/s %.2f°/s\n", float32(gyroX)/1e6, float32(gyroY)/1e6, float32(gyroZ)/1e6)
+	}
+}

examples/bmp180/main.go

@@ -22,7 +22,7 @@ func main() {
 
 	for {
 		temp, _ := sensor.ReadTemperature()
-		println("Temperature:", float32(temp)/1000, "ºC")
+		println("Temperature:", float32(temp)/1000, "°C")
 
 		pressure, _ := sensor.ReadPressure()
 		println("Pressure", float32(pressure)/100000, "hPa")

examples/bmp280/main.go

@@ -0,0 +1,44 @@
+package main
+
+import (
+	"fmt"
+	"machine"
+	"time"
+	"tinygo.org/x/drivers/bmp280"
+)
+
+func main() {
+	time.Sleep(5 * time.Second)
+
+	machine.I2C0.Configure(machine.I2CConfig{})
+	sensor := bmp280.New(machine.I2C0)
+	sensor.Configure(bmp280.STANDBY_125MS, bmp280.FILTER_4X, bmp280.SAMPLING_16X, bmp280.SAMPLING_16X, bmp280.MODE_FORCED)
+
+	connected := sensor.Connected()
+	if !connected {
+		println("\nBMP280 Sensor not detected\n")
+		return
+	}
+	println("\nBMP280 Sensor detected\n")
+
+	println("Calibration:")
+	sensor.PrintCali()
+
+	for {
+		t, err := sensor.ReadTemperature()
+		if err != nil {
+			println("Error reading temperature")
+		}
+		// Temperature in degrees Celsius
+		fmt.Printf("Temperature: %.2f °C\n", float32(t)/1000)
+
+		p, err := sensor.ReadPressure()
+		if err != nil {
+			println("Error reading pressure")
+		}
+		// Pressure in hectoPascal
+		fmt.Printf("Pressure: %.2f hPa\n", float32(p)/100000)
+
+		time.Sleep(5 * time.Second)
+	}
+}

examples/ds3231/main.go

@@ -38,7 +38,7 @@ func main() {
 			fmt.Printf("Date: %d/%s/%02d %02d:%02d:%02d \r\n", dt.Year(), dt.Month(), dt.Day(), dt.Hour(), dt.Minute(), dt.Second())
 		}
 		temp, _ := rtc.ReadTemperature()
-		fmt.Printf("Temperature: %.2f ºC \r\n", float32(temp)/1000)
+		fmt.Printf("Temperature: %.2f °C \r\n", float32(temp)/1000)
 
 		time.Sleep(time.Second * 1)
 	}

examples/flash/console/console_example.go

@@ -0,0 +1,259 @@
+package console_example
+
+import (
+	"fmt"
+	"io"
+	"machine"
+	"os"
+	"strconv"
+	"strings"
+
+	"tinygo.org/x/drivers/flash"
+)
+
+const consoleBufLen = 64
+const storageBufLen = 512
+
+var (
+	debug = false
+
+	input [consoleBufLen]byte
+	store [storageBufLen]byte
+
+	console = machine.UART0
+
+	dev *flash.Device
+
+	commands map[string]cmdfunc = map[string]cmdfunc{
+		"":      cmdfunc(noop),
+		"erase": cmdfunc(erase),
+		"lsblk": cmdfunc(lsblk),
+		"write": cmdfunc(write),
+		"xxd":   cmdfunc(xxd),
+	}
+)
+
+type cmdfunc func(argv []string)
+
+const (
+	StateInput = iota
+	StateEscape
+	StateEscBrc
+	StateCSI
+)
+
+func RunFor(device *flash.Device) {
+
+	dev = device
+	dev.Configure(&flash.DeviceConfig{
+		Identifier: flash.DefaultDeviceIdentifier,
+	})
+
+	prompt()
+
+	var state = StateInput
+
+	for i := 0; ; {
+		if console.Buffered() > 0 {
+			data, _ := console.ReadByte()
+			if debug {
+				fmt.Printf("\rdata: %x\r\n\r", data)
+				prompt()
+				console.Write(input[:i])
+			}
+			switch state {
+			case StateInput:
+				switch data {
+				case 0x8:
+					fallthrough
+				case 0x7f: // this is probably wrong... works on my machine tho :)
+					// backspace
+					if i > 0 {
+						i -= 1
+						console.Write([]byte{0x8, 0x20, 0x8})
+					}
+				case 13:
+					// return key
+					console.Write([]byte("\r\n"))
+					runCommand(string(input[:i]))
+					prompt()
+
+					i = 0
+					continue
+				case 27:
+					// escape
+					state = StateEscape
+				default:
+					// anything else, just echo the character if it is printable
+					if strconv.IsPrint(rune(data)) {
+						if i < (consoleBufLen - 1) {
+							console.WriteByte(data)
+							input[i] = data
+							i++
+						}
+					}
+				}
+			case StateEscape:
+				switch data {
+				case 0x5b:
+					state = StateEscBrc
+				default:
+					state = StateInput
+				}
+			default:
+				// TODO: handle escape sequences
+				state = StateInput
+			}
+		}
+	}
+}
+
+func runCommand(line string) {
+	argv := strings.SplitN(strings.TrimSpace(line), " ", -1)
+	cmd := argv[0]
+	cmdfn, ok := commands[cmd]
+	if !ok {
+		println("unknown command: " + line)
+		return
+	}
+	cmdfn(argv)
+}
+
+func noop(argv []string) {}
+
+func lsblk(argv []string) {
+	attrs := dev.Attrs()
+	status1, _ := dev.ReadStatus()
+	status2, _ := dev.ReadStatus2()
+	serialNumber1, _ := dev.ReadSerialNumber()
+	fmt.Printf(
+		"\n-------------------------------------\r\n"+
+			" Device Information:  \r\n"+
+			"-------------------------------------\r\n"+
+			" JEDEC ID: %v\r\n"+
+			" Serial:   %v\r\n"+
+			" Status 1: %02x\r\n"+
+			" Status 2: %02x\r\n"+
+			" \r\n"+
+			" Max clock speed (MHz): %d\r\n"+
+			" Has Sector Protection: %t\r\n"+
+			" Supports Fast Reads:   %t\r\n"+
+			" Supports QSPI Reads:   %t\r\n"+
+			" Supports QSPI Write:   %t\r\n"+
+			" Write Status Split:    %t\r\n"+
+			" Single Status Byte:    %t\r\n"+
+			"-------------------------------------\r\n\r\n",
+		attrs.JedecID,
+		serialNumber1,
+		status1,
+		status2,
+		attrs.MaxClockSpeedMHz,
+		attrs.HasSectorProtection,
+		attrs.SupportsFastRead,
+		attrs.SupportsQSPI,
+		attrs.SupportsQSPIWrites,
+		attrs.WriteStatusSplit,
+		attrs.SingleStatusByte,
+	)
+}
+
+func erase(argv []string) {
+	if len(argv) < 3 {
+		println("usage: erase <chip|block|sector> <bytes>")
+		return
+	}
+	var err error
+	var addr uint64 = 0x0
+	if addr, err = strconv.ParseUint(argv[2], 16, 32); err != nil {
+		println("Invalid address: " + err.Error() + "\r\n")
+		return
+	}
+	if argv[1] == "block" {
+		if err = dev.EraseBlock(uint32(addr)); err != nil {
+			println("Block erase error: " + err.Error() + "\r\n")
+		}
+	} else if argv[1] == "sector" {
+		if err = dev.EraseSector(uint32(addr)); err != nil {
+			println("Sector erase error: " + err.Error() + "\r\n")
+		}
+	} else if argv[1] == "chip" {
+		if err = dev.EraseAll(); err != nil {
+			println("Chip erase error: " + err.Error() + "\r\n")
+		}
+	} else {
+		println("usage: erase <chip|block|sector> <bytes>")
+	}
+}
+
+func write(argv []string) {
+	if len(argv) < 3 {
+		println("usage: write <hex offset> <bytes>")
+	}
+	var err error
+	var addr uint64 = 0x0
+	if addr, err = strconv.ParseUint(argv[1], 16, 32); err != nil {
+		println("Invalid address: " + err.Error() + "\r\n")
+		return
+	}
+	buf := []byte(argv[2])
+	if _, err = dev.WriteAt(buf, int64(addr)); err != nil {
+		println("Write error: " + err.Error() + "\r\n")
+	}
+}
+
+func xxd(argv []string) {
+	var err error
+	var addr uint64 = 0x0
+	var size int = 64
+	switch len(argv) {
+	case 3:
+		if size, err = strconv.Atoi(argv[2]); err != nil {
+			println("Invalid size argument: " + err.Error() + "\r\n")
+			return
+		}
+		if size > storageBufLen || size < 1 {
+			fmt.Printf("Size of hexdump must be greater than 0 and less than %d\r\n", storageBufLen)
+			return
+		}
+		fallthrough
+	case 2:
+		if addr, err = strconv.ParseUint(argv[1], 16, 32); err != nil {
+			println("Invalid address: " + err.Error() + "\r\n")
+			return
+		}
+		fallthrough
+	case 1:
+		// no args supplied, so nothing to do here, just use the defaults
+	default:
+		println("usage: xxd <hex address, ex: 0xA0> <size of hexdump in bytes>\r\n")
+		return
+	}
+	buf := store[0:size]
+	dev.ReadAt(buf, int64(addr))
+	xxdfprint(os.Stdout, uint32(addr), buf)
+}
+
+func xxdfprint(w io.Writer, offset uint32, b []byte) {
+	var l int
+	var buf16 = make([]byte, 16)
+	for i, c := 0, len(b); i < c; i += 16 {
+		l = i + 16
+		if l >= c {
+			l = c
+		}
+		fmt.Fprintf(w, "%08x: % x    ", offset+uint32(i), b[i:l])
+		for j, n := 0, l-i; j < 16; j++ {
+			if j >= n || !strconv.IsPrint(rune(b[i+j])) {
+				buf16[j] = '.'
+			} else {
+				buf16[j] = b[i+j]
+			}
+		}
+		console.Write(buf16)
+		println()
+	}
+}
+
+func prompt() {
+	print("==> ")
+}

examples/flash/console/qspi/main.go

@@ -0,0 +1,21 @@
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/examples/flash/console"
+	"tinygo.org/x/drivers/flash"
+)
+
+func main() {
+	console_example.RunFor(
+		flash.NewQSPI(
+			machine.QSPI_CS,
+			machine.QSPI_SCK,
+			machine.QSPI_DATA0,
+			machine.QSPI_DATA1,
+			machine.QSPI_DATA2,
+			machine.QSPI_DATA3,
+		),
+	)
+}

examples/flash/console/spi/main.go

@@ -0,0 +1,20 @@
+package main
+
+import (
+	"machine"
+
+	console_example "tinygo.org/x/drivers/examples/flash/console"
+	"tinygo.org/x/drivers/flash"
+)
+
+func main() {
+	console_example.RunFor(
+		flash.NewSPI(
+			&machine.SPI1,
+			machine.SPI1_SDO_PIN,
+			machine.SPI1_SDI_PIN,
+			machine.SPI1_SCK_PIN,
+			machine.SPI1_CS_PIN,
+		),
+	)
+}

examples/gps/i2c/main.go

@@ -1,8 +1,8 @@
 package main
 
 import (
-	"fmt"
 	"machine"
+	"time"
 
 	"tinygo.org/x/drivers/gps"
 )
@@ -11,19 +11,40 @@ func main() {
 	println("GPS I2C Example")
 	machine.I2C0.Configure(machine.I2CConfig{})
 	ublox := gps.NewI2C(&machine.I2C0)
-	parser := gps.Parser(ublox)
+	parser := gps.NewParser()
 	var fix gps.Fix
 	for {
-		fix = parser.NextFix()
+		s, err := ublox.NextSentence()
+		if err != nil {
+			println(err)
+			continue
+		}
+
+		fix, err = parser.Parse(s)
+		if err != nil {
+			println(err)
+			continue
+		}
 		if fix.Valid {
 			print(fix.Time.Format("15:04:05"))
-			print(", lat=", fmt.Sprintf("%f", fix.Latitude))
-			print(", long=", fmt.Sprintf("%f", fix.Longitude))
-			print(", altitude:=", fix.Altitude)
+			print(", lat=")
+			print(fix.Latitude)
+			print(", long=")
+			print(fix.Longitude)
+			print(", altitude=", fix.Altitude)
 			print(", satellites=", fix.Satellites)
+			if fix.Speed != 0 {
+				print(", speed=")
+				print(fix.Speed)
+			}
+			if fix.Heading != 0 {
+				print(", heading=")
+				print(fix.Heading)
+			}
 			println()
 		} else {
 			println("No fix")
 		}
+		time.Sleep(200 * time.Millisecond)
 	}
 }

examples/gps/uart/main.go

@@ -1,8 +1,8 @@
 package main
 
 import (
-	"fmt"
 	"machine"
+	"time"
 
 	"tinygo.org/x/drivers/gps"
 )
@@ -11,19 +11,40 @@ func main() {
 	println("GPS UART Example")
 	machine.UART1.Configure(machine.UARTConfig{BaudRate: 9600})
 	ublox := gps.NewUART(&machine.UART1)
-	parser := gps.Parser(ublox)
+	parser := gps.NewParser()
 	var fix gps.Fix
 	for {
-		fix = parser.NextFix()
+		s, err := ublox.NextSentence()
+		if err != nil {
+			println(err)
+			continue
+		}
+
+		fix, err = parser.Parse(s)
+		if err != nil {
+			println(err)
+			continue
+		}
 		if fix.Valid {
 			print(fix.Time.Format("15:04:05"))
-			print(", lat=", fmt.Sprintf("%f", fix.Latitude))
-			print(", long=", fmt.Sprintf("%f", fix.Longitude))
-			print(", altitude:=", fix.Altitude)
+			print(", lat=")
+			print(fix.Latitude)
+			print(", long=")
+			print(fix.Longitude)
+			print(", altitude=", fix.Altitude)
 			print(", satellites=", fix.Satellites)
+			if fix.Speed != 0 {
+				print(", speed=")
+				print(fix.Speed)
+			}
+			if fix.Heading != 0 {
+				print(", heading=")
+				print(fix.Heading)
+			}
 			println()
 		} else {
 			println("No fix")
 		}
+		time.Sleep(200 * time.Millisecond)
 	}
 }

examples/hcsr04/main.go

@@ -0,0 +1,20 @@
+package hcsr04
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/hcsr04"
+)
+
+func main() {
+	sensor := hcsr04.New(machine.D10, machine.D9)
+	sensor.Configure()
+
+	println("Ultrasonic starts")
+	for {
+		println("Distance:", sensor.ReadDistance(), "mm")
+
+		time.Sleep(100 * time.Millisecond)
+	}
+}

examples/hd44780i2c/main.go

@@ -0,0 +1,60 @@
+package main
+
+import (
+	"machine"
+	"strconv"
+	"time"
+
+	"tinygo.org/x/drivers/hd44780i2c"
+)
+
+func main() {
+
+	// Note: most HD44780 LCD modules requires 5V power, however some variations
+	// use 3.3V (and may be damaged by 5V).
+
+	machine.I2C0.Configure(machine.I2CConfig{
+		Frequency: machine.TWI_FREQ_400KHZ,
+	})
+
+	lcd := hd44780i2c.New(machine.I2C0, 0x27) // some modules have address 0x3F
+
+	lcd.Configure(hd44780i2c.Config{
+		Width:       16, // required
+		Height:      2,  // required
+		CursorOn:    true,
+		CursorBlink: true,
+	})
+
+	lcd.Print([]byte(" TinyGo\n  LCD Test "))
+
+	// CGRAM address 0x0-0x7 can be used to store 8 custom characters
+	lcd.CreateCharacter(0x0, []byte{0x00, 0x11, 0x0E, 0x1F, 0x15, 0x1F, 0x1F, 0x1F})
+	lcd.Print([]byte{0x0})
+
+	// You can use https://maxpromer.github.io/LCD-Character-Creator/
+	// to crete your own characters.
+
+	time.Sleep(time.Millisecond * 7000)
+
+	for i := 0; i < 5; i++ {
+		lcd.BacklightOn(false)
+		time.Sleep(time.Millisecond * 250)
+		lcd.BacklightOn(true)
+		time.Sleep(time.Millisecond * 250)
+	}
+
+	lcd.CursorOn(false)
+	lcd.CursorBlink(false)
+
+	i := 0
+	for {
+
+		lcd.ClearDisplay()
+		lcd.SetCursor(2, 1)
+		lcd.Print([]byte(strconv.FormatInt(int64(i), 10)))
+		i++
+		time.Sleep(time.Millisecond * 100)
+
+	}
+}

examples/ili9341/basic/atsamd21.go

@@ -0,0 +1,29 @@
+// +build atsamd21
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	display = ili9341.NewSPI(
+		machine.SPI0,
+		machine.D0,
+		machine.D1,
+		machine.D2,
+	)
+
+	backlight = machine.D3
+)
+
+func init() {
+	machine.SPI0.Configure(machine.SPIConfig{
+		SCK:       machine.SPI0_SCK_PIN,
+		SDO:       machine.SPI0_SDO_PIN,
+		SDI:       machine.SPI0_SDI_PIN,
+		Frequency: 24000000,
+	})
+}

examples/ili9341/basic/main.go

@@ -9,15 +9,6 @@ import (
 )
 
 var (
-	display = ili9341.NewParallel(
-		machine.LCD_DATA0,
-		machine.TFT_WR,
-		machine.TFT_DC,
-		machine.TFT_CS,
-		machine.TFT_RESET,
-		machine.TFT_RD,
-	)
-
 	black = color.RGBA{0, 0, 0, 255}
 	white = color.RGBA{255, 255, 255, 255}
 	red   = color.RGBA{255, 0, 0, 255}
@@ -27,13 +18,13 @@ var (
 
 func main() {
 
-	machine.TFT_BACKLIGHT.Configure(machine.PinConfig{machine.PinOutput})
+	backlight.Configure(machine.PinConfig{machine.PinOutput})
 
 	display.Configure(ili9341.Config{})
 	width, height := display.Size()
 
 	display.FillScreen(black)
-	machine.TFT_BACKLIGHT.High()
+	backlight.High()
 
 	display.FillRectangle(0, 0, width/2, height/2, white)
 	display.FillRectangle(width/2, 0, width/2, height/2, red)

examples/ili9341/basic/pyportal.go

@@ -0,0 +1,22 @@
+// +build pyportal
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	display = ili9341.NewParallel(
+		machine.LCD_DATA0,
+		machine.TFT_WR,
+		machine.TFT_DC,
+		machine.TFT_CS,
+		machine.TFT_RESET,
+		machine.TFT_RD,
+	)
+
+	backlight = machine.TFT_BACKLIGHT
+)

examples/ili9341/basic/wioterminal.go

@@ -0,0 +1,29 @@
+// +build wioterminal
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	display = ili9341.NewSPI(
+		machine.SPI3,
+		machine.LCD_DC,
+		machine.LCD_SS_PIN,
+		machine.LCD_RESET,
+	)
+
+	backlight = machine.LCD_BACKLIGHT
+)
+
+func init() {
+	machine.SPI3.Configure(machine.SPIConfig{
+		SCK:       machine.LCD_SCK_PIN,
+		SDO:       machine.LCD_SDO_PIN,
+		SDI:       machine.LCD_SDI_PIN,
+		Frequency: 40000000,
+	})
+}

examples/ili9341/pyportal_boing/main.go

@@ -25,15 +25,6 @@ const (
 )
 
 var (
-	display = ili9341.NewParallel(
-		machine.LCD_DATA0,
-		machine.TFT_WR,
-		machine.TFT_DC,
-		machine.TFT_CS,
-		machine.TFT_RESET,
-		machine.TFT_RD,
-	)
-
 	frameBuffer = [(graphics.BALLHEIGHT + 8) * (graphics.BALLWIDTH + 8)]uint16{}
 
 	startTime int64
@@ -56,7 +47,7 @@ var (
 func main() {
 
 	// configure backlight
-	machine.TFT_BACKLIGHT.Configure(machine.PinConfig{machine.PinOutput})
+	backlight.Configure(machine.PinConfig{machine.PinOutput})
 
