Add error check for d.bus.Tx()

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

.circleci/config.yml

@@ -1,20 +0,0 @@
-# Golang CircleCI 2.0 configuration file
-#
-# Check https://circleci.com/docs/2.0/language-go/ for more details
-version: 2
-jobs:
-  build:
-    docker:
-      - image: tinygo/tinygo-dev
-    steps:
-      - checkout
-      - run: tinygo version
-      - run:
-          name: "Enforce Go Formatted Code"
-          command: make fmt-check
-      - run:
-          name: "Run unit tests"
-          command: make unit-test
-      - run:
-          name: "Run build and smoke tests"
-          command: make smoke-test

.github/workflows/build.yml

@@ -0,0 +1,28 @@
+name: Build
+
+on:
+  pull_request:
+  push:
+    branches:
+      - dev
+      - release
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: ghcr.io/tinygo-org/tinygo-dev:latest
+    steps:
+      - name: Work around CVE-2022-24765
+        # We're not on a multi-user machine, so this is safe.
+        run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: TinyGo version check
+        run: tinygo version
+      - name: Enforce Go Formatted Code
+        run: make fmt-check
+      - name: Run unit tests
+        run: make unit-test
+      - name: Run build and smoke tests
+        run: make smoke-test

CHANGELOG.md

@@ -1,3 +1,532 @@
+0.28.0
+---
+- **new devices**
+    - **epd2in66b**
+        - Waveshare 2.66inch E-Paper Display Module (B) for Raspberry Pi Pico (#673)
+    - **mcp9808**
+        - Add driver for MCP9808 i2c temperature sensor (#676)
+
+- **enhancements**
+    - **encoders**
+        - add atsamd21, atsamd51, atsame5x
+    - **pixel**
+        - add support for Monochrome types such as the SSD1306 display
+    - **rtl8720dn**
+        - implement ConnectModeAP
+    - **servo**
+        - add function SetAngle() to simplify API for most common use case
+    - **ssd1306**
+        - add DrawBitmap() function to complete Displayer interface
+        - add rotation functions for Displayer interface
+        - add Sleep() function for Displayer interface
+    - **uc8151**
+        - improvements to speed and also add flicker-free mode based on @antirez code example
+        - update to support all functions needed by tinygl and board package Displayer interface
+    - **wifinina**
+        - implement ConnectModeAP
+
+- **bugfixes**
+    - **ft6336**
+        - ignore bogus touch events
+    - **pixel**
+        - fix Image[Monochrome].Set for larger images
+    - **uc8151**
+        - correct DrawBitmap() also refactor SendCommand() and SendData() for clarity
+    - **ws2812**
+        - Fix typo and move initialization of neo to init()
+
+- **examples**
+    - **ws2812**
+        - Simplify examples/ws2812
+
+
+0.27.0
+---
+- **core**
+    - prepare for CGo changes in TinyGo
+
+- **new devices**
+    - **adafruit4650**
+        - support for Adafruit 4650 feather OLED
+    - **net**
+        - new networking support based on tinygo net package
+    - **pixel**
+        - add package for efficiently working with raw pixel buffers
+    - **rotary**
+        - Adding driver for rotary encoder support
+    - **seesaw**
+        - Adding support for Adafruit Seesaw platform
+    - **sgp30**
+        - add SGP30 air quality sensor
+    - **sk6812**
+        - added support for SK6812 to WS2812 device (#610)
+
+- **enhancements**
+    - **epd2in13**
+        - add Sleep method like other displays
+        - unify rotation configuration with other displays
+        - use better black/white approximation
+    - **ili9341**
+        - add DrawBitmap method
+    - **lora/lorawan**
+        - LoRa WAN US915 Support
+        - LoRa WAN add setter functions
+        - refactor shared functionality for channels/regions
+    - **mcp2515**
+        - Add more line speeds to mcp2515.go (#626)
+    - **rtl8720dn**
+        - use drivers package version as the driver version
+    - **ssd1306**
+        - improvements needed for Thumby SPI display
+    - **st7735**
+        - make the display generic over RGB565 and RGB444
+    - **st7789**
+        - add DrawBitmap method
+        - make the display generic over RGB565 and RGB444
+    - **wifinina**
+        - add ResetIsHigh cfg switch for MKR 1010 (copied from #561)
+        - maintenence. Also see PR #4085 in the main TinyGo repo
+        - use drivers package version as the driver version
+
+- **bugfixes**
+    - **adxl345**
+        - Use int16 for ADXL345 readings (#656)
+    - **at24cx**
+        - fixed the description of the device struct
+    - **rtl8720dn**
+        - allow connecting to open wifi access points
+        - fix check for bad Wifi connect
+    - **sh1106**
+        - fix I2C interface and add smoketest
+        - fixed the description of the device struct
+    - **wifinina**
+        - add 'unknown failure' reason code for AP connect
+        - fix concurrency issues with multiple sockets
+        - fix wifinina UDP send
+ 
+- **examples**
+    - **ds3231**
+        - fix the description in the example
+    - **lorawan**
+        - add missing functions for simulated interface
+        - modify atcmd and basic demo to support choosing any one of the supported regions at compile time by using ldflags
+    - **net**
+        - all networking examples now using netdev and netlink.
+
+- **build**
+    - **all**
+        - fix broken testrunner
+        - migrated legacy I2C
+        - add natiu package for tests
+    - **smoketest**
+        - add stack-size param for net tests.
+        - allow stack-size flag as it is needed for net examples
+
+
+0.26.0
+---
+- **core**
+    - i2c iface refactor: Resolve #559
+    - fix uses of legacy i2c WriteRegister calls
+    - add correct Tx implementation for mock I2C interfaces
+    - bump golang.org/x/net version
+
+- **new devices**
+    - **bma42x**
+        - add new BMA421/BMA425 driver
+    - **ndir**
+        - add Sandbox Electronics NDIR CO2 sensor driver (#580)
+    - **mpu9150**
+        - implement driver for Mpu9150 (#596)
+    - **sht4x**
+        - implement driver for sht4x (#597)
+    - **pcf8523**
+        - implement driver for pcf8523 (#599)
+
+- **enhancements**
+    - **ssd1306**
+        - improve bus error handling
+
+- **bugfixes**
+    - **st7789**
+        - fix scrolling when rotated by 180°
+    - **st7789**
+        - fix incorrect Rotation configuration
+        - fix SetScrollArea
+    - **ili9341**
+        - fix SetScrollArea
+
+- **build**
+    - use latest tag of tinygo-dev container for running tests
+
+
+0.25.0
+---
+
+- **core**
+    - add Sensor interface and Measurement type
+    - **delay**
+        - add new package for cycle-accurate delays
+
+- **new devices**
+    - **AS560x**
+        - Add support for ams AS560x on-axis magnetic rotary position sensors
+    - **onewire**
+        - first implementation of 1-wire protocol (#505)
+    - **mpu6886**
+        - initial implementation
+    - **ttp229**
+        - initial support for ttp229 (BSF)
+
+- **enhancements**
+    - **gps**
+        - make the date available in addition to the time (#532)
+    - **i2csoft**
+        - use cycle counting for delays
+    - **ili9341**
+        - add EnableTEOutput to be able to sync drawing with VSYNC
+        - add sleep mode
+        - unify rotation support
+    - **st7735**
+        - add DrawRGBBitmap8 method to draw raw RGB565 buffers
+        - add sleep mode
+        - unify rotation support
+    - **st7789**
+        - added DrawRGBBitmap8 (same as ili9341 & st7735)
+        - allow changing the color format using COLMOD
+        - make it possible to configure gamma
+        - support the chip select pin
+        - update saved rotation in SetRotation
+        - add sleep mode
+        - unify rotation support
+    - **sx126x/sx127x**
+        - Reduce spi buffer size, add missing select when using channels
+        - Remove heap alloc in interrupt, add non blocking channel send/receive, and other cleanups
+    - **wifinina**
+        - add generated strings, improved debugging system and messages
+        - add ResetIsHigh to control the behavior of the RESET pin for boards like the Arduino MKR 1010
+        - only add generated strings when using wifidebug tag
+
+- **bugfixes**
+    - **ds3231**
+        - Document incorrect leap year 2100
+        - Fix negative temperature conversion
+    - **ili9341**
+        - fix Size() for mirrored rotation
+    - **st7789**
+        - avoid heap allocations after the driver is created
+    - **net**
+        - Revert "(#501) make IP.String() method return something sensible"
+    - **wifinina**
+        - small timing adjustments in Configure() to better ensure device reset
+
+- **examples**
+    - **sdcard**
+        - remove tinyfs example and replace with link to tinyfs repo in docs
+    - **wifinina**
+        - improve connectToAP() and other needed minor corrections
+
+- **build**
+    - switch to ghcr.io for docker container
+    - run smoke tests in parallel
+    - **Makefile**
+        - add XTENSA=0 flag to skip Xtensa tests
+        - remove AVR=0 flag
+
+- **docs**
+    - remove full list of devices from README, better to keep it on the tinygo.org site
+    - update LICENSE year
+
+
+0.24.0
+---
+- **new devices**
+    - **lora**
+        - created shared RadioEvent
+        - move shared config for sx126x/sx127x to single package
+    - **lorawan**
+        - add initial LoRaWAN stack support