 	// configure display
 	display.Configure(ili9341.Config{})
@@ -64,7 +55,7 @@ func main() {
 	width, height := display.Size()
 	println(width, height)
 
-	machine.TFT_BACKLIGHT.High()
+	backlight.High()
 
 	display.SetRotation(ili9341.Rotation270)
 	DrawBackground()

examples/ili9341/pyportal_boing/pyportal.go

@@ -0,0 +1,22 @@
+// +build pyportal
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	display = ili9341.NewParallel(
+		machine.LCD_DATA0,
+		machine.TFT_WR,
+		machine.TFT_DC,
+		machine.TFT_CS,
+		machine.TFT_RESET,
+		machine.TFT_RD,
+	)
+
+	backlight = machine.TFT_BACKLIGHT
+)

examples/ili9341/pyportal_boing/wioterminal.go

@@ -0,0 +1,29 @@
+// +build wioterminal
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	display = ili9341.NewSPI(
+		machine.SPI3,
+		machine.LCD_DC,
+		machine.LCD_SS_PIN,
+		machine.LCD_RESET,
+	)
+
+	backlight = machine.LCD_BACKLIGHT
+)
+
+func init() {
+	machine.SPI3.Configure(machine.SPIConfig{
+		SCK:       machine.LCD_SCK_PIN,
+		SDO:       machine.LCD_SDO_PIN,
+		SDI:       machine.LCD_SDI_PIN,
+		Frequency: 40000000,
+	})
+}

examples/ili9341/scroll/atsamd21.go

@@ -0,0 +1,29 @@
+// +build atsamd21
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	display = ili9341.NewSPI(
+		machine.SPI0,
+		machine.D0,
+		machine.D1,
+		machine.D2,
+	)
+
+	backlight = machine.D3
+)
+
+func init() {
+	machine.SPI0.Configure(machine.SPIConfig{
+		SCK:       machine.SPI0_SCK_PIN,
+		SDO:       machine.SPI0_SDO_PIN,
+		SDI:       machine.SPI0_SDI_PIN,
+		Frequency: 24000000,
+	})
+}

examples/ili9341/scroll/main.go

@@ -0,0 +1,40 @@
+package main
+
+import (
+	"image/color"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	red   = color.RGBA{255, 0, 0, 255}
+	blue  = color.RGBA{0, 0, 255, 255}
+	green = color.RGBA{0, 255, 0, 255}
+	black = color.RGBA{0, 0, 0, 255}
+	white = color.RGBA{255, 255, 255, 255}
+)
+
+func main() {
+
+	backlight.Configure(machine.PinConfig{machine.PinOutput})
+
+	display.Configure(ili9341.Config{})
+	width, height := display.Size()
+
+	display.FillScreen(black)
+	backlight.High()
+
+	display.FillRectangle(0, 0, width/2, height/2, white)
+	display.FillRectangle(width/2, 0, width/2, height/2, red)
+	display.FillRectangle(0, height/2, width/2, height/2, green)
+	display.FillRectangle(width/2, height/2, width/2, height/2, blue)
+	display.FillRectangle(width/4, height/4, width/2, height/2, black)
+
+	for scroll := int16(0); ; scroll = (scroll + 1) % 320 {
+		time.Sleep(7500 * time.Microsecond)
+		display.SetScroll(scroll)
+	}
+
+}

examples/ili9341/scroll/pyportal.go

@@ -0,0 +1,22 @@
+// +build pyportal
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	display = ili9341.NewParallel(
+		machine.LCD_DATA0,
+		machine.TFT_WR,
+		machine.TFT_DC,
+		machine.TFT_CS,
+		machine.TFT_RESET,
+		machine.TFT_RD,
+	)
+
+	backlight = machine.TFT_BACKLIGHT
+)

examples/ili9341/scroll/wioterminal.go

@@ -0,0 +1,29 @@
+// +build wioterminal
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ili9341"
+)
+
+var (
+	display = ili9341.NewSPI(
+		machine.SPI3,
+		machine.LCD_DC,
+		machine.LCD_SS_PIN,
+		machine.LCD_RESET,
+	)
+
+	backlight = machine.LCD_BACKLIGHT
+)
+
+func init() {
+	machine.SPI3.Configure(machine.SPIConfig{
+		SCK:       machine.LCD_SCK_PIN,
+		SDO:       machine.LCD_SDO_PIN,
+		SDI:       machine.LCD_SDI_PIN,
+		Frequency: 40000000,
+	})
+}

examples/lis2mdl/main.go

@@ -0,0 +1,29 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/lis2mdl"
+)
+
+func main() {
+	machine.I2C0.Configure(machine.I2CConfig{})
+	compass := lis2mdl.New(machine.I2C0)
+
+	if !compass.Connected() {
+		for {
+			println("LIS2MDL not connected!")
+			time.Sleep(1 * time.Second)
+		}
+	}
+
+	compass.Configure(lis2mdl.Configuration{}) //default settings
+
+	for {
+		heading := compass.ReadCompass()
+		println("Heading:", heading)
+
+		time.Sleep(time.Millisecond * 100)
+	}
+}

examples/lsm303agr/main.go

@@ -0,0 +1,39 @@
+package main
+
+import (
+	"machine"
+	"time"
+	"tinygo.org/x/drivers/lsm303agr"
+)
+
+func main() {
+
+	machine.I2C0.Configure(machine.I2CConfig{})
+	accel_mag := lsm303agr.New(machine.I2C0)
+
+	if !accel_mag.Connected() {
+		println("LSM303AGR/MAG not connected!")
+		return
+	}
+
+	accel_mag.Configure(lsm303agr.Configuration{}) //default settings
+
+	for {
+
+		accel_x, accel_y, accel_z := accel_mag.ReadAcceleration()
+		pitch, roll := accel_mag.ReadPitchRoll()
+		mag_x, mag_y, mag_z := accel_mag.ReadMagneticField()
+		heading := accel_mag.ReadCompass()
+		temp, _ := accel_mag.ReadTemperature()
+
+		println("ACCEL_X:", accel_x, " ACCEL_Y:", accel_y, " ACCEL_Z:", accel_z)
+		println("MAG_X:", mag_x, " MAG_Y:", mag_y, " MAG_Z:", mag_z)
+		println("Pitch:", pitch, " Roll:", roll)
+		println("Heading:", heading)
+		println("Temperature:", temp/1000)
+		println("\n")
+
+		time.Sleep(time.Millisecond * 100)
+	}
+
+}

examples/mag3110/main.go

@@ -19,7 +19,7 @@ func main() {
 		println("Magnetic readings:", x, y, z)
 
 		c, _ := mag.ReadTemperature()
-		println("Temperature:", float32(c)/1000, "ºC")
+		println("Temperature:", float32(c)/1000, "°C")
 
 		time.Sleep(time.Millisecond * 100)
 	}

examples/semihosting/semihosting.go

@@ -0,0 +1,23 @@
+package main
+
+// A small example that demonstrates how SemiHosting can be used.
+// You could use it with a board that supports GDB, such as the BBC micro:bit:
+// 1. Compile and debug it:
+//      tinygo gdb -target=microbit -ocd-output tinygo.org/x/drivers/examples/semihosting
+// 2. Enable semihosting in the GDB shell:
+//      monitor arm semihosting enable
+// 3. Start the program:
+//      continue
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers/semihosting"
+)
+
+func main() {
+	for {
+		semihosting.Stdout.Write([]byte("hello world!\n"))
+		time.Sleep(time.Second)
+	}
+}

examples/shifter/main.go

@@ -1,48 +1,42 @@
+// This example is designed to implement the button shifter for a PyBadge.
 package main
 
 import (
-	"machine"
 	"time"
 
 	"tinygo.org/x/drivers/shifter"
 )
 
 func main() {
-	buttons := shifter.New(shifter.EIGHT_BITS, machine.BUTTON_LATCH, machine.BUTTON_CLK, machine.BUTTON_OUT)
+	buttons := shifter.NewButtons()
 	buttons.Configure()
 
 	for {
-		// Slower
-		for i := 0; i < 8; i++ {
-			if buttons.Pins[i].Get() {
-				println("Button", i, "pressed")
-			}
-		}
+		// Update the pins state, to later be returned by .Get()
+		buttons.ReadInput()
 
-		// Faster
-		pressed, _ := buttons.Read8Input()
-		if pressed&machine.BUTTON_LEFT_MASK > 0 {
+		if buttons.Pins[shifter.BUTTON_LEFT].Get() {
 			println("Button LEFT pressed")
 		}
-		if pressed&machine.BUTTON_UP_MASK > 0 {
+		if buttons.Pins[shifter.BUTTON_UP].Get() {
 			println("Button UP pressed")
 		}
-		if pressed&machine.BUTTON_DOWN_MASK > 0 {
+		if buttons.Pins[shifter.BUTTON_DOWN].Get() {
 			println("Button DOWN pressed")
 		}
-		if pressed&machine.BUTTON_RIGHT_MASK > 0 {
+		if buttons.Pins[shifter.BUTTON_RIGHT].Get() {
 			println("Button RIGHT pressed")
 		}
-		if pressed&machine.BUTTON_SELECT_MASK > 0 {
+		if buttons.Pins[shifter.BUTTON_SELECT].Get() {
 			println("Button SELECT pressed")
 		}
-		if pressed&machine.BUTTON_START_MASK > 0 {
+		if buttons.Pins[shifter.BUTTON_START].Get() {
 			println("Button START pressed")
 		}
-		if pressed&machine.BUTTON_A_MASK > 0 {
+		if buttons.Pins[shifter.BUTTON_A].Get() {
 			println("Button A pressed")
 		}
-		if pressed&machine.BUTTON_B_MASK > 0 {
+		if buttons.Pins[shifter.BUTTON_B].Get() {
 			println("Button B pressed")
 		}
 		time.Sleep(100 * time.Millisecond)

examples/shiftregister/main.go

@@ -0,0 +1,124 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/shiftregister"
+)
+
+func main() {
+	d := shiftregister.New(
+		shiftregister.EIGHT_BITS,
+		machine.PA6, // D12 Pin latch connected to ST_CP of 74HC595 (12)
+		machine.PA7, // D11 Pin clock connected to SH_CP of 74HC595 (11)
+		machine.PB6, // D10 Pin data connected to DS of 74HC595 (14)
+	)
+	d.Configure()
+
+	for {
+
+		// Examples using masks. This method writes all pins state at once.
+
+		// All pins High
+		d.WriteMask(0xFF)
+		delay()
+
+		// All pins Low
+		d.WriteMask(0x00)
+		delay()
+
+		// Some fun with masks
+		for _, pattern := range patterns {
+			d.WriteMask(pattern)
+			shortDelay()
+		}
+		delay()
+		d.WriteMask(0x00)
+
+		// Examples using individually addressable pin API. This method is slower than using mask
+		// because all register's pins state are send for is p.Set() call.
+
+		// Set register's pin #4
+		d.GetShiftPin(4).High()
+		delay()
+		d.GetShiftPin(4).Low()
+		delay()
+
+		// Get an individual pin and use it
+		pin := d.GetShiftPin(7)
+		pin.High()
+		delay()
+		pin.Low()
+		delay()
+
+		// Prepare an array of pin attached to the register
+		pins := [8]*shiftregister.ShiftPin{}
+		for p := 0; p < 8; p++ {
+			pins[p] = d.GetShiftPin(p)
+		}
+
+		for p := 7; p >= 0; p-- {
+			pins[p].Low()
+			shortDelay()
+			pins[p].High()
+		}
+
+		for p := 7; p >= 0; p-- {
+			pins[p].High()
+			time.Sleep(100 * time.Millisecond)
+			pins[p].Low()
+		}
+		delay()
+	}
+}
+
+func delay() {
+	time.Sleep(500 * time.Millisecond)
+}
+func shortDelay() {
+	time.Sleep(100 * time.Millisecond)
+}
+
+var patterns = []uint32{
+	0b00000001,
+	0b00000010,
+	0b00000100,
+	0b00001000,
+	0b00010000,
+	0b00100000,
+	0b01000000,
+	0b10000000,
+	0b10000001,
+	0b10000010,
+	0b10000100,
+	0b10001000,
+	0b10010000,
+	0b10100000,
+	0b11000000,
+	0b11000001,
+	0b11000010,
+	0b11000100,
+	0b11001000,
+	0b11010000,
+	0b11100000,
+	0b11100001,
+	0b11100010,
+	0b11100100,
+	0b11101000,
+	0b11110000,
+	0b11110001,
+	0b11110010,
+	0b11110100,
+	0b11111000,
+	0b11111001,
+	0b11111010,
+	0b11111100,
+	0b11111101,
+	0b11111110,
+	0b11111111,
+	0b00000000,
+	0b11111111,
+	0b00000000,
+	0b11111111,
+}

examples/sht3x/main.go

@@ -16,7 +16,7 @@ func main() {
 		temp, humidity, _ := sensor.ReadTemperatureHumidity()
 		t := fmt.Sprintf("%.2f", float32(temp)/1000)
 		h := fmt.Sprintf("%.2f", float32(humidity)/100)
-		println("Temperature:", t, "ºC")
+		println("Temperature:", t, "°C")
 		println("Humidity", h, "%")
 		time.Sleep(2 * time.Second)
 	}

examples/ssd1351/main.go

@@ -0,0 +1,36 @@
+package ssd1351
+
+import (
+	"machine"
+
+	"image/color"
+
+	"tinygo.org/x/drivers/ssd1351"
+)
+
+func main() {
+	machine.SPI1.Configure(machine.SPIConfig{
+		Frequency: 2000000,
+	})
+	display := ssd1351.New(machine.SPI1, machine.D18, machine.D17, machine.D16, machine.D4, machine.D19)
+
+	display.Configure(ssd1351.Config{
+		Width:        96,
+		Height:       96,
+		ColumnOffset: 16,
+	})
+
+	width, height := display.Size()
+
+	white := color.RGBA{255, 255, 255, 255}
+	red := color.RGBA{255, 0, 0, 255}
+	blue := color.RGBA{0, 0, 255, 255}
+	green := color.RGBA{0, 255, 0, 255}
+
+	display.FillRectangle(0, 0, width, height/4, white)
+	display.FillRectangle(0, height/4, width, height/4, red)
+	display.FillRectangle(0, height/2, width, height/4, green)
+	display.FillRectangle(0, 3*height/4, width, height/4, blue)
+
+	display.Display()
+}

examples/st7789/main.go

@@ -9,12 +9,37 @@ import (
 )
 
 func main() {
+
+	// Example configuration for Adafruit Clue
+	// machine.SPI1.Configure(machine.SPIConfig{
+	//	Frequency: 8000000,
+	//	SCK:       machine.TFT_SCK,
+	//	SDO:       machine.TFT_SDO,
+	//	SDI:       machine.TFT_SDO,
+	//	Mode:      0,
+	// })
+	// display := st7789.New(machine.SPI1,
+	//	machine.TFT_RESET,
+	//	machine.TFT_DC,
+	//	machine.TFT_CS,
+	//	machine.TFT_LITE)
+
 	machine.SPI0.Configure(machine.SPIConfig{
 		Frequency: 8000000,
-		Mode:      3,
+		Mode:      0,
+	})
+	display := st7789.New(machine.SPI0,
+		machine.P6, // TFT_RESET
+		machine.P7, // TFT_DC
+		machine.P8, // TFT_CS
+		machine.P9) // TFT_LITE
+
+	display.Configure(st7789.Config{
+		Rotation:   st7789.NO_ROTATION,
+		RowOffset:  80,
+		FrameRate:  st7789.FRAMERATE_111,
+		VSyncLines: st7789.MAX_VSYNC_SCANLINES,
 	})
-	display := st7789.New(machine.SPI0, machine.P6, machine.P7, machine.P8)
-	display.Configure(st7789.Config{Rotation: st7789.NO_ROTATION})
 
 	width, height := display.Size()
 

examples/thermistor/main.go

@@ -19,7 +19,7 @@ func main() {
 
 	for {
 		temp, _ := sensor.ReadTemperature()
-		println("Temperature:", temp/1000, "ºC")
+		println("Temperature:", temp/1000, "°C")
 
 		time.Sleep(2 * time.Second)
 	}

examples/tmp102/main.go

@@ -0,0 +1,28 @@
+package main
+
+import (
+	"fmt"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/tmp102"
+)
+
+func main() {
+	machine.I2C0.Configure(machine.I2CConfig{
+		Frequency: machine.TWI_FREQ_400KHZ,
+	})
+
+	thermo := tmp102.New(machine.I2C0)
+	thermo.Configure(tmp102.Config{})
+
+	for {
+
+		temp, _ := thermo.ReadTemperature()
+
+		print(fmt.Sprintf("%.2f°C\r\n", float32(temp)/1000.0))
+
+		time.Sleep(time.Millisecond * 1000)
+	}
+
+}

examples/waveshare-epd/epd4in2/main.go

@@ -0,0 +1,56 @@
+package main
+
+import (
+	"machine"
+
+	"image/color"
+
+	"time"
+
+	"tinygo.org/x/drivers/waveshare-epd/epd4in2"
+)
+
+var display epd4in2.Device
+
+func main() {
+	machine.SPI0.Configure(machine.SPIConfig{
+		Frequency: 8000000,
+		Mode:      0,
+	})
+
+	display = epd4in2.New(machine.SPI0, machine.P6, machine.P7, machine.P8, machine.P9)
+	display.Configure(epd4in2.Config{})
+
+	black := color.RGBA{1, 1, 1, 255}
+
+	display.ClearBuffer()
+	println("Clear the display")
+	display.ClearDisplay()
+	display.WaitUntilIdle()
+	println("Waiting for 2 seconds")
+	time.Sleep(2 * time.Second)
+
+	// Show a checkered board
+	for i := int16(0); i < 16; i++ {
+		for j := int16(0); j < 25; j++ {
+			if (i+j)%2 == 0 {
+				showRect(i*8, j*10, 8, 10, black)
+			}
+		}
+	}
+	println("Show checkered board")
+	display.Display()
+	display.WaitUntilIdle()
+	println("Waiting for 2 seconds")
+	time.Sleep(2 * time.Second)
+
+	println("You could remove power now")
+}
+
+func showRect(x int16, y int16, w int16, h int16, c color.RGBA) {
+	for i := x; i < x+w; i++ {
+		for j := y; j < y+h; j++ {
+			display.SetPixel(i, j, c)
+		}
+	}
+}

examples/wifinina/mqttclient/main.go

@@ -62,8 +62,8 @@ func main() {
 	// Configure SPI for 8Mhz, Mode 0, MSB First
 	spi.Configure(machine.SPIConfig{
 		Frequency: 8 * 1e6,
-		MOSI:      machine.NINA_MOSI,
-		MISO:      machine.NINA_MISO,
+		SDO:       machine.NINA_SDO,
+		SDI:       machine.NINA_SDI,
 		SCK:       machine.NINA_SCK,
 	})
 