+        - Basic implementation of Lorawan Regional Settings and EU868/AU915 regions
+    - **qmi8658c**
+        - Add support for the QMI8658C sensor (#467)
+    - **sh1106**
+        - add support for SH1106 display driver
+    - **sx127x**
+        - Driver for Semtech sx127x radio modules
+
+- **enhancements**
+    - **bme280**
+        - improve config support
+        - add ReadAltitude() function copied from BMP280 driver
+    - **buzzer**
+        - make all note durations float64
+        - no tone during rest
+    - **dht22**
+        - update DHT22 receive to use runtime/interrupt
+    - **gps**
+        - add support for GLL sentence type, add original sentence to gps errors
+        - improve error handling
+        - improve parsing and add tests to verify
+    - **microbitmatrix**
+        - add link to schema for microbit V2
+        - add smoke test for microbitmatrix with microbit-v2
+        - add support for brightness of led pixels
+        - harmonize v1 and v2 implementation
+        - move Size() to version agnostic part
+    - **mpu6050**
+        - add functions to configure clock, and scaling for accelerometer and gyroscope
+    - **net/http**
+        - add PostForm()
+    - **sx126x**
+        - add Reset() and needed pin
+        - move RadioController into separate file for clarity
+        - pre-define all errors to avoid heap allocations
+        - refactor to RadioController interface to more easily handle non-STM32WL boards and remove duplicated code
+
+    - **vl53l1x**
+        - Add getter for the effective SPAD count
+    - **wifinina**
+        - add support for http server (#480)
+
+- **bugfixes**
+    - **lsm303agr**
+        - fix I2C address auto increment for multi data read
+    - **net**
+        - (#501) make IP.String() method return something sensible
+    - **mpu6050**
+        - return I2C error when configuring fails
+    - **sx126x**
+        - fix in SetBandwidth function
+        - actually set the frequency when calling SetFrequency()
+        - correct RX/TX pin mapping for TheThingsIndustries GNSE board
+
+- **examples**
+    - **LoRaWAN**
+        - example with LoRaWAN AT command set implementation
+        - basic example
+        - update all remaining examples for refactored API
+    - **sx126x**
+        - fix bandwidth,tx power in lora//lora_continuous example
+    - **sx127x**
+        - rx/tx example
+
+- **build**
+    - remove older format build tags
+    - update to actions/checkout@v3
+    - work around for CVE-2022-24765
+
+
+0.23.0
+---
+- **new devices**
+    - Add GC9A01 Driver (#452)
+    - Initial support for VL6180x sensor
+
+- **enhancements**
+    - **rtl8720dn**
+        - refactor by bringing this driver more in line with wifinina and espat
+    - **ssd1306**
+        - add getter method to the current buffer
+    - **makeybutton**
+        - revise to better match the algorithm defined by the original
+    - **espat,wifinina,rtl8720dn**
+        - change ssid/pass from const to var
+
+- **bugfixes**
+    - **microbitmatrix**
+        - fix inverted axis
+    - **espat**
+        - Trim quotes from IP returned by espat's GetDNS()
+    - **all**
+        - correct go fmt
+
+- **examples**
+    - **rtl8720dn**
+        - remove wifi setting
+        - add call to optional debug setting
+        - update all remaining examples for refactored API
+
+
+0.22.0
+---
+- **new devices**
+    - epd: add waveshare 2.9in (v1)
+    - makeybutton: add driver for MakeyMakey-like button
+
+- **enhancements**
+    - **rtl8720dn**
+        - add UDP close function
+        - improve error handling
+    - **net/http**
+        - improve header parsing
+        - add last-will-and-testament to MQTT
+    - **net/mqtt**
+        - adds keepalive pinging, disconnect, and graceful goroutine cleanup
+        - support for cookies when https
+        - add support for retained messsages
+
+- **bugfixes**
+    - irremote: Fix irremote reporting incorrect NEC addresses and command codes (#422)
+    - net/http:  Fix http.Get() with port specification
+
+- **build**
+    - Makefile recursively finds unit-tests
+    - switching to GHA
+
+- **updates**
+    - update tinyfont to v0.3.0
+    - update tinyfs to v0.2.0
+
+- **examples**
+    - rtl8720dn: add ./examples/rtl8720dn/version
+
+
+0.21.0
+---
+- **new devices**
+    - lsm6ds3tr: initial implementation
+    - UC8151: used in Pimoroni's badger2040 e-paper (#416)
+    - scd4x: implement driver for CO2 sensor
+
+- **enhancements**
+    - easystepper: Add support for '8-step mode'
+    - vl53l1x: Add functions for setting the device address
+    - sdcard: support thingplus-rp2040
+    - wifinina: add mutex to prevent communication race problems
+    - **ws2812**
+        - support thingplus-rp2040 board
+        - Added 125 MHz rp2040 timing
+        - Added unsafe.Pointer for pointer conversion
+
+- **bugfixes**
+    - ssd1351: Fix mirrored text on OLED display
+
+
+0.20.0
+---
+- **new devices**
+    - irremote: Add basic infra-red driver
+    - IS31FL3731: add driver for IS31FL3731 matrix LED driver (#370)
+    - l3gd20: add gyro driver
+    - SSD1289: Driver for SSD1289 LCD
+
+- **enhancements**
+    - **ili9341**
+        - add support for atsame5x
+        - added Feather board support to InitDisplay()
+        - avoid heap allocations
+    - **lps22hb**
+        - pin rename, sync with main repo
+    - **lsmXXX**
+        - unified, error handling, memory management
+    - **max7xx**
+        - Add a SetIntensity() function to max7xx driver and example
+    - **vl53l1x**
+        - Add functions for setting 'region of interest'
+        - Fix switch-case semantics
+    - **ws2812**
+        - add support for m5stamp-c3
+        - convert AVR assembly to C inline assembly
+        - support high-MHz ARMv6M chips like the RP2040
+        - write inline assembly using C instead of Go
+
+- **bugfixes**
+    - **dht**
+        - fix error check in example
+        - fix humidity and temperature extraction for DHT22 (#358)
+    - **esp8266**
+        - fix ConnectToAccessPoint timeout args
+    - **image**
+        - fix interface
+    - **pca9685**
+        - add buffered one shot write
+        - fix on=0 bug
+    - **wifinina**
+        - correct sendParamStr to handle empty strings, such as when connecting to an unsecured access point
+
+0.19.0
+---
+- **new devices**
+    - ft6336: add support for ft6336
+    - pca9685: PCA9685 driver
+    - shtc3: Sensirion SHTC3 Relative Humidity / Temperature i2c sensor
+    - sx126x: Driver for Semtech sx126x radio modules
+    - xpt2046: XPT2046 Touch driver (#350)
+- **enhancements**
+    - **hd44780i2c** 
+        - clean up for go fmt
+        - Needed fixes and update hd44780i2c.go
+    - **ili9341, ili9342**
+        - add support for m5stack
+        - add support for m5stack-core2
+    - **wifi**
+        - modify to use shared net.Adapter interface for all supported wifi devices
+    - wifinina: remove busy wait
+- **bugfixes**
+    - **hd44780** 
+        - fix 4-bit data length flag
+        - Reset data pins to output mode after reading
+    - Nano 33 BLE drivers (#351)
+- **docs**
+    - examples/wifi: add unified example for tcpclient that compiles for all supported wifi adaptors
+
+0.18.0
+---
+- **new devices**
+    - apds9960: add support for APDS-9960 Digital Proximity sensor
+    - axp192: add support for AXP192 single Cell Li-Battery and power system management IC
+    - hts221: add support for HTS221 capacitive digital sensor for relative humidity and temperature
+    - i2csoft: add support for software I2C
+    - image: add support for image/jpeg and image/png
+    - lps22hb: add support for LPS22HB MEMS nano pressure sensor
+    - lsm6dox: add support for lsm6dox accelerometer
+    - lsm9ds1: add support for lsm9ds1 accelerometer
+- **enhancements**
+    - ili9341: change to use drivers.SPI interface
+    - **ws2812**
+        - generate assembly instead of handwriting it
+        - improve timings to be compatible with the WS2811
+        - add support for 168MHz (e.g. Adafruit Feather STM32F405)
+        - add support for RISC-V
+    - wifinina: control nina pins, for example leds
+- **docs**
+    - rtl8720dn: examples for tcpclient, udpstation, mqtt, and webserver
+    - **wifinina** 
+        - nina-fw update docs
+        - examples/wifinina/http-get
+    - ili9341: refactor examples
+    - Fix broken link for SHT3x datasheet
+- **core**
+    - all: use build directives for both Go1.17 and earlier versions
+- **bugfixes**
+    - net: fix raddr of tcp conn
+    - mcp3008: fix bitshift bug
+
+0.17.1
+---
+- To correct an error in the release process. Same as 0.17.0.
+
+0.17.0
+---
+- **new devices**
+    - rtl8720dn: add support for rtl8720dn
+    - sdcard: add support for spi sdcard driver, along with fatfs
+- **enhancements**
+    - apa102: use 4-byte buffer to improve speed
+    - bmi160: avoid heap allocations
+    - ili9341: add standard SPI driver
+    - wifinina
+        - avoid fmt package
+        - Fix RSSI command for WiFiNINA + Print current SSID + Wait for correct time before printing it out + Cleanup
+    - ws2812
+        - rename the pin to ws2812
+        - add tag for nrf52833
+        - Disable interrupts before sending ws2812 data
+        - add support for qtpy and atsame5x
+- **core**
+    - modules: switch to use tinygo-org version of tinyfs package
+    - all: use machine.Serial as the default output
+
 0.16.0
 ---
 - **new devices**