examples/wifinina/mqttsub/main.go

@@ -69,8 +69,8 @@ func main() {
 	// Configure SPI for 8Mhz, Mode 0, MSB First
 	spi.Configure(machine.SPIConfig{
 		Frequency: 8 * 1e6,
-		MOSI:      machine.NINA_MOSI,
-		MISO:      machine.NINA_MISO,
+		SDO:       machine.NINA_SDO,
+		SDI:       machine.NINA_SDI,
 		SCK:       machine.NINA_SCK,
 	})
 

examples/wifinina/ntpclient/main.go

@@ -0,0 +1,166 @@
+// This is an example of using the wifinina driver to implement a NTP client.
+// It creates a UDP connection to request the current time and parse the
+// response from a NTP server.
+package main
+
+import (
+	"errors"
+	"fmt"
+	"machine"
+	"runtime"
+	"time"
+
+	"tinygo.org/x/drivers/net"
+	"tinygo.org/x/drivers/wifinina"
+)
+
+// access point info
+const ssid = ""
+const pass = ""
+
+// IP address of the server aka "hub". Replace with your own info.
+const ntpHost = "129.6.15.29"
+
+const NTP_PACKET_SIZE = 48
+
+var (
+
+	// this is the ESP chip that has the WIFININA firmware flashed on it
+	// these are the default pins for the Arduino Nano33 IoT.
+	adaptor = wifinina.Device{
+		SPI:   machine.NINA_SPI,
+		CS:    machine.NINA_CS,
+		ACK:   machine.NINA_ACK,
+		GPIO0: machine.NINA_GPIO0,
+		RESET: machine.NINA_RESETN,
+	}
+
+	b = make([]byte, NTP_PACKET_SIZE)
+
+	console = machine.UART0
+)
+
+func main() {
+
+	// Init esp32
+	// Configure SPI for 8Mhz, Mode 0, MSB First
+	machine.NINA_SPI.Configure(machine.SPIConfig{
+		Frequency: 8 * 1e6,
+		SDO:       machine.NINA_SDO,
+		SDI:       machine.NINA_SDI,
+		SCK:       machine.NINA_SCK,
+	})
+	adaptor.Configure()
+
+	// connect to access point
+	connectToAP()
+
+	// now make UDP connection
+	ip := net.ParseIP(ntpHost)
+	raddr := &net.UDPAddr{IP: ip, Port: 123}
+	laddr := &net.UDPAddr{Port: 2390}
+	conn, err := net.DialUDP("udp", laddr, raddr)
+	if err != nil {
+		for {
+			time.Sleep(time.Second)
+			println(err)
+		}
+	}
+
+	for {
+		// send data
+		println("Requesting NTP time...")
+		t, err := getCurrentTime(conn)
+		if err != nil {
+			message("Error getting current time: %v", err)
+		} else {
+			message("NTP time: %v", t)
+		}
+		runtime.AdjustTimeOffset(-1 * int64(time.Since(t)))
+		for i := 0; i < 10; i++ {
+			message("Current time: %v", time.Now())
+			time.Sleep(1 * time.Second)
+		}
+	}
+
+	// Right now this code is never reached. Need a way to trigger it...
+	println("Disconnecting UDP...")
+	conn.Close()
+	println("Done.")
+}
+
+func getCurrentTime(conn *net.UDPSerialConn) (time.Time, error) {
+	if err := sendNTPpacket(conn); err != nil {
+		return time.Time{}, err
+	}
+	clearBuffer()
+	for now := time.Now(); time.Since(now) < time.Second; {
+		time.Sleep(5 * time.Millisecond)
+		if n, err := conn.Read(b); err != nil {
+			return time.Time{}, fmt.Errorf("error reading UDP packet: %w", err)
+		} else if n == 0 {
+			continue // no packet received yet
+		} else if n != NTP_PACKET_SIZE {
+			if n != NTP_PACKET_SIZE {
+				return time.Time{}, fmt.Errorf("expected NTP packet size of %d: %d", NTP_PACKET_SIZE, n)
+			}
+		}
+		return parseNTPpacket(), nil
+	}
+	return time.Time{}, errors.New("no packet received after 1 second")
+}
+
+func sendNTPpacket(conn *net.UDPSerialConn) error {
+	clearBuffer()
+	b[0] = 0b11100011 // LI, Version, Mode
+	b[1] = 0          // Stratum, or type of clock
+	b[2] = 6          // Polling Interval
+	b[3] = 0xEC       // Peer Clock Precision
+	// 8 bytes of zero for Root Delay & Root Dispersion
+	b[12] = 49
+	b[13] = 0x4E
+	b[14] = 49
+	b[15] = 52
+	if _, err := conn.Write(b); err != nil {
+		return err
+	}
+	return nil
+}
+
+func parseNTPpacket() time.Time {
+	// the timestamp starts at byte 40 of the received packet and is four bytes,
+	// this is NTP time (seconds since Jan 1 1900):
+	t := uint32(b[40])<<24 | uint32(b[41])<<16 | uint32(b[42])<<8 | uint32(b[43])
+	const seventyYears = 2208988800
+	return time.Unix(int64(t-seventyYears), 0)
+}
+
+func clearBuffer() {
+	for i := range b {
+		b[i] = 0
+	}
+}
+
+// connect to access point
+func connectToAP() {
+	time.Sleep(2 * time.Second)
+	message("Connecting to " + ssid)
+	adaptor.SetPassphrase(ssid, pass)
+	for st, _ := adaptor.GetConnectionStatus(); st != wifinina.StatusConnected; {
+		message("Connection status: " + st.String())
+		time.Sleep(1 * time.Second)
+		st, _ = adaptor.GetConnectionStatus()
+	}
+	message("Connected.")
+	time.Sleep(2 * time.Second)
+	ip, _, _, err := adaptor.GetIP()
+	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
+		message(err.Error())
+		time.Sleep(1 * time.Second)
+	}
+	message(ip.String())
+}
+
+func message(format string, args ...interface{}) {
+	println(fmt.Sprintf(format, args...), "\r")
+}

examples/wifinina/tcpclient/main.go

@@ -55,8 +55,8 @@ func main() {
 	// Configure SPI for 8Mhz, Mode 0, MSB First
 	spi.Configure(machine.SPIConfig{
 		Frequency: 8 * 1e6,
-		MOSI:      machine.NINA_MOSI,
-		MISO:      machine.NINA_MISO,
+		SDO:       machine.NINA_SDO,
+		SDI:       machine.NINA_SDI,
 		SCK:       machine.NINA_SCK,
 	})
 

examples/wifinina/udpstation/main.go

@@ -0,0 +1,100 @@
+// This is a sensor station that uses a ESP32 running nina-fw over SPI.
+// It creates a UDP connection you can use to get info to/from your computer via the microcontroller.
+//
+// In other words:
+// Your computer <--> UART0 <--> MCU <--> SPI <--> ESP32
+//
+package main
+
+import (
+	"machine"
+	"strconv"
+	"time"
+
+	"tinygo.org/x/drivers/net"
+	"tinygo.org/x/drivers/wifinina"
+)
+
+// access point info
+const ssid = ""
+const pass = ""
+
+// IP address of the server aka "hub". Replace with your own info.
+const hubIP = ""
+
+// these are the default pins for the Arduino Nano33 IoT.
+// change these to connect to a different UART or pins for the ESP8266/ESP32
+var (
+
+	// this is the ESP chip that has the WIFININA firmware flashed on it
+	// these are the default pins for the Arduino Nano33 IoT.
+	adaptor = &wifinina.Device{
+		SPI:   machine.NINA_SPI,
+		CS:    machine.NINA_CS,
+		ACK:   machine.NINA_ACK,
+		GPIO0: machine.NINA_GPIO0,
+		RESET: machine.NINA_RESETN,
+	}
+)
+
+func main() {
+
+	// Init esp8266/esp32
+	// Configure SPI for 8Mhz, Mode 0, MSB First
+	machine.NINA_SPI.Configure(machine.SPIConfig{
+		Frequency: 8 * 1e6,
+		SDO:       machine.NINA_SDO,
+		SDI:       machine.NINA_SDI,
+		SCK:       machine.NINA_SCK,
+	})
+	adaptor.Configure()
+
+	// connect to access point
+	connectToAP()
+
+	// now make UDP connection
+	ip := net.ParseIP(hubIP)
+	raddr := &net.UDPAddr{IP: ip, Port: 2222}
+	laddr := &net.UDPAddr{Port: 2222}
+
+	println("Dialing UDP connection...")
+	conn, _ := net.DialUDP("udp", laddr, raddr)
+
+	for {
+		// send data
+		println("Sending data...")
+		for i := 0; i < 25; i++ {
+			conn.Write([]byte("hello " + strconv.Itoa(i) + "\r\n"))
+		}
+		time.Sleep(1000 * time.Millisecond)
+	}
+
+	// Right now this code is never reached. Need a way to trigger it...
+	println("Disconnecting UDP...")
+	conn.Close()
+	println("Done.")
+}
+
+// connect to access point
+func connectToAP() {
+	time.Sleep(2 * time.Second)
+	message("Connecting to " + ssid)
+	adaptor.SetPassphrase(ssid, pass)
+	for st, _ := adaptor.GetConnectionStatus(); st != wifinina.StatusConnected; {
+		message("Connection status: " + st.String())
+		time.Sleep(1 * time.Second)
+		st, _ = adaptor.GetConnectionStatus()
+	}
+	message("Connected.")
+	time.Sleep(2 * time.Second)
+	ip, _, _, err := adaptor.GetIP()
+	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
+		message(err.Error())
+		time.Sleep(1 * time.Second)
+	}
+	message(ip.String())
+}
+
+func message(msg string) {
+	println(msg, "\r")
+}

examples/wifinina/webclient/main.go

@@ -56,8 +56,8 @@ func main() {
 	// Configure SPI for 8Mhz, Mode 0, MSB First
 	spi.Configure(machine.SPIConfig{
 		Frequency: 8 * 1e6,
-		MOSI:      machine.NINA_MOSI,
-		MISO:      machine.NINA_MISO,
+		SDO:       machine.NINA_SDO,
+		SDI:       machine.NINA_SDI,
 		SCK:       machine.NINA_SCK,
 	})
 

flash/devices.go

@@ -0,0 +1,448 @@
+package flash
+
+import "time"
+
+// A DeviceIdentifier can be passed to the Configure() method of a flash Device
+// in order provide a means of discovery of device-specific attributes based on
+// the JEDEC ID read from the device.
+type DeviceIdentifier interface {
+	// Identify returns an Attrs struct based on the provided JEDEC ID
+	Identify(id JedecID) Attrs
+}
+
+// DeviceIdentifierFunc is a functional Identifier implementation
+type DeviceIdentifierFunc func(id JedecID) Attrs
+
+// Identify implements the Identifier interface
+func (fn DeviceIdentifierFunc) Identify(id JedecID) Attrs {
+	return fn(id)
+}
+
+// DefaultDeviceIndentifier is a DeviceIdentifier that is capable of recognizing
+// JEDEC IDs for all of the known memory devices in this package. If you are
+// have no way to be sure about the type of memory device that might be on a
+// board you are targeting, this can be a good starting point to use.  The
+// downside of using this function is that it will prevent the compiler from
+// being able to mark any of the functions for the various devices as unused,
+// resulting in larger code size.  If code size is a concern, and if you know
+// ahead of time you are only dealing with a limited set of memory devices, it
+// might be worthwhile to use your own implementation of a DeviceIdentifier
+// that only references those devices, so that more methods are marked unused.
+var DefaultDeviceIdentifier = DeviceIdentifierFunc(func(id JedecID) Attrs {
+	switch id.Uint32() {
+	case 0x010617:
+		return S25FL064L()
+	case 0x014015:
+		return S25FL216K()
+	case 0x1F4501:
+		return AT25DF081A()
+	case 0xC22015:
+		return MX25L1606()
+	case 0xC22016:
+		return MX25L3233F()
+	case 0xC22817:
+		return MX25R6435F()
+	case 0xC84015:
+		return GD25Q16C()
+	case 0xC84017:
+		return GD25Q64C()
+	case 0xEF4015:
+		return W25Q16JVIQ()
+	case 0xEF4016:
+		return W25Q32FV()
+	case 0xEF4017:
+		return W25Q64JVIQ()
+	case 0xEF4018:
+		return W25Q128JVSQ()
+	case 0xEF6014:
+		return W25Q80DL()
+	case 0xEF6015:
+		return W25Q16FW()
+	case 0xEF6016:
+		return W25Q32BV()
+	case 0xEF7015:
+		return W25Q16JVIM()
+	case 0xEF7016:
+		return W25Q32JVIM()
+	case 0xEF7017:
+		return W25Q64JVIM()
+	case 0xEF7018:
+		return W25Q128JVPM()
+	default:
+		return Attrs{JedecID: id}
+	}
+})
+
+// Settings for the Cypress (was Spansion) S25FL064L 8MiB SPI flash.
+// Datasheet: http://www.cypress.com/file/316661/download
+func S25FL064L() Attrs {
+	return Attrs{
+		TotalSize:           1 << 23, // 8 MiB
+		StartUp:             300 * time.Microsecond,
+		JedecID:             JedecID{0x01, 0x60, 0x17},
+		MaxClockSpeedMHz:    108,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Cypress (was Spansion) S25FL116K 2MiB SPI flash.
+// Datasheet: http://www.cypress.com/file/196886/download
+func S25FL116K() Attrs {
+	return Attrs{
+		TotalSize:           1 << 21, // 2 MiB
+		StartUp:             10000 * time.Microsecond,
+		JedecID:             JedecID{0x01, 0x40, 0x15},
+		MaxClockSpeedMHz:    108,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  false,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Cypress (was Spansion) S25FL216K 2MiB SPI flash.
+// Datasheet: http://www.cypress.com/file/197346/download
+func S25FL216K() Attrs {
+	return Attrs{
+		TotalSize:           1 << 21, // 2 MiB
+		StartUp:             10000 * time.Microsecond,
+		JedecID:             JedecID{0x01, 0x40, 0x15},
+		MaxClockSpeedMHz:    65,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  false,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Adesto Tech AT25DF081A 1MiB SPI flash. Its on the SAMD21
+// Xplained board.
+// Datasheet: https://www.adestotech.com/wp-content/uploads/doc8715.pdf
+func AT25DF081A() Attrs {
+	return Attrs{
+		TotalSize:           1 << 20, // 1 MiB
+		StartUp:             10000 * time.Microsecond,
+		JedecID:             JedecID{0x1F, 0x45, 0x01},
+		MaxClockSpeedMHz:    85,
+		QuadEnableBitMask:   0x00,
+		HasSectorProtection: true,
+		SupportsFastRead:    true,
+		SupportsQSPI:        false,
+		SupportsQSPIWrites:  false,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Macronix MX25L1606 2MiB SPI flash.
+// Datasheet:
+func MX25L1606() Attrs {
+	return Attrs{
+		TotalSize:           1 << 21, // 2 MiB,
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xC2, 0x20, 0x15},
+		MaxClockSpeedMHz:    8,
+		QuadEnableBitMask:   0x40,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    true,
+	}
+}
+
+// Settings for the Macronix MX25L3233F 4MiB SPI flash.
+// Datasheet:
+// http://www.macronix.com/Lists/Datasheet/Attachments/7426/MX25L3233F,%203V,%2032Mb,%20v1.6.pdf
+func MX25L3233F() Attrs {
+	return Attrs{
+		TotalSize:           1 << 22, // 4 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xC2, 0x20, 0x16},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x40,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Macronix MX25R6435F 8MiB SPI flash.
+// Datasheet:
+// http://www.macronix.com/Lists/Datasheet/Attachments/7428/MX25R6435F,%20Wide%20Range,%2064Mb,%20v1.4.pdf
+// By default its in lower power mode which can only do 8mhz. In high power mode
+// it can do 80mhz.
+func MX25R6435F() Attrs {
+	return Attrs{
+		TotalSize:           1 << 23, // 8 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xC2, 0x28, 0x17},
+		MaxClockSpeedMHz:    8,
+		QuadEnableBitMask:   0x40,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    true,
+	}
+}
+
+// Settings for the Gigadevice GD25Q16C 2MiB SPI flash.
+// Datasheet: http://www.gigadevice.com/datasheet/gd25q16c/
+func GD25Q16C() Attrs {
+	return Attrs{
+		TotalSize:          1 << 21, // 2 MiB
+		StartUp:            5000 * time.Microsecond,
+		JedecID:            JedecID{0xC8, 0x40, 0x15},
+		MaxClockSpeedMHz:   104,
+		QuadEnableBitMask:  0x02,
+		SupportsFastRead:   true,
+		SupportsQSPI:       true,
+		SupportsQSPIWrites: true,
+		WriteStatusSplit:   false,
+		SingleStatusByte:   false,
+	}
+}
+
+// Settings for the Gigadevice GD25Q64C 8MiB SPI flash.
+// Datasheet: http://www.elm-tech.com/en/products/spi-flash-memory/gd25q64/gd25q64.pdf
+func GD25Q64C() Attrs {
+	return Attrs{
+		TotalSize:           1 << 23, // 8 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xC8, 0x40, 0x17},
+		MaxClockSpeedMHz:    104,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    true,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q16JV-IQ 2MiB SPI flash. Note that JV-IM has a
+// different .memory_type (0x70) Datasheet:
+// https://www.winbond.com/resource-files/w25q16jv%20spi%20revf%2005092017.pdf
+func W25Q16JVIQ() Attrs {
+	return Attrs{
+		TotalSize:           1 << 21, // 2 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x40, 0x15},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q16FW 2MiB SPI flash.
+// Datasheet:
+// https://www.winbond.com/resource-files/w25q16fw%20revj%2005182017%20sfdp.pdf
+func W25Q16FW() Attrs {
+	return Attrs{
+		TotalSize:           1 << 21, // 2 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x60, 0x15},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q16JV-IM 2MiB SPI flash. Note that JV-IQ has a
+// different .memory_type (0x40) Datasheet:
+// https://www.winbond.com/resource-files/w25q16jv%20spi%20revf%2005092017.pdf
+func W25Q16JVIM() Attrs {
+	return Attrs{
+		TotalSize:           1 << 21, // 2 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x70, 0x15},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q32BV 4MiB SPI flash.
+// Datasheet:
+// https://www.winbond.com/resource-files/w25q32bv_revi_100413_wo_automotive.pdf
+func W25Q32BV() Attrs {
+	return Attrs{
+		TotalSize:           1 << 22, // 4 MiB
+		StartUp:             10000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x60, 0x16},
+		MaxClockSpeedMHz:    104,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  false,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q32JV-IM 4MiB SPI flash.
+// Datasheet:
+// https://www.winbond.com/resource-files/w25q32jv%20revg%2003272018%20plus.pdf
+func W25Q32JVIM() Attrs {
+	return Attrs{
+		TotalSize:           1 << 22, // 4 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x70, 0x16},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q64JV-IM 8MiB SPI flash. Note that JV-IQ has a
+// different .memory_type (0x40) Datasheet:
+// http://www.winbond.com/resource-files/w25q64jv%20revj%2003272018%20plus.pdf
+func W25Q64JVIM() Attrs {
+	return Attrs{
+		TotalSize:           1 << 23, // 8 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x70, 0x17},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q64JV-IQ 8MiB SPI flash. Note that JV-IM has a
+// different .memory_type (0x70) Datasheet:
+// http://www.winbond.com/resource-files/w25q64jv%20revj%2003272018%20plus.pdf
+func W25Q64JVIQ() Attrs {
+	return Attrs{
+		TotalSize:           1 << 23, // 8 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x40, 0x17},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q80DL 1MiB SPI flash.
+// Datasheet:
+// https://www.winbond.com/resource-files/w25q80dv%20dl_revh_10022015.pdf
+func W25Q80DL() Attrs {
+	return Attrs{
+		TotalSize:           1 << 20, // 1 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x60, 0x14},
+		MaxClockSpeedMHz:    104,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  false,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q128JV-SQ 16MiB SPI flash. Note that JV-IM has a
+// different .memory_type (0x70) Datasheet:
+// https://www.winbond.com/resource-files/w25q128jv%20revf%2003272018%20plus.pdf
+func W25Q128JVSQ() Attrs {
+	return Attrs{
+		TotalSize:           1 << 24, // 16 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x40, 0x18},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q128JV-PM 16MiB SPI flash. Note that JV-IM has a
+// different .memory_type (0x70) Datasheet:
+// https://www.winbond.com/resource-files/w25q128jv%20revf%2003272018%20plus.pdf
+func W25Q128JVPM() Attrs {
+	return Attrs{
+		TotalSize:           1 << 24, // 16 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x70, 0x18},
+		MaxClockSpeedMHz:    133,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q32FV 4MiB SPI flash.
+// Datasheet:http://www.winbond.com/resource-files/w25q32fv%20revj%2006032016.pdf?__locale=en
+func W25Q32FV() Attrs {
+	return Attrs{
+		TotalSize:           1 << 22, // 4 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x40, 0x16},
+		MaxClockSpeedMHz:    104,
+		QuadEnableBitMask:   0x00,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        false,
+		SupportsQSPIWrites:  false,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}

flash/flash.go

@@ -0,0 +1,405 @@
+package flash
+
+import (
+	"time"
+)
+
+const (
+	// BlockSize is the number of bytes in a block for most/all NOR flash memory
+	BlockSize = 64 * 1024
+
+	// SectorSize is the number of bytes in a sector for most/all NOR flash memory
+	SectorSize = 4 * 1024
+
+	// PageSize is the number of bytes in a page for most/all NOR flash memory
+	PageSize = 256
+)
+
+// Device represents a NOR flash memory device accessible using SPI
+type Device struct {
+	trans transport
+	attrs Attrs
+}
+
+// DeviceConfig contains the parameters that can be set when configuring a
+// flash memory device.
+type DeviceConfig struct {
+	Identifier DeviceIdentifier
+}
+
+// JedecID encapsules the ID values that unique identify a flash memory device.
+type JedecID struct {
+	ManufID  uint8
+	MemType  uint8
+	Capacity uint8
+}
+
+// Uint32 returns the JEDEC ID packed into a uint32
+func (id JedecID) Uint32() uint32 {
+	return uint32(id.ManufID)<<16 | uint32(id.MemType)<<8 | uint32(id.Capacity)
+}
+
+// SerialNumber represents a serial number read from a flash memory device
+type SerialNumber uint64
+
+// Attrs represent the differences in hardware characteristics and capabilities
+// of various SPI flash memory devices.
+type Attrs struct {
+
+	// TotalSize is the number of bytes that the flash device can store
+	TotalSize uint32
+
+	// StartUp is the duration of time between when the device is reset and when
+	// it is ready to operation
+	StartUp time.Duration
+
+	// Three response bytes to 0x9f JEDEC ID command.
+	JedecID
+
+	// Max clock speed for all operations and the fastest read mode.
+	MaxClockSpeedMHz uint8
+
+	// Bitmask for Quad Enable bit if present. 0x00 otherwise. This is for the
+	// highest byte in the status register.
+	QuadEnableBitMask uint8
+
+	HasSectorProtection bool
+
+	// Supports the 0x0b fast read command with 8 dummy cycles.
+	SupportsFastRead bool
+
+	// Supports the fast read, quad output command 0x6b with 8 dummy cycles.
+	SupportsQSPI bool
+
+	// Supports the quad input page program command 0x32. This is known as 1-1-4
+	// because it only uses all four lines for data.
+	SupportsQSPIWrites bool
+
+	// Requires a separate command 0x31 to write to the second byte of the status
+	// register. Otherwise two byte are written via 0x01.
+	WriteStatusSplit bool
+
+	// True when the status register is a single byte. This implies the Quad
+	// Enable bit is in the first byte and the Read Status Register 2 command
+	// (0x35) is unsupported.
+	SingleStatusByte bool
+}
+
+// Configure sets up the device and the underlying transport mechanism.  The
+// DeviceConfig argument allows the caller to specify an instance of the
+// DeviceIdentifier interface that, if provided, will be used to retrieve the
+// attributes of the device based on the JEDEC ID.
+func (dev *Device) Configure(config *DeviceConfig) (err error) {
+
+	dev.trans.configure(config)
+
+	var id JedecID
+	if id, err = dev.ReadJEDEC(); err != nil {
+		return err
+	}
+
+	// try to ascertain the vendor-specific attributes of the chip using the
+	// provided Identifier
+	if config.Identifier != nil {
+		dev.attrs = config.Identifier.Identify(id)
+	} else {
+		dev.attrs = Attrs{JedecID: id}
+	}
+
+	// We don't know what state the flash is in so wait for any remaining
+	// writes and then reset.
+
+	// The write in progress bit should be low.
+	for s, err := dev.ReadStatus(); (s & 0x01) > 0; s, err = dev.ReadStatus() {
+		if err != nil {
+			return err
+		}
+	}
+	// The suspended write/erase bit should be low.
+	for s, err := dev.ReadStatus2(); (s & 0x80) > 0; s, err = dev.ReadStatus2() {
+		if err != nil {
+			return err
+		}
+	}
+	// perform device reset
+	if err := dev.trans.runCommand(cmdEnableReset); err != nil {
+		return err
+	}
+	if err := dev.trans.runCommand(cmdReset); err != nil {
+		return err
+	}
+
+	// Wait for the reset - 30us by default
+	time.Sleep(30 * time.Microsecond)
+
+	// Speed up to max device frequency
+	if dev.attrs.MaxClockSpeedMHz > 0 {
+		err := dev.trans.setClockSpeed(uint32(dev.attrs.MaxClockSpeedMHz) * 1e6)
+		if err != nil {
+			return err
+		}
+	}
+
+	// Enable Quad Mode if available
+	if dev.trans.supportQuadMode() && dev.attrs.QuadEnableBitMask > 0 {
+		// Verify that QSPI mode is enabled.
+		var status byte
+		if dev.attrs.SingleStatusByte {
+			status, err = dev.ReadStatus()
+		} else {
+			status, err = dev.ReadStatus2()
+		}
+		if err != nil {
+			return err
+		}
+		// Check and set the quad enable bit.
+		if status&dev.attrs.QuadEnableBitMask == 0 {
+			if err := dev.WriteEnable(); err != nil {
+				return err
+			}
+			fullStatus := []byte{0x00, dev.attrs.QuadEnableBitMask}
+			if dev.attrs.WriteStatusSplit {
+				err = dev.trans.writeCommand(cmdWriteStatus2, fullStatus[1:])
+			} else if dev.attrs.SingleStatusByte {
+				err = dev.trans.writeCommand(cmdWriteStatus, fullStatus[1:])
+			} else {
+				err = dev.trans.writeCommand(cmdWriteStatus, fullStatus)
+			}
+			if err != nil {
+				return err
+			}
+		}
+	}
+
+	// disable sector protection if the chip has it
+	if dev.attrs.HasSectorProtection {
+		if err := dev.WriteEnable(); err != nil {
+			return err
+		}
+		if err := dev.trans.writeCommand(cmdWriteStatus, []byte{0x00}); err != nil {
+			return err
+		}
+	}
+
+	// write disable
+	if err := dev.trans.runCommand(cmdWriteDisable); err != nil {
+		return err
+	}
+	return dev.WaitUntilReady()
+}
+
+// Attrs returns the attributes of the device determined from the most recent
+// call to Configure(). If no call to Configure() has been made, this will be
+// the zero value of the Attrs struct.
+func (dev *Device) Attrs() Attrs {
+	return dev.attrs
+}
+
+// ReadJEDEC reads the JEDEC ID from the device; this ID can then be used to
+// ascertain the attributes of the chip from a list of known devices.
+func (dev *Device) ReadJEDEC() (JedecID, error) {
+	jedecID := make([]byte, 3)
+	if err := dev.trans.readCommand(cmdReadJedecID, jedecID); err != nil {
+		return JedecID{}, err
+	}
+	return JedecID{jedecID[0], jedecID[1], jedecID[2]}, nil
+}
+
+// ReadSerialNumber reads the serial numbers from the connected device.
+// TODO: maybe check if byte order / endianess is correct, probably is not
+func (dev *Device) ReadSerialNumber() (SerialNumber, error) {
+	sn := make([]byte, 12)
+	if err := dev.trans.readCommand(0x4B, sn); err != nil {
+		return 0, err
+	}
+	return SerialNumber(uint64(sn[11]) | uint64(sn[10])<<0x8 |
+		uint64(sn[9])<<0x10 | uint64(sn[8])<<0x18 | uint64(sn[7])<<0x20 |
+		uint64(sn[6])<<0x28 | uint64(sn[5])<<0x30 | uint64(sn[4])<<0x38), nil
+}
+
+// Size returns the size of this memory, in bytes.
+func (dev *Device) Size() int64 {
+	if dev.attrs.TotalSize < 1 {
+		// in case a DeviceIdentifier function wasn't used, use the capacity
+		// specified in the JEDEC ID instead
+		return int64(dev.attrs.Capacity)
+	}
+	return int64(dev.attrs.TotalSize)
+}
+
+// ReadAt satisfies the io.ReaderAt interface, and fills the provided buffer
+// with memory read from the device starting at the provided address.
+func (dev *Device) ReadAt(buf []byte, addr int64) (int, error) {
+	if err := dev.WaitUntilReady(); err != nil {
+		return 0, err
+	}
+	if err := dev.trans.readMemory(uint32(addr), buf); err != nil {
+		return 0, err
+	}
+	return len(buf), nil
+}
+
+// WriteAt satisfies the io.WriterAt interface and writes data to the device,
+// one page at a time, starting at the provided address. This method assumes
+// that the destination is already erased.
+func (dev *Device) WriteAt(buf []byte, addr int64) (n int, err error) {
+	remain := uint32(len(buf))
+	idx := uint32(0)
+	loc := uint32(addr)
+	for remain > 0 {
+		if err = dev.WaitUntilReady(); err != nil {
+			return
+		}
+		if err = dev.WriteEnable(); err != nil {
+			return
+		}
+		leftOnPage := PageSize - (loc & (PageSize - 1))
+		toWrite := remain
+		if leftOnPage < remain {
+			toWrite = leftOnPage
+		}
+		if err = dev.trans.writeMemory(loc, buf[idx:idx+toWrite]); err != nil {
+			return
+		}
+		idx += toWrite
+		loc += toWrite
+		remain -= toWrite
+	}
+	return len(buf) - int(remain), nil
+}
+
+// WriteBlockSize returns the block size in which data can be written to
+// memory. It can be used by a client to optimize writes, non-aligned writes
+// should always work correctly.
+// For SPI NOR flash this is the page size, usually/always 256.
+func (dev *Device) WriteBlockSize() int64 {
+	return PageSize
+}
+
+// EraseBlockSize returns the smallest erasable area on this particular chip
+// in bytes. This is used for the block size in EraseBlocks.
+// For SPI NOR flash this is the sector size, usually/always 4096.
+func (dev *Device) EraseBlockSize() int64 {
+	return SectorSize
+}
+
+// EraseBlocks erases the given number of blocks. An implementation may
+// transparently coalesce ranges of blocks into larger bundles if the chip
+// supports this. The start and len parameters are in block numbers, use
+// EraseBlockSize to map addresses to blocks.
+func (dev *Device) EraseBlocks(start, len int64) error {
+	// TODO: maybe combine sector erase operations into block erase operations
+	for i := start; i < start+len; i++ {
+		if err := dev.EraseSector(uint32(i)); err != nil {
+			return err
+		}
+	}
+	return nil
+}
+
+func (dev *Device) WriteEnable() error {
+	return dev.trans.runCommand(cmdWriteEnable)
+}
+
+// EraseBlock erases a block of memory at the specified index
+func (dev *Device) EraseBlock(blockNumber uint32) error {
+	if err := dev.WaitUntilReady(); err != nil {
+		return err
+	}
+	if err := dev.WriteEnable(); err != nil {
+		return err
+	}
+	return dev.trans.eraseCommand(cmdEraseBlock, blockNumber*BlockSize)
+}
+
+// EraseSector erases a sector of memory at the given index
+func (dev *Device) EraseSector(sectorNumber uint32) error {
+	if err := dev.WaitUntilReady(); err != nil {
+		return err
+	}
+	if err := dev.WriteEnable(); err != nil {
+		return err
+	}
+	return dev.trans.eraseCommand(cmdEraseSector, sectorNumber*SectorSize)
+}
+
+// EraseChip erases the entire flash memory chip
+func (dev *Device) EraseAll() error {
+	if err := dev.WaitUntilReady(); err != nil {
+		return err
+	}
+	if err := dev.WriteEnable(); err != nil {
+		return err
+	}
+	return dev.trans.runCommand(cmdEraseChip)
+}
+
+// ReadStatus reads the value from status register 1 of the device
+func (dev *Device) ReadStatus() (status byte, err error) {
+	buf := make([]byte, 1)
+	err = dev.trans.readCommand(cmdReadStatus, buf)
+	return buf[0], err
+}
+
+// ReadStatus2 reads the value from status register 2 of the device
+func (dev *Device) ReadStatus2() (status byte, err error) {
+	buf := make([]byte, 1)
+	err = dev.trans.readCommand(cmdReadStatus2, buf)
+	return buf[0], err
+}
+
+// WaitUntilReady queries the status register until the device is ready for the
+// next operation.
+func (dev *Device) WaitUntilReady() error {
+	expire := time.Now().UnixNano() + int64(1*time.Second)
+	for s, err := dev.ReadStatus(); (s & 0x03) > 0; s, err = dev.ReadStatus() {
+		if err != nil {
+			return err
+		}
+		if time.Now().UnixNano() > expire {
+			return ErrWaitExpired
+		}
+	}
+	return nil
+}
+
+const (
+	cmdRead            = 0x03 // read memory using single-bit transfer
+	cmdQuadRead        = 0x6B // read with 1 line address, 4 line data
+	cmdReadJedecID     = 0x9F // read the JEDEC ID from the device
+	cmdPageProgram     = 0x02 // write a page of memory using single-bit transfer
+	cmdQuadPageProgram = 0x32 // write with 1 line address, 4 line data
+	cmdReadStatus      = 0x05 // read status register 1
+	cmdReadStatus2     = 0x35 // read status register 2
+	cmdWriteStatus     = 0x01 // write status register 1
+	cmdWriteStatus2    = 0x31 // write status register 2
+	cmdEnableReset     = 0x66 // enable reset
+	cmdReset           = 0x99 // perform reset
+	cmdWriteEnable     = 0x06 // write-enable memory
+	cmdWriteDisable    = 0x04 // write-protect memory
+	cmdEraseSector     = 0x20 // erase a sector of memory
+	cmdEraseBlock      = 0xD8 // erase a block of memory
+	cmdEraseChip       = 0xC7 // erase the entire chip
+)
+
+type Error uint8
+
+const (
+	_                          = iota
+	ErrInvalidClockSpeed Error = iota
+	ErrInvalidAddrRange
+	ErrWaitExpired
+)
+
+func (err Error) Error() string {
+	switch err {
+	case ErrInvalidClockSpeed:
+		return "flash: invalid clock speed"
+	case ErrInvalidAddrRange:
+		return "flash: invalid address range"
+	case ErrWaitExpired:
+		return "flash: wait until ready expired"
+	default:
+		return "flash: unspecified error"
+	}
+}