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2018-2021 The TinyGo Authors. All rights reserved.
+Copyright (c) 2018-2024 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

@@ -2,206 +2,27 @@
 clean:
 	@rm -rf build
 
-FMT_PATHS = ./*.go ./examples/**/*.go
+FMT_PATHS = ./
 
 fmt-check:
 	@unformatted=$$(gofmt -l $(FMT_PATHS)); [ -z "$$unformatted" ] && exit 0; echo "Unformatted:"; for fn in $$unformatted; do echo "  $$fn"; done; exit 1
 
+XTENSA ?= 1
 smoke-test:
 	@mkdir -p build
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adt7410/main.go
-	@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
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/at24cx/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bh1750/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/blinkm/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmi160/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp180/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp280/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bmp388/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/sram/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/time/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/easystepper/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/espconsole/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/esphub/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/espstation/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/flash/console/spi
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/flash/console/qspi
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=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
-	@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
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017-multiple/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp3008/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp2515/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/microbitmatrix/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mma8653/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mpu6050/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=p1am-100 ./examples/p1am/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setbuffer/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setpixel/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino ./examples/servo
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/shifter/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht3x/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/i2c_128x32/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/spi_128x64/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1331/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7735/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7789/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/thermistor/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-bluefruit ./examples/tone
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/tm1637/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/fourwire/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/pyportal_touchpaint/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/vl53l1x/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13x/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd4in2/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/ntpclient/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/udpstation/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/tcpclient/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/webclient/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/ws2812
-	@md5sum ./build/test.hex
-ifneq ($(AVR), 0)
-	tinygo build -size short -o ./build/test.hex -target=arduino   ./examples/ws2812
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=digispark ./examples/ws2812
-	@md5sum ./build/test.hex
-endif
-	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bme280/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/microphone/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/buzzer/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/veml6070/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l293x/simple/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l293x/speed/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l9110x/simple/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/l9110x/speed/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=nucleo-f103rb ./examples/shiftregister/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=hifive1b ./examples/ssd1351/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis2mdl/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/max72xx/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/dht/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=arduino ./examples/keypad4x4/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/alarm/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/clkout/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/time/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/timer/
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/ina260/main.go
-	@md5sum ./build/test.hex
-	tinygo build -size short -o ./build/test.hex -target=nucleo-l432kc ./examples/aht20/main.go
-	@md5sum ./build/test.hex
+	@go run ./smoketest.go -xtensa=$(XTENSA) smoketest.sh
 