flash/transport_qspi_samd.go

@@ -0,0 +1,247 @@
+// +build atsamd51
+
+package flash
+
+import (
+	"device/sam"
+	"machine"
+	"runtime/volatile"
+	"unsafe"
+)
+
+// NewQSPI returns a pointer to a flash device that uses the QSPI peripheral to
+// communicate with a serial memory chip.
+func NewQSPI(cs, sck, d0, d1, d2, d3 machine.Pin) *Device {
+	return &Device{
+		trans: &qspiTransport{
+			cs:  cs,
+			sck: sck,
+			d0:  d0,
+			d1:  d1,
+			d2:  d2,
+			d3:  d3,
+		},
+	}
+}
+
+// QSPI address space on SAMD51 is 0x04000000 to 0x05000000
+const (
+	// Low address of the QSPI address space on SAMD51
+	qspi_AHB_LO = 0x04000000
+
+	// High address of the QSPI address space on SAMD51
+	qspi_AHB_HI = 0x05000000
+
+	// Instruction frame for running sending a command to the device
+	iframeRunCommand = 0x0 |
+		sam.QSPI_INSTRFRAME_WIDTH_SINGLE_BIT_SPI |
+		sam.QSPI_INSTRFRAME_ADDRLEN_24BITS |
+		sam.QSPI_INSTRFRAME_INSTREN |
+		(sam.QSPI_INSTRFRAME_TFRTYPE_READ << sam.QSPI_INSTRFRAME_TFRTYPE_Pos)
+
+	// Instruction frame for running a command that returns data
+	iframeReadCommand = 0x0 |
+		sam.QSPI_INSTRFRAME_WIDTH_SINGLE_BIT_SPI |
+		sam.QSPI_INSTRFRAME_ADDRLEN_24BITS |
+		sam.QSPI_INSTRFRAME_INSTREN |
+		sam.QSPI_INSTRFRAME_DATAEN |
+		(sam.QSPI_INSTRFRAME_TFRTYPE_READ << sam.QSPI_INSTRFRAME_TFRTYPE_Pos)
+
+	// Instruction frame to set up the device to read from memory
+	iframeReadMemory = 0x0 |
+		sam.QSPI_INSTRFRAME_WIDTH_QUAD_OUTPUT |
+		sam.QSPI_INSTRFRAME_ADDRLEN_24BITS |
+		sam.QSPI_INSTRFRAME_INSTREN |
+		sam.QSPI_INSTRFRAME_DATAEN |
+		sam.QSPI_INSTRFRAME_ADDREN |
+		(8 << sam.QSPI_INSTRFRAME_DUMMYLEN_Pos) |
+		(sam.QSPI_INSTRFRAME_TFRTYPE_READMEMORY << sam.QSPI_INSTRFRAME_TFRTYPE_Pos)
+
+	// Instruction frame for running a command that requires parameter data
+	iframeWriteCommand = 0x0 |
+		sam.QSPI_INSTRFRAME_WIDTH_SINGLE_BIT_SPI |
+		sam.QSPI_INSTRFRAME_ADDRLEN_24BITS |
+		sam.QSPI_INSTRFRAME_INSTREN |
+		(sam.QSPI_INSTRFRAME_TFRTYPE_WRITE << sam.QSPI_INSTRFRAME_TFRTYPE_Pos)
+
+	// Instruction frame to set up the device for writing to memory
+	iframeWriteMemory = 0x0 |
+		sam.QSPI_INSTRFRAME_WIDTH_QUAD_OUTPUT |
+		sam.QSPI_INSTRFRAME_ADDRLEN_24BITS |
+		sam.QSPI_INSTRFRAME_INSTREN |
+		sam.QSPI_INSTRFRAME_ADDREN |
+		sam.QSPI_INSTRFRAME_DATAEN |
+		(sam.QSPI_INSTRFRAME_TFRTYPE_WRITEMEMORY << sam.QSPI_INSTRFRAME_TFRTYPE_Pos)
+
+	// Instruction frame for running an erase command that requires and address
+	iframeEraseCommand = 0x0 |
+		sam.QSPI_INSTRFRAME_WIDTH_SINGLE_BIT_SPI |
+		sam.QSPI_INSTRFRAME_ADDRLEN_24BITS |
+		sam.QSPI_INSTRFRAME_INSTREN |
+		sam.QSPI_INSTRFRAME_ADDREN |
+		(sam.QSPI_INSTRFRAME_TFRTYPE_WRITE << sam.QSPI_INSTRFRAME_TFRTYPE_Pos)
+)
+
+type qspiTransport struct {
+	cs  machine.Pin
+	sck machine.Pin
+	d0  machine.Pin
+	d1  machine.Pin
+	d2  machine.Pin
+	d3  machine.Pin
+}
+
+func (q qspiTransport) configure(config *DeviceConfig) {
+
+	// enable main clocks
+	sam.MCLK.APBCMASK.SetBits(sam.MCLK_APBCMASK_QSPI_)
+	sam.MCLK.AHBMASK.SetBits(sam.MCLK_AHBMASK_QSPI_)
+	sam.MCLK.AHBMASK.ClearBits(sam.MCLK_AHBMASK_QSPI_2X_)
+
+	sam.QSPI.CTRLA.SetBits(sam.QSPI_CTRLA_SWRST)
+
+	// enable all pins to be PinCom
+	q.d0.Configure(machine.PinConfig{Mode: machine.PinCom})
+	q.d1.Configure(machine.PinConfig{Mode: machine.PinCom})
+	q.d2.Configure(machine.PinConfig{Mode: machine.PinCom})
+	q.d3.Configure(machine.PinConfig{Mode: machine.PinCom})
+	q.cs.Configure(machine.PinConfig{Mode: machine.PinCom})
+	q.sck.Configure(machine.PinConfig{Mode: machine.PinCom})
+
+	// start out with 4Mhz
+	// can ignore the error, 4Mhz is always a valid speed
+	_ = q.setClockSpeed(4e6)
+
+	// configure the CTRLB register
+	sam.QSPI.CTRLB.Set(sam.QSPI_CTRLB_MODE_MEMORY |
+		(sam.QSPI_CTRLB_DATALEN_8BITS << sam.QSPI_CTRLB_DATALEN_Pos) |
+		(sam.QSPI_CTRLB_CSMODE_LASTXFER << sam.QSPI_CTRLB_CSMODE_Pos))
+
+	// enable the peripheral
+	sam.QSPI.CTRLA.SetBits(sam.QSPI_CTRLA_ENABLE)
+}
+
+func (q qspiTransport) supportQuadMode() bool {
+	return true
+}
+
+func (q qspiTransport) setClockSpeed(hz uint32) error {
+	// The clock speed for the QSPI peripheral is controlled by a divider, so
+	// we can't set the requested speed exactly. Instead we will increment the
+	// divider until the speed is less than or equal to the speed requested.
+	for div, freq := uint32(1), machine.CPUFrequency(); div < 256; div++ {
+		if freq/div <= hz {
+			sam.QSPI.BAUD.Set(div << sam.QSPI_BAUD_BAUD_Pos)
+			return nil
+		}
+	}
+	return ErrInvalidClockSpeed
+}
+
+func (q qspiTransport) runCommand(cmd byte) (err error) {
+	q.runInstruction(cmd, iframeRunCommand)
+	q.endTransfer()
+	return
+}
+
+func (q qspiTransport) readCommand(cmd byte, buf []byte) (err error) {
+	q.disableAndClearCache()
+	q.runInstruction(cmd, iframeReadCommand)
+	q.readInto(buf, 0)
+	q.endTransfer()
+	q.enableCache()
+	return
+}
+
+func (q qspiTransport) readMemory(addr uint32, buf []byte) (err error) {
+	if (addr + uint32(len(buf))) > (qspi_AHB_HI - qspi_AHB_LO) {
+		return ErrInvalidAddrRange
+	}
+	q.disableAndClearCache()
+	q.runInstruction(cmdQuadRead, iframeReadMemory)
+	q.readInto(buf, addr)
+	q.endTransfer()
+	q.enableCache()
+	return
+}
+
+func (q qspiTransport) writeCommand(cmd byte, data []byte) (err error) {
+	var dataen uint32
+	if len(data) > 0 {
+		dataen = sam.QSPI_INSTRFRAME_DATAEN
+	}
+	q.disableAndClearCache()
+	q.runInstruction(cmd, iframeWriteCommand|dataen)
+	q.writeFrom(data, 0)
+	q.endTransfer()
+	q.enableCache()
+	return
+}
+
+func (q qspiTransport) writeMemory(addr uint32, data []byte) (err error) {
+	if (addr + uint32(len(data))) > (qspi_AHB_HI - qspi_AHB_LO) {
+		return ErrInvalidAddrRange
+	}
+	q.disableAndClearCache()
+	q.runInstruction(cmdQuadPageProgram, iframeWriteMemory)
+	q.writeFrom(data, addr)
+	q.endTransfer()
+	q.enableCache()
+	return
+}
+
+func (q qspiTransport) eraseCommand(cmd byte, addr uint32) (err error) {
+	q.disableAndClearCache()
+	sam.QSPI.INSTRADDR.Set(addr)
+	q.runInstruction(cmd, iframeEraseCommand)
+	q.endTransfer()
+	q.enableCache()
+	return
+}
+
+func (q qspiTransport) runInstruction(cmd byte, iframe uint32) {
+	sam.QSPI.INSTRCTRL.Set(uint32(cmd))
+	sam.QSPI.INSTRFRAME.Set(iframe)
+	sam.QSPI.INSTRFRAME.Get() // dummy read for synchronization, as per datasheet
+}
+
+func (q qspiTransport) enableCache() {
+	sam.CMCC.CTRL.SetBits(sam.CMCC_CTRL_CEN)
+}
+
+func (q qspiTransport) disableAndClearCache() {
+	sam.CMCC.CTRL.ClearBits(sam.CMCC_CTRL_CEN)
+	for sam.CMCC.SR.HasBits(sam.CMCC_SR_CSTS) {
+	}
+	sam.CMCC.MAINT0.SetBits(sam.CMCC_MAINT0_INVALL)
+}
+
+func (q qspiTransport) endTransfer() {
+	sam.QSPI.CTRLA.Set(sam.QSPI_CTRLA_ENABLE | sam.QSPI_CTRLA_LASTXFER)
+	for !sam.QSPI.INTFLAG.HasBits(sam.QSPI_INTFLAG_INSTREND) {
+	}
+	sam.QSPI.INTFLAG.Set(sam.QSPI_INTFLAG_INSTREND)
+}
+
+func (q qspiTransport) readInto(buf []byte, addr uint32) {
+	var ptr = qspi_AHB_LO + uintptr(addr)
+	for i := range buf {
+		buf[i] = volatile.LoadUint8((*uint8)(unsafe.Pointer(ptr)))
+		ptr++
+	}
+	/* // NB(bcg): for some reason this reads data that results from commands in
+	   // a different byte order than the loop above, but works fine for reading
+	   // from memory. Oddly, the above loop seems to work fine in both cases.
+		ln := len(buf)
+		sl := (*[1 << 28]byte)(unsafe.Pointer(uintptr(qspi_AHB_LO + addr)))[:ln:ln]
+		copy(buf, sl)
+	*/
+}
+
+func (q qspiTransport) writeFrom(buf []byte, addr uint32) {
+	var ptr = qspi_AHB_LO + uintptr(addr)
+	for i := range buf {
+		volatile.StoreUint8((*uint8)(unsafe.Pointer(ptr)), buf[i])
+		ptr++
+	}
+}

flash/transport_spi.go

@@ -0,0 +1,154 @@
+package flash
+
+import "machine"
+
+type transport interface {
+	configure(config *DeviceConfig)
+	supportQuadMode() bool
+	setClockSpeed(hz uint32) (err error)
+	runCommand(cmd byte) (err error)
+	readCommand(cmd byte, rsp []byte) (err error)
+	writeCommand(cmd byte, data []byte) (err error)
+	eraseCommand(cmd byte, address uint32) (err error)
+	readMemory(addr uint32, rsp []byte) (err error)
+	writeMemory(addr uint32, data []byte) (err error)
+}
+
+// NewSPI returns a pointer to a flash device that uses a SPI peripheral to
+// communicate with a serial memory chip.
+func NewSPI(spi *machine.SPI, sdo, sdi, sck, cs machine.Pin) *Device {
+	return &Device{
+		trans: &spiTransport{
+			spi: spi,
+			sdo: sdo,
+			sdi: sdi,
+			sck: sck,
+			ss:  cs,
+		},
+	}
+}
+
+type spiTransport struct {
+	spi *machine.SPI
+	sdo machine.Pin
+	sdi machine.Pin
+	sck machine.Pin
+	ss  machine.Pin
+}
+
+func (tr *spiTransport) configure(config *DeviceConfig) {
+	// Configure spi bus
+	tr.setClockSpeed(5000000)
+
+	// Configure chip select pin
+	tr.ss.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	tr.ss.High()
+}
+
+func (tr *spiTransport) setClockSpeed(hz uint32) error {
+	// TODO: un-hardcode this max speed; it is probably a sensible
+	//       default maximum for atsamd and nrf at least
+	if hz > 24*1e6 {
+		hz = 24 * 1e6
+	}
+	tr.spi.Configure(machine.SPIConfig{
+		Frequency: hz,
+		SDI:       tr.sdi,
+		SDO:       tr.sdo,
+		SCK:       tr.sck,
+		LSBFirst:  false,
+		Mode:      0,
+	})
+	return nil
+}
+
+func (tr *spiTransport) supportQuadMode() bool {
+	return false
+}
+
+func (tr *spiTransport) runCommand(cmd byte) (err error) {
+	tr.ss.Low()
+	_, err = tr.spi.Transfer(byte(cmd))
+	tr.ss.High()
+	return
+}
+
+func (tr *spiTransport) readCommand(cmd byte, rsp []byte) (err error) {
+	tr.ss.Low()
+	if _, err := tr.spi.Transfer(byte(cmd)); err == nil {
+		err = tr.readInto(rsp)
+	}
+	tr.ss.High()
+	return
+}
+
+func (tr *spiTransport) readCommandByte(cmd byte) (rsp byte, err error) {
+	tr.ss.Low()
+	if _, err := tr.spi.Transfer(byte(cmd)); err == nil {
+		rsp, err = tr.spi.Transfer(0xFF)
+	}
+	tr.ss.High()
+	return
+}
+
+func (tr *spiTransport) writeCommand(cmd byte, data []byte) (err error) {
+	tr.ss.Low()
+	if _, err := tr.spi.Transfer(byte(cmd)); err == nil {
+		err = tr.writeFrom(data)
+	}
+	tr.ss.High()
+	return
+}
+
+func (tr *spiTransport) eraseCommand(cmd byte, address uint32) (err error) {
+	tr.ss.Low()
+	err = tr.sendAddress(cmd, address)
+	tr.ss.High()
+	return
+}
+
+func (tr *spiTransport) readMemory(addr uint32, rsp []byte) (err error) {
+	tr.ss.Low()
+	if err = tr.sendAddress(cmdRead, addr); err == nil {
+		err = tr.readInto(rsp)
+	}
+	tr.ss.High()
+	return
+}
+
+func (tr *spiTransport) writeMemory(addr uint32, data []byte) (err error) {
+	tr.ss.Low()
+	if err = tr.sendAddress(cmdPageProgram, addr); err == nil {
+		err = tr.writeFrom(data)
+	}
+	tr.ss.High()
+	return
+}
+
+func (tr *spiTransport) sendAddress(cmd byte, addr uint32) error {
+	_, err := tr.spi.Transfer(byte(cmd))
+	if err == nil {
+		_, err = tr.spi.Transfer(byte((addr >> 16) & 0xFF))
+	}
+	if err == nil {
+		_, err = tr.spi.Transfer(byte((addr >> 8) & 0xFF))
+	}
+	if err == nil {
+		_, err = tr.spi.Transfer(byte(addr & 0xFF))
+	}
+	return err
+}
+
+func (tr *spiTransport) readInto(rsp []byte) (err error) {
+	for i, c := 0, len(rsp); i < c && err == nil; i++ {
+		rsp[i], err = tr.spi.Transfer(0xFF)
+	}
+	return
+}
+
+func (tr *spiTransport) writeFrom(data []byte) (err error) {
+	for i, c := 0, len(data); i < c && err == nil; i++ {
+		_, err = tr.spi.Transfer(data[i])
+	}
+	return
+}

go.mod

@@ -0,0 +1,8 @@
+module tinygo.org/x/drivers
+
+go 1.15
+
+require (
+	github.com/eclipse/paho.mqtt.golang v1.2.0
+	github.com/frankban/quicktest v1.10.2
+)

go.sum

@@ -0,0 +1,13 @@
+github.com/eclipse/paho.mqtt.golang v1.2.0 h1:1F8mhG9+aO5/xpdtFkW4SxOJB67ukuDC3t2y2qayIX0=
+github.com/eclipse/paho.mqtt.golang v1.2.0/go.mod h1:H9keYFcgq3Qr5OUJm/JZI/i6U7joQ8SYLhZwfeOo6Ts=
+github.com/frankban/quicktest v1.10.2 h1:19ARM85nVi4xH7xPXuc5eM/udya5ieh7b/Sv+d844Tk=
+github.com/frankban/quicktest v1.10.2/go.mod h1:K+q6oSqb0W0Ininfk863uOk1lMy69l/P6txr3mVT54s=
+github.com/google/go-cmp v0.5.2 h1:X2ev0eStA3AbceY54o37/0PQ/UWqKEiiO2dKL5OPaFM=
+github.com/google/go-cmp v0.5.2/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
+github.com/kr/pretty v0.2.1 h1:Fmg33tUaq4/8ym9TJN1x7sLJnHVwhP33CNkpYV/7rwI=
+github.com/kr/pretty v0.2.1/go.mod h1:ipq/a2n7PKx3OHsz4KJII5eveXtPO4qwEXGdVfWzfnI=
+github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ=
+github.com/kr/text v0.1.0 h1:45sCR5RtlFHMR4UwH9sdQ5TC8v0qDQCHnXt+kaKSTVE=
+github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI=
+golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543 h1:E7g+9GITq07hpfrRu66IVDexMakfv52eLZ2CXBWiKr4=
+golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=

gps/gps.go

@@ -3,24 +3,32 @@ package gps // import "tinygo.org/x/drivers/gps"
 
 import (
 	"encoding/hex"
+	"errors"
 	"machine"
 	"strings"
 	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+var (
+	errInvalidNMEASentenceLength = errors.New("invalid NMEA sentence length")
+	errInvalidNMEAChecksum       = errors.New("invalid NMEA sentence checksum")
 )
 
 // Device wraps a connection to a GPS device.
-type GPSDevice struct {
+type Device struct {
 	buffer   []byte
 	bufIdx   int
 	sentence strings.Builder
 	uart     *machine.UART
-	bus      *machine.I2C
+	bus      drivers.I2C
 	address  uint16
 }
 
 // NewUART creates a new UART GPS connection. The UART must already be configured.
-func NewUART(uart *machine.UART) GPSDevice {
-	return GPSDevice{
+func NewUART(uart *machine.UART) Device {
+	return Device{
 		uart:     uart,
 		buffer:   make([]byte, bufferSize),
 		bufIdx:   bufferSize,
@@ -29,8 +37,8 @@ func NewUART(uart *machine.UART) GPSDevice {
 }
 
 // NewI2C creates a new I2C GPS connection.
-func NewI2C(bus *machine.I2C) GPSDevice {
-	return GPSDevice{
+func NewI2C(bus drivers.I2C) Device {
+	return Device{
 		bus:      bus,
 		address:  I2C_ADDRESS,
 		buffer:   make([]byte, bufferSize),
@@ -39,17 +47,17 @@ func NewI2C(bus *machine.I2C) GPSDevice {
 	}
 }
 
-// ReadNextSentence returns the next valid NMEA sentence from the GPS device.
-func (gps *GPSDevice) NextSentence() (sentence string) {
+// NextSentence returns the next valid NMEA sentence from the GPS device.
+func (gps *Device) NextSentence() (sentence string, err error) {
 	sentence = gps.readNextSentence()
-	for !validSentence(sentence) {
-		sentence = gps.readNextSentence()
+	if err = validSentence(sentence); err != nil {
+		return "", err
 	}
-	return sentence
+	return sentence, nil
 }
 
 // readNextSentence returns the next sentence from the GPS device.
-func (gps *GPSDevice) readNextSentence() (sentence string) {
+func (gps *Device) readNextSentence() (sentence string) {
 	gps.sentence.Reset()
 	var b byte = ' '
 
@@ -69,7 +77,7 @@ func (gps *GPSDevice) readNextSentence() (sentence string) {
 	return sentence
 }
 
-func (gps *GPSDevice) readNextByte() (b byte) {
+func (gps *Device) readNextByte() (b byte) {
 	gps.bufIdx += 1
 	if gps.bufIdx >= bufferSize {
 		gps.fillBuffer()
@@ -77,7 +85,7 @@ func (gps *GPSDevice) readNextByte() (b byte) {
 	return gps.buffer[gps.bufIdx]
 }
 
-func (gps *GPSDevice) fillBuffer() {
+func (gps *Device) fillBuffer() {
 	if gps.uart != nil {
 		gps.uartFillBuffer()
 	} else {
@@ -85,7 +93,7 @@ func (gps *GPSDevice) fillBuffer() {
 	}
 }
 
-func (gps *GPSDevice) uartFillBuffer() {
+func (gps *Device) uartFillBuffer() {
 	for gps.uart.Buffered() < bufferSize {
 		time.Sleep(100 * time.Millisecond)
 	}
@@ -93,7 +101,7 @@ func (gps *GPSDevice) uartFillBuffer() {
 	gps.bufIdx = 0
 }
 
-func (gps *GPSDevice) i2cFillBuffer() {
+func (gps *Device) i2cFillBuffer() {
 	for gps.available() < bufferSize {
 		time.Sleep(100 * time.Millisecond)
 	}
@@ -102,7 +110,7 @@ func (gps *GPSDevice) i2cFillBuffer() {
 }
 
 // Available returns how many bytes of GPS data are currently available.
-func (gps *GPSDevice) available() (available int) {
+func (gps *Device) available() (available int) {
 	var lengthBytes [2]byte
 	gps.bus.Tx(gps.address, []byte{BYTES_AVAIL_REG}, lengthBytes[0:2])
 	available = int(lengthBytes[0])*256 + int(lengthBytes[1])
@@ -110,7 +118,7 @@ func (gps *GPSDevice) available() (available int) {
 }
 
 // WriteBytes sends data/commands to the GPS device
-func (gps *GPSDevice) WriteBytes(bytes []byte) {
+func (gps *Device) WriteBytes(bytes []byte) {
 	if gps.uart != nil {
 		gps.uart.Write(bytes)
 	} else {
@@ -119,14 +127,18 @@ func (gps *GPSDevice) WriteBytes(bytes []byte) {
 }
 
 // validSentence checks if a sentence has been received uncorrupted
-func validSentence(sentence string) bool {
+func validSentence(sentence string) error {
 	if len(sentence) < 4 || sentence[0] != '$' || sentence[len(sentence)-3] != '*' {
-		return false
+		return errInvalidNMEASentenceLength
 	}
 	var cs byte = 0
 	for i := 1; i < len(sentence)-3; i++ {
 		cs ^= sentence[i]
 	}
 	checksum := hex.EncodeToString([]byte{cs})
-	return (checksum[0] == sentence[len(sentence)-2]) && (checksum[1] == sentence[len(sentence)-1])
+	if (checksum[0] != sentence[len(sentence)-2]) || (checksum[1] != sentence[len(sentence)-1]) {
+		return errInvalidNMEAChecksum
+	}
+
+	return nil
 }

gps/gpsparser.go

@@ -1,92 +1,131 @@
 package gps
 
 import (
+	"errors"
 	"strconv"
 	"strings"
 	"time"
 )
 