-DRIVERS = $(wildcard */)
-NOTESTS = build examples flash semihosting pcd8544 shiftregister st7789 microphone mcp3008 gps microbitmatrix \
-		hcsr04 ssd1331 ws2812 thermistor apa102 easystepper ssd1351 ili9341 wifinina shifter hub75 \
-		hd44780 buzzer ssd1306 espat l9110x st7735 bmi160 l293x dht keypad4x4 max72xx p1am tone tm1637 \
-		pcf8563 mcp2515 servo
-TESTS = $(filter-out $(addsuffix /%,$(NOTESTS)),$(DRIVERS))
+
+# rwildcard is a recursive version of $(wildcard) 
+# https://blog.jgc.org/2011/07/gnu-make-recursive-wildcard-function.html
+rwildcard=$(foreach d,$(wildcard $1*),$(call rwildcard,$d/,$2) $(filter $(subst *,%,$2),$d))
+# Recursively find all *_test.go files from cwd & reduce to unique dir names
+HAS_TESTS = $(sort $(dir $(call rwildcard,,*_test.go)))
+# Exclude anything we explicitly don't want to test for whatever reason
+EXCLUDE_TESTS = image waveshare-epd/epd2in66b
+TESTS = $(filter-out $(addsuffix /%,$(EXCLUDE_TESTS)),$(HAS_TESTS))
 
 unit-test:
-	@go test -v $(addprefix ./,$(TESTS)) 
+	@go test -v $(addprefix ./,$(TESTS))
 