-type GPSParser struct {
-	gpsDevice GPSDevice
+var (
+	errEmptyNMEASentence   = errors.New("cannot parse empty NMEA sentence")
+	errUnknownNMEASentence = errors.New("unsupported NMEA sentence type")
+	errInvalidGGASentence  = errors.New("invalid GGA NMEA sentence")
+	errInvalidRMCSentence  = errors.New("invalid RMC NMEA sentence")
+)
+
+// Parser for GPS NMEA sentences.
+type Parser struct {
 }
 
-// fix is a GPS location fix
+// Fix is a GPS location fix
 type Fix struct {
-	Valid      bool
-	Time       time.Time
-	Latitude   float32
-	Longitude  float32
-	Altitude   int32
+	// Valid if the fix was valid.
+	Valid bool
+
+	// Time that the fix was taken, in UTC time.
+	Time time.Time
+
+	// Latitude is the decimal latitude. Negative numbers indicate S.
+	Latitude float32
+
+	// Longitude is the decimal longitude. Negative numbers indicate E.
+	Longitude float32
+
+	// Altitude is only returned for GGA sentences.
+	Altitude int32
+
+	// Satellites is the number of visible satellites, but is only returned for GGA sentences.
 	Satellites int16
+
+	// Speed based on reported movement. Only returned for RMC sentences.
+	Speed float32
+
+	// Heading based on reported movement. Only returned for RMC sentences.
+	Heading float32
 }
 
-func Parser(gpsDevice GPSDevice) GPSParser {
-	return GPSParser{
-		gpsDevice: gpsDevice,
+// NewParser returns a GPS NMEA Parser.
+func NewParser() Parser {
+	return Parser{}
+}
+
+// Parse parses a NMEA sentence looking for fix info.
+func (parser *Parser) Parse(sentence string) (fix Fix, err error) {
+	if sentence == "" {
+		err = errEmptyNMEASentence
+		return
 	}
-}
-
-// NextFix returns the next GPS location Fix from the GPS device
-func (parser *GPSParser) NextFix() (fix Fix) {
-	var ggaSentence = nextGGA(parser.gpsDevice)
-	var ggaFields = strings.Split(ggaSentence, ",")
-	fix.Altitude = findAltitude(ggaFields)
-	fix.Satellites = findSatellites(ggaFields)
-	fix.Longitude = findLongitude(ggaFields)
-	fix.Latitude = findLatitude(ggaFields)
-	fix.Time = findTime(ggaFields)
-	fix.Valid = (fix.Altitude != -99999) && (fix.Satellites > 0)
-	return fix
-}
-
-// nextGGA returns the next GGA type sentence from the GPS device
-// $--GGA,,,,,,,,,,,,,,*hh
-func nextGGA(gpsDevice GPSDevice) (sentence string) {
-	for {
-		sentence = gpsDevice.NextSentence()
-		if sentence[3:6] == "GGA" {
-			return sentence
+	typ := sentence[3:6]
+	switch typ {
+	case "GGA":
+		fields := strings.Split(sentence, ",")
+		if len(fields) != 15 {
+			err = errInvalidGGASentence
+			return
 		}
+
+		fix.Altitude = findAltitude(fields[9])
+		fix.Satellites = findSatellites(fields[7])
+		fix.Longitude = findLongitude(fields[4], fields[5])
+		fix.Latitude = findLatitude(fields[2], fields[3])
+		fix.Time = findTime(fields[1])
+		fix.Valid = (fix.Altitude != -99999) && (fix.Satellites > 0)
+	case "RMC":
+		fields := strings.Split(sentence, ",")
+		if len(fields) != 13 {
+			err = errInvalidRMCSentence
+			return
+		}
+
+		fix.Longitude = findLongitude(fields[5], fields[6])
+		fix.Latitude = findLatitude(fields[3], fields[4])
+		fix.Time = findTime(fields[1])
+		fix.Speed = findSpeed(fields[7])
+		fix.Heading = findHeading(fields[8])
+		fix.Valid = (len(fields[2]) > 0 && fields[2][0:1] == "A")
+	default:
+		err = errUnknownNMEASentence
 	}
+	return
 }
 
-// findTime returns the time from a GGA sentence:
+// findTime returns the time from an NMEA sentence:
 // $--GGA,hhmmss.ss,,,,,,,,,,,,,*xx
-func findTime(ggaFields []string) time.Time {
-	if len(ggaFields) < 1 || len(ggaFields[1]) < 6 {
+func findTime(val string) time.Time {
+	if len(val) < 6 {
 		return time.Time{}
 	}
-	ts := strings.Builder{}
-	ts.WriteString(ggaFields[1][0:2])
-	ts.WriteString(":")
-	ts.WriteString(ggaFields[1][2:4])
-	ts.WriteString(":")
-	ts.WriteString(ggaFields[1][4:6])
-	var t, _ = time.Parse("15:04:05", ts.String())
+
+	h, _ := strconv.ParseInt(val[0:2], 10, 8)
+	m, _ := strconv.ParseInt(val[2:4], 10, 8)
+	s, _ := strconv.ParseInt(val[4:6], 10, 8)
+	ms, _ := strconv.ParseInt(val[7:10], 10, 16)
+	t := time.Date(0, 0, 0, int(h), int(m), int(s), int(ms), time.UTC)
 
 	return t
 }
 
-// findAltitude returns the altitude from a GGA sentence:
+// findAltitude returns the altitude from an NMEA sentence:
 // $--GGA,,,,,,,,,25.8,,,,,*63
-func findAltitude(ggaFields []string) int32 {
-	if len(ggaFields) > 8 && len(ggaFields[9]) > 0 {
-		var v, _ = strconv.ParseFloat(ggaFields[9], 32)
+func findAltitude(val string) int32 {
+	if len(val) > 0 {
+		var v, _ = strconv.ParseFloat(val, 32)
 		return int32(v)
 	}
 	return -99999
 }
 
-// findLatitude returns the Latitude from a GGA sentence:
+// findLatitude returns the Latitude from an NMEA sentence:
 // $--GGA,,ddmm.mmmmm,x,,,,,,,,,,,*hh
-func findLatitude(ggaFields []string) float32 {
-	if len(ggaFields) > 2 && len(ggaFields[2]) > 8 {
-		var dd = ggaFields[2][0:2]
-		var mm = ggaFields[2][2:]
+func findLatitude(val, hemi string) float32 {
+	if len(val) > 8 {
+		var dd = val[0:2]
+		var mm = val[2:]
 		var d, _ = strconv.ParseFloat(dd, 32)
 		var m, _ = strconv.ParseFloat(mm, 32)
 		var v = float32(d + (m / 60))
-		if ggaFields[3] == "S" {
+		if hemi == "S" {
 			v *= -1
 		}
 		return v
@@ -94,16 +133,16 @@ func findLatitude(ggaFields []string) float32 {
 	return 0.0
 }
 
-// findLatitude returns the longitude from a GGA sentence:
+// findLatitude returns the longitude from an NMEA sentence:
 // $--GGA,,,,dddmm.mmmmm,x,,,,,,,,,*hh
-func findLongitude(ggaFields []string) float32 {
-	if len(ggaFields) > 4 && len(ggaFields[4]) > 8 {
-		var ddd = ggaFields[4][0:3]
-		var mm = ggaFields[4][3:]
+func findLongitude(val, hemi string) float32 {
+	if len(val) > 8 {
+		var ddd = val[0:3]
+		var mm = val[3:]
 		var d, _ = strconv.ParseFloat(ddd, 32)
 		var m, _ = strconv.ParseFloat(mm, 32)
 		var v = float32(d + (m / 60))
-		if ggaFields[5] == "W" {
+		if hemi == "W" {
 			v *= -1
 		}
 		return v
@@ -111,14 +150,32 @@ func findLongitude(ggaFields []string) float32 {
 	return 0.0
 }
 
-// findSatellites returns the satellites from a GGA sentence:
+// findSatellites returns the satellites from an NMEA sentence:
 // $--GGA,,,,,,,nn,,,,,,,*hh
-func findSatellites(ggaFields []string) (n int16) {
-	if len(ggaFields) > 6 && len(ggaFields[7]) > 0 {
-		var nn = ggaFields[7]
+func findSatellites(val string) (n int16) {
+	if len(val) > 0 {
+		var nn = val
 		var v, _ = strconv.ParseInt(nn, 10, 32)
 		n = int16(v)
 		return n
 	}
 	return 0
 }
+
+// findSpeed returns the speed from an RMC NMEA sentence.
+func findSpeed(val string) float32 {
+	if len(val) > 0 {
+		var v, _ = strconv.ParseFloat(val, 32)
+		return float32(v)
+	}
+	return 0
+}
+
+// findHeading returns the speed from an RMC NMEA sentence.
+func findHeading(val string) float32 {
+	if len(val) > 0 {
+		var v, _ = strconv.ParseFloat(val, 32)
+		return float32(v)
+	}
+	return 0
+}

gps/registers.go

@@ -13,5 +13,5 @@ const (
 )
 
 const (
-	bufferSize = 32
+	bufferSize = 100
 )

gps/ublox.go

@@ -24,25 +24,25 @@ var cfg_gnss_cmd = [...]byte{
 	0x01, 0x01, 0x06, 0x08, 0x0E, 0x00, 0x00, 0x00,
 	0x01, 0x01, 0xFC, 0x11}
 
-func FlightMode(gpsDevice GPSDevice) (err error) {
-	err = sendCommand(gpsDevice, flight_mode_cmd[:])
+func FlightMode(d Device) (err error) {
+	err = sendCommand(d, flight_mode_cmd[:])
 	return err
 }
 
-func SetCfgGNSS(gpsDevice GPSDevice) (err error) {
-	err = sendCommand(gpsDevice, cfg_gnss_cmd[:])
+func SetCfgGNSS(d Device) (err error) {
+	err = sendCommand(d, cfg_gnss_cmd[:])
 	return err
 }
 
-func sendCommand(gpsDevice GPSDevice, command []byte) (err error) {
-	gpsDevice.WriteBytes(command)
+func sendCommand(d Device, command []byte) (err error) {
+	d.WriteBytes(command)
 	start := time.Now()
 	for time.Now().Sub(start) < 1000 {
-		if gpsDevice.readNextByte() == '\n' {
-			if gpsDevice.readNextByte() == 0xB5 {
-				gpsDevice.readNextByte()
-				if gpsDevice.readNextByte() == 0x05 {
-					if gpsDevice.readNextByte() == 0x01 {
+		if d.readNextByte() == '\n' {
+			if d.readNextByte() == 0xB5 {
+				d.readNextByte()
+				if d.readNextByte() == 0x05 {
+					if d.readNextByte() == 0x01 {
 						return
 					}
 				}

hcsr04/hcsr04.go

@@ -0,0 +1,81 @@
+// Package hcsr04 provides a driver for the HC-SR04 ultrasonic distance sensor
+//
+// Datasheet:
+// https://cdn.sparkfun.com/datasheets/Sensors/Proximity/HCSR04.pdf
+package hcsr04
+
+import (
+	"machine"
+	"time"
+)
+
+const TIMEOUT = 23324 // max sensing distance (4m)
+
+// Device holds the pins
+type Device struct {
+	trigger machine.Pin
+	echo    machine.Pin
+}
+
+// New returns a new ultrasonic driver given 2 pins
+func New(trigger, echo machine.Pin) Device {
+	return Device{
+		trigger: trigger,
+		echo:    echo,
+	}
+}
+
+// Configure configures the pins of the Device
+func (d *Device) Configure() {
+	d.trigger.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.echo.Configure(machine.PinConfig{Mode: machine.PinInput})
+}
+
+// ReadDistance returns the distance of the object in mm
+func (d *Device) ReadDistance() int32 {
+	pulse := d.ReadPulse()
+
+	// sound speed is 343000 mm/s
+	// pulse is roundtrip measured in microseconds
+	// distance = velocity * time
+	// 2 * distance = 343000 * (pulse/1000000)
+	return (pulse * 1715) / 10000 //mm
+}
+
+// ReadPulse returns the time of the pulse (roundtrip) in microseconds
+func (d *Device) ReadPulse() int32 {
+	t := time.Now()
+	d.trigger.Low()
+	time.Sleep(2 * time.Microsecond)
+	d.trigger.High()
+	time.Sleep(10 * time.Microsecond)
+	d.trigger.Low()
+	i := uint8(0)
+	for {
+		if d.echo.Get() {
+			t = time.Now()
+			break
+		}
+		i++
+		if i > 10 {
+			if time.Since(t).Microseconds() > TIMEOUT {
+				return 0
+			}
+			i = 0
+		}
+	}
+	i = 0
+	for {
+		if !d.echo.Get() {
+			return int32(time.Since(t).Microseconds())
+		}
+		i++
+		if i > 10 {
+			if time.Since(t).Microseconds() > TIMEOUT {
+				return 0
+			}
+			i = 0
+		}
+	}
+	return 0
+}

hd44780i2c/hd44780i2c.go

@@ -0,0 +1,243 @@
+// Package hd44780i2c implements a driver for the Hitachi HD44780 LCD display module
+// with an I2C adapter.
+//
+// Datasheet: https://www.sparkfun.com/datasheets/LCD/HD44780.pdf
+//
+package hd44780i2c
+
+import (
+	"errors"
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+// Device wraps an I2C connection to a HD44780 I2C LCD with related data.
+type Device struct {
+	bus             drivers.I2C
+	addr            uint8
+	width           uint8
+	height          uint8
+	cursor          cursor
+	backlight       uint8
+	displayfunction uint8
+	displaycontrol  uint8
+	displaymode     uint8
+}
+
+type cursor struct {
+	x, y uint8
+}
+
+// Config for HD44780 I2C LCD.
+type Config struct {
+	Width       uint8
+	Height      uint8
+	Font        uint8
+	CursorOn    bool
+	CursorBlink bool
+}
+
+// New creates a new HD44780 I2C LCD connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C, addr uint8) Device {
+	if addr == 0 {
+		addr = 0x27
+	}
+	return Device{
+		bus:  bus,
+		addr: addr,
+	}
+}
+
+// Configure sets up the display. Display itself and backlight is default on.
+func (d *Device) Configure(cfg Config) error {
+
+	if cfg.Width == 0 || cfg.Height == 0 {
+		return errors.New("width and height must be set")
+	}
+	d.width = uint8(cfg.Width)
+	d.height = uint8(cfg.Height)
+
+	delayms(50)
+
+	d.backlight = BACKLIGHT_ON
+	d.expanderWrite(0)
+	delayms(1000)
+
+	d.write4bits(0x03 << 4)
+	delayus(4500)
+	d.write4bits(0x03 << 4)
+	delayus(4500)
+	d.write4bits(0x03 << 4)
+	delayus(150)
+	d.write4bits(0x02 << 4)
+
+	d.displayfunction = DATA_LENGTH_4BIT | ONE_LINE | FONT_5X8
+	if d.height > 1 {
+		d.displayfunction |= TWO_LINE
+	}
+	if cfg.Font != 0 && d.height == 1 {
+		d.displayfunction |= FONT_5X10
+	}
+	d.sendCommand(FUNCTION_MODE | d.displayfunction)
+
+	d.displaycontrol = DISPLAY_ON | CURSOR_OFF | CURSOR_BLINK_OFF
+	if cfg.CursorOn {
+		d.displaycontrol |= CURSOR_ON
+	}
+	if cfg.CursorBlink {
+		d.displaycontrol |= CURSOR_BLINK_ON
+	}
+	d.sendCommand(DISPLAY_ON_OFF | d.displaycontrol)
+	d.ClearDisplay()
+
+	d.displaymode = CURSOR_INCREASE | DISPLAY_NO_SHIFT
+	d.sendCommand(ENTRY_MODE | d.displaymode)
+	d.Home()
+
+	return nil
+}
+
+// ClearDisplay clears all texts on the display.
+func (d *Device) ClearDisplay() {
+	d.sendCommand(DISPLAY_CLEAR)
+	d.cursor.x = 0
+	d.cursor.y = 0
+	delayus(2000)
+}
+
+// Home sets the cursor back to position (0, 0).
+func (d *Device) Home() {
+	d.sendCommand(CURSOR_HOME)
+	d.cursor.x = 0
+	d.cursor.y = 0
+	delayus(2000)
+}
+
+// SetCursor sets the cursor to a specific position (x, y).
+//
+// if y (row) is set larger than actual rows, it would be set to 0.
+func (d *Device) SetCursor(x, y uint8) {
+	rowOffset := []uint8{0x0, 0x40, 0x14, 0x54}
+	if y > (d.height - 1) {
+		y = 0
+	}
+	d.cursor.x = x
+	d.cursor.y = y
+	d.sendCommand(DDRAM_SET | (x + (rowOffset[y])))
+}
+
+// Print prints text on the display (started from current cursor position).
+//
+// It would automatically break to new line when the text is too long.
+// You can also use \n as line breakers.
+func (d *Device) Print(data []byte) {
+	for _, chr := range data {
+		if chr == '\n' {
+			d.newLine()
+		} else {
+			d.cursor.x++
+			if d.cursor.x >= d.width {
+				d.newLine()
+			}
+			d.sendData(uint8(rune(chr)))
+		}
+	}
+}
+
+// CreateCharacter crates custom characters (using data parameter)
+// and stores it under CGRAM address (using cgramAddr, 0x0-0x7).
+func (d *Device) CreateCharacter(cgramAddr uint8, data []byte) {
+	cgramAddr &= 0x7
+	d.sendCommand(CGRAM_SET | cgramAddr<<3)
+	for _, dd := range data {
+		d.sendData(dd)
+	}
+	d.SetCursor(d.cursor.x, d.cursor.y)
+}
+
+// DisplayOn turns on/off the display.
+func (d *Device) DisplayOn(option bool) {
+	if option {
+		d.displaycontrol |= DISPLAY_ON
+	} else {
+		d.displaycontrol &= ^uint8(DISPLAY_ON)
+	}
+	d.sendCommand(DISPLAY_ON_OFF | d.displaycontrol)
+}
+
+// CursorOn display/hides the cursor.
+func (d *Device) CursorOn(option bool) {
+	if option {
+		d.displaycontrol |= CURSOR_ON
+	} else {
+		d.displaycontrol &= ^uint8(CURSOR_ON)
+	}
+	d.sendCommand(DISPLAY_ON_OFF | d.displaycontrol)
+}
+
+// CursorBlink turns on/off the blinking cursor mode.
+func (d *Device) CursorBlink(option bool) {
+	if option {
+		d.displaycontrol |= CURSOR_BLINK_ON
+	} else {
+		d.displaycontrol &= ^uint8(CURSOR_BLINK_ON)
+	}
+	d.sendCommand(DISPLAY_ON_OFF | d.displaycontrol)
+}
+
+// BacklightOn turns on/off the display backlight.
+func (d *Device) BacklightOn(option bool) {
+	if option {
+		d.backlight = BACKLIGHT_ON
+	} else {
+		d.backlight = BACKLIGHT_OFF
+	}
+	d.expanderWrite(0)
+}
+
+func (d *Device) newLine() {
+	d.cursor.x = 0
+	d.cursor.y++
+	d.SetCursor(d.cursor.x, d.cursor.y)
+}
+
+func delayms(t uint16) {
+	time.Sleep(time.Millisecond * time.Duration(t))
+}
+
+func delayus(t uint16) {
+	time.Sleep(time.Microsecond * time.Duration(t))
+}
+
+func (d *Device) expanderWrite(value uint8) {
+	d.bus.Tx(uint16(d.addr), []uint8{value | d.backlight}, nil)
+}
+
+func (d *Device) pulseEnable(value uint8) {
+	d.expanderWrite(value | En)
+	delayus(1)
+	d.expanderWrite(value & ^uint8(En))
+	delayus(50)
+}
+
+func (d *Device) write4bits(value uint8) {
+	d.expanderWrite(value)
+	d.pulseEnable(value)
+}
+
+func (d *Device) write(value uint8, mode uint8) {
+	d.write4bits(uint8(value&0xf0) | mode)
+	d.write4bits(uint8((value<<4)&0xf0) | mode)
+}
+
+func (d *Device) sendCommand(value uint8) {
+	d.write(value, 0)
+}
+
+func (d *Device) sendData(value uint8) {
+	d.write(value, Rs)
+}

hd44780i2c/registers.go

@@ -0,0 +1,44 @@
+package hd44780i2c
+
+const (
+
+	// commands
+	DISPLAY_CLEAR        = 0x01
+	CURSOR_HOME          = 0x02
+	ENTRY_MODE           = 0x04
+	DISPLAY_ON_OFF       = 0x08
+	CURSOR_DISPLAY_SHIFT = 0x10
+	FUNCTION_MODE        = 0x20
+	CGRAM_SET            = 0x40
+	DDRAM_SET            = 0x80
+
+	// flags for display entry mode
+	// CURSOR_DECREASE  = 0x00
+	CURSOR_INCREASE = 0x02
+	// DISPLAY_SHIFT    = 0x01
+	DISPLAY_NO_SHIFT = 0x00
+
+	// flags for display on/off control
+	DISPLAY_ON       = 0x04
+	DISPLAY_OFF      = 0x00
+	CURSOR_ON        = 0x02
+	CURSOR_OFF       = 0x00
+	CURSOR_BLINK_ON  = 0x01
+	CURSOR_BLINK_OFF = 0x00
+
+	// flags for function set
+	// DATA_LENGTH_8BIT = 0x10
+	DATA_LENGTH_4BIT = 0x00
+	TWO_LINE         = 0x08
+	ONE_LINE         = 0x00
+	FONT_5X10        = 0x04
+	FONT_5X8         = 0x00
+
+	// flags for backlight control
+	BACKLIGHT_ON  = 0x08
+	BACKLIGHT_OFF = 0x00
+
+	En = 0x04 // Enable bit
+	// Rw = 0x02 // Read/Write bit
+	Rs = 0x01 // Register select bit
+)

i2c.go

@@ -0,0 +1,9 @@
+package drivers
+
+// I2C represents an I2C bus. It is notably implemented by the
+// machine.I2C type.
+type I2C interface {
+	ReadRegister(addr uint8, r uint8, buf []byte) error
+	WriteRegister(addr uint8, r uint8, buf []byte) error
+	Tx(addr uint16, w, r []byte) error
+}

ili9341/ili9341.go

@@ -7,8 +7,6 @@ import (
 	"time"
 )
 
-const _debug = false
-
 type Config struct {
 	Width    int16
 	Height   int16
@@ -21,12 +19,16 @@ type Device struct {
 	rotation Rotation
 	driver   driver
 
+	x0, x1 int16 // cached address window; prevents useless/expensive
+	y0, y1 int16 // syscalls to PASET and CASET
+
 	dc  machine.Pin
 	cs  machine.Pin
 	rst machine.Pin
 	rd  machine.Pin
 }
 
+// Configure prepares display for use
 func (d *Device) Configure(config Config) {
 
 	if config.Width == 0 {
@@ -37,6 +39,11 @@ func (d *Device) Configure(config Config) {
 	}
 	d.width = config.Width
 	d.height = config.Height
+	d.rotation = config.Rotation
+
+	// try to pick an initial cache miss for one of the points
+	d.x0, d.x1 = -(d.width + 1), d.x0
+	d.y0, d.y1 = -(d.height + 1), d.y0
 
 	output := machine.PinConfig{machine.PinOutput}
 
@@ -114,6 +121,7 @@ func (d *Device) Configure(config Config) {
 		i += numArgs + 2
 	}
 
+	d.SetRotation(d.rotation)
 }
 
 // Size returns the current size of the display.
@@ -138,6 +146,7 @@ func (d *Device) Display() error {
 	return nil
 }
 
+// DrawRGBBitmap copies an RGB bitmap to the internal buffer at given coordinates
 func (d *Device) DrawRGBBitmap(x, y int16, data []uint16, w, h int16) error {
 	k, i := d.Size()
 	if x < 0 || y < 0 || w <= 0 || h <= 0 ||
@@ -151,7 +160,7 @@ func (d *Device) DrawRGBBitmap(x, y int16, data []uint16, w, h int16) error {
 	return nil
 }
 
-// FillRectangle fills a rectangle at a given coordinates with a color
+// FillRectangle fills a rectangle at given coordinates with a color
 func (d *Device) FillRectangle(x, y, width, height int16, c color.RGBA) error {
 	k, i := d.Size()
 	if x < 0 || y < 0 || width <= 0 || height <= 0 ||
@@ -166,7 +175,7 @@ func (d *Device) FillRectangle(x, y, width, height int16, c color.RGBA) error {
 	return nil
 }
 
-// DrawRectangle fills a rectangle at a given coordinates with a color
+// DrawRectangle draws a rectangle at given coordinates with a color
 func (d *Device) DrawRectangle(x, y, w, h int16, c color.RGBA) error {
 	if err := d.DrawFastHLine(x, x+w-1, y, c); err != nil {
 		return err
@@ -208,6 +217,7 @@ func (d *Device) FillScreen(c color.RGBA) {
 	}
 }
 
+// GetRotation returns the current rotation of the device
 func (d *Device) GetRotation() Rotation {
 	return d.rotation
 }
@@ -229,16 +239,45 @@ func (d *Device) SetRotation(rotation Rotation) {
 	d.rotation = rotation
 }
 
+// SetScrollArea sets an area to scroll with fixed top/bottom or left/right parts of the display
+// Rotation affects scroll direction
+func (d *Device) SetScrollArea(topFixedArea, bottomFixedArea int16) {
+	d.sendCommand(VSCRDEF, []uint8{
+		uint8(topFixedArea >> 8), uint8(topFixedArea),
+		uint8(d.height - topFixedArea - bottomFixedArea>>8),
+		uint8(d.height - topFixedArea - bottomFixedArea),
+		uint8(bottomFixedArea >> 8), uint8(bottomFixedArea),
+	})
+}
+
+// SetScroll sets the vertical scroll address of the display.
+func (d *Device) SetScroll(line int16) {
+	d.sendCommand(VSCRSADD, []uint8{uint8(line >> 8), uint8(line)})
+}
+
+// StopScroll returns the display to its normal state
+func (d *Device) StopScroll() {
+	d.sendCommand(NORON, nil)
+}
+
 // setWindow prepares the screen to be modified at a given rectangle
 func (d *Device) setWindow(x, y, w, h int16) {
 	//x += d.columnOffset
 	//y += d.rowOffset
-	d.sendCommand(CASET, []uint8{
-		uint8(x << 8), uint8(x), uint8((x + w - 1) >> 8), uint8(x + w - 1),
-	})
-	d.sendCommand(PASET, []uint8{
-		uint8(y >> 8), uint8(y), uint8((y + h - 1) >> 8), uint8(y + h - 1),
-	})
+	x1 := x + w - 1
+	if x != d.x0 || x1 != d.x1 {
+		d.sendCommand(CASET, []uint8{
+			uint8(x >> 8), uint8(x), uint8(x1 >> 8), uint8(x1),
+		})
+		d.x0, d.x1 = x, x1
+	}
+	y1 := y + h - 1
+	if y != d.y0 || y1 != d.y1 {
+		d.sendCommand(PASET, []uint8{
+			uint8(y >> 8), uint8(y), uint8(y1 >> 8), uint8(y1),
+		})
+		d.y0, d.y1 = y, y1
+	}
 	d.sendCommand(RAMWR, nil)
 }
 
@@ -261,15 +300,15 @@ func (d *Device) sendCommand(cmd byte, data []byte) {
 	d.dc.Low()
 	d.driver.write8(cmd)
 	d.dc.High()
-	for _, b := range data {
-		d.driver.write8(b)
-	}
+	d.driver.write8sl(data)
 	d.endWrite()
 }
 
 type driver interface {
 	configure(config *Config)
 	write8(b byte)
+	write8n(b byte, n int)
+	write8sl(b []byte)
 	write16(data uint16)
 	write16n(data uint16, n int)
 	write16sl(data []uint16)

ili9341/parallel_atsamd51.go

@@ -5,14 +5,14 @@ package ili9341
 import (
 	"machine"
 	"runtime/volatile"
+	"unsafe"
 )
 
 type parallelDriver struct {
 	d0 machine.Pin
 	wr machine.Pin
 
-	setPort *uint32
-	setMask uint32
+	setPort *uint8
 
 	clrPort *uint32
 	clrMask uint32
@@ -46,8 +46,12 @@ func (pd *parallelDriver) configure(config *Config) {
 	pd.wr.Configure(output)
 	pd.wr.High()
 
-	pd.setPort, _ = pd.d0.PortMaskSet()
-	pd.setMask = uint32(pd.d0) & 0x1f
+	// Calculates the address of the OUT register from the OUTSET register and obtains an address that allows 8-bit access.
+	//   OUT    : offset = 0x10
+	//   OUTSET : offset = 0x18
+	setPort, _ := pd.d0.PortMaskSet()
+	setMask := uint32(pd.d0) & 0x1f
+	pd.setPort = (*uint8)(unsafe.Pointer(uintptr(unsafe.Pointer(setPort)) - uintptr(8) + uintptr(setMask/8)))
 
 	pd.clrPort, _ = (pd.d0).PortMaskClear()
 	pd.clrMask = 0xFF << uint32(pd.d0)
@@ -58,12 +62,30 @@ func (pd *parallelDriver) configure(config *Config) {
 
 //go:inline
 func (pd *parallelDriver) write8(b byte) {
-	volatile.StoreUint32(pd.clrPort, pd.clrMask)
-	volatile.StoreUint32(pd.setPort, uint32(b)<<pd.setMask)
+	volatile.StoreUint8(pd.setPort, uint8(b))
+	pd.wrx()
+}
+
+//go:inline
+func (pd *parallelDriver) wrx() {
 	volatile.StoreUint32(pd.wrPortClr, pd.wrMaskClr)
 	volatile.StoreUint32(pd.wrPortSet, pd.wrMaskSet)
 }
 
+//go:inline
+func (pd *parallelDriver) write8n(b byte, n int) {
+	for i := 0; i < n; i++ {
+		pd.write8(b)
+	}
+}
+
+//go:inline
+func (pd *parallelDriver) write8sl(b []byte) {
+	for i := 0; i < len(b); i++ {
+		pd.write8(b[i])
+	}
+}
+
 //go:inline
 func (pd *parallelDriver) write16(data uint16) {
 	pd.write8(byte(data >> 8))

ili9341/spi_atsamd21.go

@@ -0,0 +1,116 @@
+// +build atsamd21
+
+package ili9341
+
+import (
+	"device/sam"
+	"machine"
+)
+
+type spiDriver struct {
+	bus machine.SPI
+}
+
+func NewSPI(bus machine.SPI, dc, cs, rst machine.Pin) *Device {
+	return &Device{
+		dc:  dc,
+		cs:  cs,
+		rst: rst,
+		rd:  machine.NoPin,
+		driver: &spiDriver{
+			bus: bus,
+		},
+	}
+}
+
+func (pd *spiDriver) configure(config *Config) {
+}
+
+func (pd *spiDriver) write8(b byte) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPI_CTRLB_RXEN)
+
+	for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+	}
+	pd.bus.Bus.DATA.Set(uint32(b))
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPI_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPI_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write8n(b byte, n int) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPI_CTRLB_RXEN)
+
+	for i, c := 0, n; i < c; i++ {
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(b))
+	}
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPI_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPI_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write8sl(b []byte) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPI_CTRLB_RXEN)
+
+	for i, c := 0, len(b); i < c; i++ {
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(b[i]))
+	}
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPI_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPI_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write16(data uint16) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPI_CTRLB_RXEN)
+
+	for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+	}
+	pd.bus.Bus.DATA.Set(uint32(uint8(data >> 8)))
+	for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+	}
+	pd.bus.Bus.DATA.Set(uint32(uint8(data)))
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPI_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPI_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write16n(data uint16, n int) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPI_CTRLB_RXEN)
+
+	for i := 0; i < n; i++ {
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(uint8(data >> 8)))
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(uint8(data)))
+	}
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPI_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPI_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write16sl(data []uint16) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPI_CTRLB_RXEN)
+
+	for i, c := 0, len(data); i < c; i++ {
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(uint8(data[i] >> 8)))
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPI_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(uint8(data[i])))
+	}
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPI_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPI_SYNCBUSY_CTRLB) {
+	}
+}

ili9341/spi_atsamd51.go

@@ -0,0 +1,116 @@
+// +build atsamd51
+
+package ili9341
+
+import (
+	"device/sam"
+	"machine"
+)
+
+type spiDriver struct {
+	bus machine.SPI
+}
+
+func NewSPI(bus machine.SPI, dc, cs, rst machine.Pin) *Device {
+	return &Device{
+		dc:  dc,
+		cs:  cs,
+		rst: rst,
+		rd:  machine.NoPin,
+		driver: &spiDriver{
+			bus: bus,
+		},
+	}
+}
+
+func (pd *spiDriver) configure(config *Config) {
+}
+
+func (pd *spiDriver) write8(b byte) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+
+	for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+	}
+	pd.bus.Bus.DATA.Set(uint32(b))
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPIM_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write8n(b byte, n int) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+
+	for i, c := 0, n; i < c; i++ {
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(b))
+	}
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPIM_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write8sl(b []byte) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+
+	for i, c := 0, len(b); i < c; i++ {
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(b[i]))
+	}
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPIM_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write16(data uint16) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+
+	for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+	}
+	pd.bus.Bus.DATA.Set(uint32(uint8(data >> 8)))
+	for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+	}
+	pd.bus.Bus.DATA.Set(uint32(uint8(data)))
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPIM_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write16n(data uint16, n int) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+
+	for i := 0; i < n; i++ {
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(uint8(data >> 8)))
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(uint8(data)))
+	}
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPIM_SYNCBUSY_CTRLB) {
+	}
+}
+
+func (pd *spiDriver) write16sl(data []uint16) {
+	pd.bus.Bus.CTRLB.ClearBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+
+	for i, c := 0, len(data); i < c; i++ {
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(uint8(data[i] >> 8)))
+		for !pd.bus.Bus.INTFLAG.HasBits(sam.SERCOM_SPIM_INTFLAG_DRE) {
+		}
+		pd.bus.Bus.DATA.Set(uint32(uint8(data[i])))
+	}
+
+	pd.bus.Bus.CTRLB.SetBits(sam.SERCOM_SPIM_CTRLB_RXEN)
+	for pd.bus.Bus.SYNCBUSY.HasBits(sam.SERCOM_SPIM_SYNCBUSY_CTRLB) {
+	}
+}

lis2mdl/lis2mdl.go

@@ -0,0 +1,126 @@
+// Package lis2mdl implements a driver for the LIS2MDL,
+// a magnetic sensor which is included on BBC micro:bit v1.5.
+//
+// Datasheet: https://www.st.com/resource/en/datasheet/lis2mdl.pdf
+//
+package lis2mdl // import "tinygo.org/x/drivers/lis2mdl"
+
+import (
+	"math"
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+// Device wraps an I2C connection to a LIS2MDL device.
+type Device struct {
+	bus        drivers.I2C
+	Address    uint8
+	PowerMode  uint8
+	SystemMode uint8
+	DataRate   uint8
+}
+
+// Configuration for LIS2MDL device.
+type Configuration struct {
+	PowerMode  uint8
+	SystemMode uint8
+	DataRate   uint8
+}
+
+// New creates a new LIS2MDL connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C) Device {
+	return Device{bus: bus, Address: ADDRESS}
+}
+
+// Connected returns whether LIS2MDL sensor has been found.
+func (d *Device) Connected() bool {
+	data := []byte{0}
+	d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
+	return data[0] == 0x40
+}
+
+// Configure sets up the LIS2MDL device for communication.
+func (d *Device) Configure(cfg Configuration) {
+	if cfg.PowerMode != 0 {
+		d.PowerMode = cfg.PowerMode
+	} else {
+		d.PowerMode = POWER_NORMAL
+	}
+
+	if cfg.DataRate != 0 {
+		d.DataRate = cfg.DataRate
+	} else {
+		d.DataRate = DATARATE_100HZ
+	}
+
+	if cfg.SystemMode != 0 {
+		d.SystemMode = cfg.SystemMode
+	} else {
+		d.SystemMode = SYSTEM_CONTINUOUS
+	}
+
+	cmd := []byte{0}
+
+	// reset
+	cmd[0] = byte(1 << 5)
+	d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
+	time.Sleep(100 * time.Millisecond)
+
+	// reboot
+	cmd[0] = byte(1 << 6)
+	d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
+	time.Sleep(100 * time.Millisecond)
+
+	// bdu
+	cmd[0] = byte(1 << 4)
+	d.bus.WriteRegister(uint8(d.Address), CFG_REG_C, cmd)
+
+	// Temperature compensation is on for magnetic sensor (0x80)
+	cmd[0] = byte(0x80)
+	d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
+
+	// speed
+	cmd[0] = byte(0x80 | d.DataRate)
+	d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
+}
+
+// ReadMagneticField reads the current magnetic field from the device and returns
+// it in mG (milligauss). 1 mG = 0.1 µT (microtesla).
+func (d *Device) ReadMagneticField() (x int32, y int32, z int32) {
+	// turn back on read mode, even though it is supposed to be continuous?
+	cmd := []byte{0}
+	cmd[0] = byte(0x80 | d.PowerMode<<4 | d.DataRate<<2 | d.SystemMode)
+	d.bus.WriteRegister(uint8(d.Address), CFG_REG_A, cmd)
+	time.Sleep(10 * time.Millisecond)
+
+	data := make([]byte, 6)
+	d.bus.ReadRegister(uint8(d.Address), OUTX_L_REG, data)
+
+	x = int32(int16((uint16(data[0]) << 8) | uint16(data[1])))
+	y = int32(int16((uint16(data[2]) << 8) | uint16(data[3])))
+	z = int32(int16((uint16(data[4]) << 8) | uint16(data[5])))
+
+	return
+}
+
+// ReadCompass reads the current compass heading from the device and returns
+// it in degrees. When the z axis is pointing straight to Earth and
+// the y axis is pointing to North, the heading would be zero.
+//
+// However, the heading may be off due to electronic compasses would be effected
+// by strong magnetic fields and require constant calibration.
+func (d *Device) ReadCompass() (h int32) {
+	x, y, _ := d.ReadMagneticField()
+	xf, yf := float64(x)*0.15, float64(y)*0.15
+
+	rh := (math.Atan2(yf, xf) * 180) / math.Pi
+	if rh < 0 {
+		rh = 360 + rh
+	}
+
+	return int32(rh)
+}

lis2mdl/lis2mdl_test.go

@@ -0,0 +1,59 @@
+package lis2mdl
+
+import (
+	"testing"
+
+	qt "github.com/frankban/quicktest"
+	"tinygo.org/x/drivers/tester"
+)
+
+func TestDefaultI2CAddress(t *testing.T) {
+	c := qt.New(t)
+	bus := tester.NewI2CBus(c)
+	dev := New(bus)
+	c.Assert(dev.Address, qt.Equals, uint8(ADDRESS))
+}
+
+func TestWhoAmI(t *testing.T) {
+	c := qt.New(t)
+	bus := tester.NewI2CBus(c)
+	fake := tester.NewI2CDevice(c, ADDRESS)
+	fake.SetupRegisters(defaultRegisters())
+	bus.AddDevice(fake)
+
+	dev := New(bus)
+	c.Assert(dev.Connected(), qt.Equals, true)
+
+	fake.SetupRegister(WHO_AM_I, 0x99)
+	c.Assert(dev.Connected(), qt.Equals, false)
+}
+
+// defaultRegisters returns the default values for all of the device's registers.
+// see table 22 on page 27 of the datasheet.
+func defaultRegisters() []uint8 {
+	return []uint8{
+		OFFSET_X_REG_L: 0,
+		OFFSET_X_REG_H: 0,
+		OFFSET_Y_REG_L: 0,
+		OFFSET_Y_REG_H: 0,
+		OFFSET_Z_REG_L: 0,
+		OFFSET_Z_REG_H: 0,
+		WHO_AM_I:       0x40,
+		CFG_REG_A:      0x03,
+		CFG_REG_B:      0,
+		CFG_REG_C:      0,
+		INT_CRTL_REG:   0xE0,
+		INT_SOURCE_REG: 0,
+		INT_THS_L_REG:  0,
+		INT_THS_H_REG:  0,
+		STATUS_REG:     0,
+		OUTX_L_REG:     0,
+		OUTX_H_REG:     0,
+		OUTY_L_REG:     0,
+		OUTY_H_REG:     0,
+		OUTZ_L_REG:     0,
+		OUTZ_H_REG:     0,
+		TEMP_OUT_L_REG: 0,
+		TEMP_OUT_H_REG: 0,
+	}
+}

lis2mdl/registers.go

@@ -0,0 +1,45 @@
+package lis2mdl
+
+const (
+	// Constants/addresses used for I2C.
+	ADDRESS = 0x1E
+
+	// magnetic sensor registers.
+	OFFSET_X_REG_L = 0x45
+	OFFSET_X_REG_H = 0x46
+	OFFSET_Y_REG_L = 0x47
+	OFFSET_Y_REG_H = 0x48
+	OFFSET_Z_REG_L = 0x49
+	OFFSET_Z_REG_H = 0x4A
+	WHO_AM_I       = 0x4F
+	CFG_REG_A      = 0x60
+	CFG_REG_B      = 0x61
+	CFG_REG_C      = 0x62
+	INT_CRTL_REG   = 0x63
+	INT_SOURCE_REG = 0x64
+	INT_THS_L_REG  = 0x65
+	INT_THS_H_REG  = 0x66
+	STATUS_REG     = 0x67
+	OUTX_L_REG     = 0x68
+	OUTX_H_REG     = 0x69
+	OUTY_L_REG     = 0x6A
+	OUTY_H_REG     = 0x6B
+	OUTZ_L_REG     = 0x6C
+	OUTZ_H_REG     = 0x6D
+	TEMP_OUT_L_REG = 0x6E
+	TEMP_OUT_H_REG = 0x6F
+
+	// magnetic sensor power mode.
+	POWER_NORMAL = 0x00 // default
+	POWER_LOW    = 0x01
+
+	// magnetic sensor operate mode.
+	SYSTEM_CONTINUOUS = 0x00 // default
+	SYSTEM_SINGLE     = 0x01
+
+	// magnetic sensor data rate
+	DATARATE_10HZ  = 0x00 // default
+	DATARATE_20HZ  = 0x01
+	DATARATE_50HZ  = 0x02
+	DATARATE_100HZ = 0x03
+)

lis3dh/lis3dh.go

@@ -4,13 +4,11 @@
 //
 package lis3dh // import "tinygo.org/x/drivers/lis3dh"
 
-import (
-	"machine"
-)
+import "tinygo.org/x/drivers"
 
 // Device wraps an I2C connection to a LIS3DH device.
 type Device struct {
-	bus     machine.I2C
+	bus     drivers.I2C
 	Address uint16
 	r       Range
 }
@@ -18,7 +16,7 @@ type Device struct {
 // New creates a new LIS3DH connection. The I2C bus must already be configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{bus: bus, Address: Address0}
 }
 

lsm303agr/lsm303agr.go

@@ -0,0 +1,204 @@
+// Package lsm303agr implements a driver for the LSM303AGR,
+// a 3 axis accelerometer/magnetic sensor which is included on BBC micro:bits v1.5.
+//
+// Datasheet: https://www.st.com/resource/en/datasheet/lsm303agr.pdf
+//
+package lsm303agr // import "tinygo.org/x/drivers/lsm303agr"
+
+import (
+	"math"
+
+	"tinygo.org/x/drivers"
+)
+
+// Device wraps an I2C connection to a LSM303AGR device.
+type Device struct {
+	bus            drivers.I2C
+	AccelAddress   uint8
+	MagAddress     uint8
+	AccelPowerMode uint8
+	AccelRange     uint8
+	AccelDataRate  uint8
+	MagPowerMode   uint8
+	MagSystemMode  uint8
+	MagDataRate    uint8
+}
+
+// Configuration for LSM303AGR device.
+type Configuration struct {
+	AccelPowerMode uint8
+	AccelRange     uint8
+	AccelDataRate  uint8
+	MagPowerMode   uint8
+	MagSystemMode  uint8
+	MagDataRate    uint8
+}
+
+// New creates a new LSM303AGR connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C) Device {
+	return Device{bus: bus, AccelAddress: ACCEL_ADDRESS, MagAddress: MAG_ADDRESS}
+}
+
+// Connected returns whether both sensor on LSM303AGR has been found.
+// It does two "who am I" requests and checks the responses.
+func (d *Device) Connected() bool {
+	data1, data2 := []byte{0}, []byte{0}
+	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_WHO_AM_I, data1)
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_WHO_AM_I, data2)
+	return data1[0] == 0x33 && data2[0] == 0x40
+}
+
+// Configure sets up the LSM303AGR device for communication.
+func (d *Device) Configure(cfg Configuration) {
+
+	if cfg.AccelDataRate != 0 {
+		d.AccelDataRate = cfg.AccelDataRate
+	} else {
+		d.AccelDataRate = ACCEL_DATARATE_100HZ
+	}
+
+	if cfg.AccelPowerMode != 0 {
+		d.AccelPowerMode = cfg.AccelPowerMode
+	} else {
+		d.AccelPowerMode = ACCEL_POWER_NORMAL
+	}
+
+	if cfg.AccelRange != 0 {
+		d.AccelRange = cfg.AccelRange
+	} else {
+		d.AccelRange = ACCEL_RANGE_2G
+	}
+
+	if cfg.MagPowerMode != 0 {
+		d.MagPowerMode = cfg.MagPowerMode
+	} else {
+		d.MagPowerMode = MAG_POWER_NORMAL
+	}
+
+	if cfg.MagDataRate != 0 {
+		d.MagDataRate = cfg.MagDataRate
+	} else {
+		d.MagDataRate = MAG_DATARATE_10HZ
+	}
+
+	if cfg.MagSystemMode != 0 {
+		d.MagSystemMode = cfg.MagSystemMode
+	} else {
+		d.MagSystemMode = MAG_SYSTEM_CONTINUOUS
+	}
+
+	cmd := []byte{0}
+
+	cmd[0] = byte(d.AccelDataRate<<4 | d.AccelPowerMode | 0x07)
+	d.bus.WriteRegister(uint8(d.AccelAddress), ACCEL_CTRL_REG1_A, cmd)
+
+	cmd[0] = byte(0x80 | d.AccelRange<<4)
+	d.bus.WriteRegister(uint8(d.AccelAddress), ACCEL_CTRL_REG4_A, cmd)
+
+	cmd[0] = byte(0xC0)
+	d.bus.WriteRegister(uint8(d.AccelAddress), TEMP_CFG_REG_A, cmd)
+
+	// Temperature compensation is on for magnetic sensor
+	cmd[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
+	d.bus.WriteRegister(uint8(d.MagAddress), MAG_MR_REG_M, cmd)
+
+}
+
+// ReadAcceleration reads the current acceleration from the device and returns
+// it in µg (micro-gravity). When one of the axes is pointing straight to Earth
+// and the sensor is not moving the returned value will be around 1000000 or
+// -1000000.
+func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
+
+	data1, data2, data3, data4, data5, data6 := []byte{0}, []byte{0}, []byte{0}, []byte{0}, []byte{0}, []byte{0}
+	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_X_H_A, data1)
+	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_X_L_A, data2)
+	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_Y_H_A, data3)
+	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_Y_L_A, data4)
+	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_Z_H_A, data5)
+	d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_Z_L_A, data6)
+
+	rangeFactor := int16(0)
+	switch d.AccelRange {
+	case ACCEL_RANGE_2G:
+		rangeFactor = 1
+	case ACCEL_RANGE_4G:
+		rangeFactor = 2
+	case ACCEL_RANGE_8G:
+		rangeFactor = 4
+	case ACCEL_RANGE_16G:
+		rangeFactor = 12 // the readings in 16G are a bit lower
+	}
+
+	x = int32(int32(int16((uint16(data1[0])<<8|uint16(data2[0])))>>4*rangeFactor) * 1000000 / 1024)
+	y = int32(int32(int16((uint16(data3[0])<<8|uint16(data4[0])))>>4*rangeFactor) * 1000000 / 1024)
+	z = int32(int32(int16((uint16(data5[0])<<8|uint16(data6[0])))>>4*rangeFactor) * 1000000 / 1024)
+	return
+}
+
+// ReadPitchRoll reads the current pitch and roll angles from the device and
+// returns it in micro-degrees. When the z axis is pointing straight to Earth
+// the returned values of pitch and roll would be zero.
+func (d *Device) ReadPitchRoll() (pitch int32, roll int32) {
+
+	x, y, z := d.ReadAcceleration()
+	xf, yf, zf := float64(x), float64(y), float64(z)
+	pitch = int32((math.Round(math.Atan2(yf, math.Sqrt(math.Pow(xf, 2)+math.Pow(zf, 2)))*(180/math.Pi)*100) / 100) * 1000000)
+	roll = int32((math.Round(math.Atan2(xf, math.Sqrt(math.Pow(yf, 2)+math.Pow(zf, 2)))*(180/math.Pi)*100) / 100) * 1000000)
+	return
+
+}
+
+// ReadMagneticField reads the current magnetic field from the device and returns
+// it in mG (milligauss). 1 mG = 0.1 µT (microtesla).
+func (d *Device) ReadMagneticField() (x int32, y int32, z int32) {
+
+	if d.MagSystemMode == MAG_SYSTEM_SINGLE {
+		cmd := []byte{0}
+		cmd[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
+		d.bus.WriteRegister(uint8(d.MagAddress), MAG_MR_REG_M, cmd)
+	}
+
+	data1, data2, data3, data4, data5, data6 := []byte{0}, []byte{0}, []byte{0}, []byte{0}, []byte{0}, []byte{0}
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_X_H_M, data1)
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_X_L_M, data2)
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_Y_H_M, data3)
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_Y_L_M, data4)
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_Z_H_M, data5)
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_Z_L_M, data6)
+
+	x = int32(int16((uint16(data1[0])<<8 | uint16(data2[0]))))
+	y = int32(int16((uint16(data3[0])<<8 | uint16(data4[0]))))
+	z = int32(int16((uint16(data5[0])<<8 | uint16(data6[0]))))
+	return
+}
+
+// ReadCompass reads the current compass heading from the device and returns
+// it in micro-degrees. When the z axis is pointing straight to Earth and
+// the y axis is pointing to North, the heading would be zero.
+//
+// However, the heading may be off due to electronic compasses would be effected
+// by strong magnetic fields and require constant calibration.
+func (d *Device) ReadCompass() (h int32) {
+
+	x, y, _ := d.ReadMagneticField()
+	xf, yf := float64(x), float64(y)
+	h = int32(float32((180/math.Pi)*math.Atan2(yf, xf)) * 1000000)
+	return
+}
+
+// ReadTemperature returns the temperature in Celsius milli degrees (°C/1000)
+func (d *Device) ReadTemperature() (c int32, e error) {
+
+	data1, data2 := []byte{0}, []byte{0}
+	d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_H_A, data1)
+	d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_L_A, data2)
+
+	t := int16((uint16(data1[0])<<8 | uint16(data2[0]))) >> 4 // temperature offsef from 25 °C
+	c = int32((float32(25) + float32(t)/8) * 1000)
+	e = nil
+	return
+}

lsm303agr/registers.go

@@ -0,0 +1,68 @@
+package lsm303agr
+
+const (
+
+	// Constants/addresses used for I2C.
+	ACCEL_ADDRESS = 0x19
+	MAG_ADDRESS   = 0x1E
+
+	// accelerometer registers.
+	ACCEL_WHO_AM_I    = 0x0F
+	ACCEL_CTRL_REG1_A = 0x20
+	ACCEL_CTRL_REG4_A = 0x23
+	ACCEL_OUT_X_L_A   = 0x28
+	ACCEL_OUT_X_H_A   = 0x29
+	ACCEL_OUT_Y_L_A   = 0x2A
+	ACCEL_OUT_Y_H_A   = 0x2B
+	ACCEL_OUT_Z_L_A   = 0x2C
+	ACCEL_OUT_Z_H_A   = 0x2D
+
+	// magnetic sensor registers.
+	MAG_WHO_AM_I  = 0x4F
+	MAG_MR_REG_M  = 0x60
+	MAG_OUT_X_L_M = 0x68
+	MAG_OUT_X_H_M = 0x69
+	MAG_OUT_Y_L_M = 0x6A
+	MAG_OUT_Y_H_M = 0x6B
+	MAG_OUT_Z_L_M = 0x6C
+	MAG_OUT_Z_H_M = 0x6D
+
+	// temperature sensor registers.
+	TEMP_CFG_REG_A = 0x1F
+	OUT_TEMP_L_A   = 0x0C
+	OUT_TEMP_H_A   = 0x0D
+
+	// accelerometer power mode.
+	ACCEL_POWER_NORMAL = 0x00 // default
+	ACCEL_POWER_LOW    = 0x08
+
+	// accelerometer range.
+	ACCEL_RANGE_2G  = 0x00 // default
+	ACCEL_RANGE_4G  = 0x01
+	ACCEL_RANGE_8G  = 0x02
+	ACCEL_RANGE_16G = 0x03
+
+	// accelerometer data rate.
+	ACCEL_DATARATE_1HZ    = 0x01
+	ACCEL_DATARATE_10HZ   = 0x02
+	ACCEL_DATARATE_25HZ   = 0x03
+	ACCEL_DATARATE_50HZ   = 0x04
+	ACCEL_DATARATE_100HZ  = 0x05 // default
+	ACCEL_DATARATE_200HZ  = 0x06
+	ACCEL_DATARATE_400HZ  = 0x07
+	ACCEL_DATARATE_1344HZ = 0x09 // 5376Hz in low-power mode
+
+	// magnetic sensor power mode.
+	MAG_POWER_NORMAL = 0x00 // default
+	MAG_POWER_LOW    = 0x01
+
+	// magnetic sensor operate mode.
+	MAG_SYSTEM_CONTINUOUS = 0x00 // default
+	MAG_SYSTEM_SINGLE     = 0x01
+
+	// magnetic sensor data rate
+	MAG_DATARATE_10HZ  = 0x00 // default
+	MAG_DATARATE_20HZ  = 0x01
+	MAG_DATARATE_50HZ  = 0x02
+	MAG_DATARATE_100HZ = 0x03
+)

lsm6ds3/lsm6ds3.go

@@ -5,9 +5,7 @@
 //
 package lsm6ds3 // import "tinygo.org/x/drivers/lsm6ds3"
 
-import (
-	"machine"
-)
+import "tinygo.org/x/drivers"
 
 type AccelRange uint8
 type AccelSampleRate uint8
@@ -18,7 +16,7 @@ type GyroSampleRate uint8
 
 // Device wraps an I2C connection to a LSM6DS3 device.
 type Device struct {
-	bus             machine.I2C
+	bus             drivers.I2C
 	Address         uint16
 	accelRange      AccelRange
 	accelSampleRate AccelSampleRate
@@ -44,7 +42,7 @@ type Configuration struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{bus: bus, Address: Address}
 }
 
@@ -166,7 +164,7 @@ func (d *Device) ReadRotation() (x int32, y int32, z int32) {
 	return
 }
 
-// ReadTemperature returns the temperature in celsius milli degrees (ºC/1000)
+// ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
 func (d *Device) ReadTemperature() (int32, error) {
 	d.bus.ReadRegister(uint8(d.Address), OUT_TEMP_L, d.dataBufferTwo)
 

mag3110/mag3110.go

@@ -5,13 +5,11 @@
 //
 package mag3110 // import "tinygo.org/x/drivers/mag3110"
 
-import (
-	"machine"
-)
+import "tinygo.org/x/drivers"
 
 // Device wraps an I2C connection to a MAG3110 device.
 type Device struct {
-	bus     machine.I2C
+	bus     drivers.I2C
 	Address uint16
 }
 
@@ -19,7 +17,7 @@ type Device struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{bus, Address}
 }
 
@@ -50,7 +48,7 @@ func (d Device) ReadMagnetic() (x int16, y int16, z int16) {
 }
 
 // ReadTemperature reads and returns the current die temperature in
-// celsius milli degrees (ºC/1000).
+// celsius milli degrees (°C/1000).
 func (d Device) ReadTemperature() (int32, error) {
 	data := make([]byte, 1)
 	d.bus.ReadRegister(uint8(d.Address), DIE_TEMP, data)

mma8653/mma8653.go

@@ -6,13 +6,11 @@
 //
 package mma8653 // import "tinygo.org/x/drivers/mma8653"
 
-import (
-	"machine"
-)
+import "tinygo.org/x/drivers"
 
 // Device wraps an I2C connection to a MMA8653 device.
 type Device struct {
-	bus         machine.I2C
+	bus         drivers.I2C
 	Address     uint16
 	sensitivity Sensitivity
 }
@@ -21,7 +19,7 @@ type Device struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{bus, Address, Sensitivity2G}
 }
 

mpu6050/mpu6050.go

@@ -7,13 +7,11 @@
 //
 package mpu6050 // import "tinygo.org/x/drivers/mpu6050"
 
-import (
-	"machine"
-)
+import "tinygo.org/x/drivers"
 
 // Device wraps an I2C connection to a MPU6050 device.
 type Device struct {
-	bus     machine.I2C
+	bus     drivers.I2C
 	Address uint16
 }
 
@@ -21,7 +19,7 @@ type Device struct {
 // configured.
 //
 // This function only creates the Device object, it does not touch the device.
-func New(bus machine.I2C) Device {
+func New(bus drivers.I2C) Device {
 	return Device{bus, Address}
 }
 

mpu6050/registers.go

@@ -91,11 +91,11 @@ const (
 	EXT_SENS_DATA_22 = 0x5F
 	EXT_SENS_DATA_23 = 0x60
 
-	// I2C slave data out
-	I2C_SLV0_DO      = 0x63
-	I2C_SLV1_DO      = 0x64
-	I2C_SLV2_DO      = 0x65
-	I2C_SLV3_DO      = 0x66
+	// I2C peripheral data out
+	I2C_PER0_DO      = 0x63
+	I2C_PER1_DO      = 0x64
+	I2C_PER2_DO      = 0x65
+	I2C_PER3_DO      = 0x66
 	I2C_MST_DELAY_CT = 0x67
 
 	SIGNAL_PATH_RES = 0x68 // Signal path reset