 test: clean fmt-check unit-test smoke-test

README-net.md

@@ -0,0 +1,233 @@
+### Table of Contents
+
+- ["net" Package](#net-package)
+- [Using "net" Package](#using-net-package)
+- [Using "net/http" Package](#using-nethttp-package)
+- [Using "crypto/tls" Package](#using-cryptotls-package)
+- [Using Sockets](#using-sockets)
+
+## "net" Package
+
+TinyGo's "net" package is ported from Go.  The port offers a subset of Go's
+"net" package.  The subset maintains Go 1 compatiblity guarantee.  A Go
+application that uses "net" will most-likey just work on TinyGo if the usage is
+within the subset offered.  (There may be external constraints such as limited
+SRAM on some targets that may limit full "net" functionality).
+
+Continue below for details on using "net" and "net/http" packages.
+
+See src/net/READMD.md in the TinyGo repo for more details on maintaining
+TinyGo's "net" package.
+
+## Using "net" Package
+
+Ideally, TinyGo's "net" package would be Go's "net" package and applications
+using "net" would just work, as-is.  TinyGo's net package is a partial port of
+Go's net package, so some things may not work because they have not been
+ported.
+
+There are a few features excluded during the porting process, in particular:
+
+- No IPv6 support
+- No DualStack support
+
+Run ```go doc -all ./src/net``` in TinyGo repo to see full listing of what has
+been ported.  Here is a list of things known to work.  You can find examples
+of these at [examples/net](examples/net/).
+
+### What is Known to Work
+
+(These are all IPv4 only).
+
+- TCP client and server
+- UDP client
+- TLS client
+- HTTP client and server
+- HTTPS client
+- NTP client (UDP)
+- MQTT client (paho & natiu)
+- WebSocket client and server
+
+Multiple sockets can be opened in a single app.  For example, the app could run
+as an http server listen on port :80 and also use NTP to get the current time
+or send something over MQTT.  There is a practical limit to the number of
+active sockets per app, around 8 or 10, so don't go crazy.
+
+Applications using Go's net package will need a few setup steps to work with
+TinyGo's net package.  The steps are required before using "net".
+
+### Step 1: Probe to Load Network Driver
+
+Call Probe() to load the correct network driver for your target.  Probe()
+allows the app to work on multiple targets.
+
+```go
+package main
+
+import (
+	"tinygo.org/x/drivers/netlink/probe"
+)
+
+func main() {
+
+	// load network driver for target
+	link, dev := probe.Probe()
+
+	...	
+}
+```
+
+Probe() will load the driver with default configuration for the target.  For
+custom configuration, the app can open code Probe() for the target
+requirements.
+
+Probe() returns a [Netlinker](netlink/README.md) and a
+[Netdever](netdev/README.md), interfaces implemented by the network driver.
+Next, we'll use the Netlinker interface to connect the target to an IP network.
+
+### Step 2: Connect to an IP Network
+
+Before the net package is fully functional, we need to connect the target to an
+IP network.
+
+```go
+package main
+
+import (
+	"tinygo.org/x/drivers/netlink"
+	"tinygo.org/x/drivers/netlink/probe"
+)
+
+func main() {
+
+	// load network driver for target
+	link, _ := probe.Probe()
+
+	// Connect target to IP network
+	link.NetConnect(&netlink.ConnectParams{
+		Ssid:       "my SSID",
+		Passphrase: "my passphrase",
+	})
+
+	// OK to use "net" from here on
+	...	
+}
+```
+
+Optionally, get notified of IP network connects and disconnects:
+
+```go
+	link.Notify(func(e netlink.Event) {
+		switch e {
+		case netlink.EventNetUp:   println("Network UP")
+		case netlink.EventNetDown: println("Network DOWN")
+	})
+```
+
+Here is an example of an http server listening on port :8080:
+
+```go
+package main
+
+import (
+	"fmt"
+	"net/http"
+
+	"tinygo.org/x/drivers/netlink"
+	"tinygo.org/x/drivers/netlink/probe"
+)
+
+func HelloServer(w http.ResponseWriter, r *http.Request) {
+	fmt.Fprintf(w, "Hello, %s!", r.URL.Path[1:])
+}
+
+func main() {
+
+	// load network driver for target
+	link, _ := probe.Probe()
+
+	// Connect target to IP network
+	link.NetConnect(&netlink.ConnectParams{
+		Ssid:       "my SSID",
+		Passphrase: "my passphrase",
+	})
+
+	// Serve it up
+	http.HandleFunc("/", HelloServer)
+	http.ListenAndServe(":8080", nil)
+}
+```
+
+## Using "net/http" Package
+
+TinyGo's net/http package is a partial port of Go's net/http package, providing
+a subset of the full net/http package.  There are a few features excluded
+during the porting process, in particular:
+
+- No HTTP/2 support
+- No TLS support for HTTP servers (no https servers)
+- HTTP client request can't be reused
+
+HTTP client methods (http.Get, http.Head, http.Post, and http.PostForm) are
+functional.  Dial clients support both HTTP and HTTPS URLs.
+
+HTTP server methods and objects are mostly ported, but for HTTP only; HTTPS
+servers are not supported.
+
+HTTP request and response handling code is mostly ported, so most the intricacy
+of parsing and writing headers is handled as in the full net/http package.
+
+Run ```go doc -all ./src/net/http``` in TinyGo repo to see full listing.
+
+## Using "crypto/tls" Package
+
+TinyGo's TLS support (crypto/tls) relies on hardware offload of the TLS
+protocol.  This is different from Go's crypto/tls package which handles the TLS
+protocol in software.
+
+TinyGo's TLS support is only available for client applications.  You can
+http.Get() to an https:// address, but you cannot http.ListenAndServeTLS() an
+https server.
+
+The offloading hardware has pre-defined TLS certificates built-in.
+
+## Using Sockets
+
+The Netdever interface is a BSD socket-like interface so an application can make direct
+socket calls, bypassing the "net" package for the lowest overhead.
+
+Here is a simple TCP client application using direct sockets:
+
+```go
+package main
+
+import (
+	"net"  // only need to parse IP address
+
+	"tinygo.org/x/drivers/netdev"
+	"tinygo.org/x/drivers/netlink"
+	"tinygo.org/x/drivers/netlink/probe"
+)
+
+func main() {
+
+	// load network driver for target
+	link, dev := probe.Probe()
+
+	// Connect target to IP network
+	link.NetConnect(&netlink.ConnectParams{
+		Ssid:       "my SSID",
+		Passphrase: "my passphrase",
+	})
+
+	// omit error handling
+
+	sock, _ := dev.Socket(netdev.AF_INET, netdev.SOCK_STREAM, netdev.IPPROTO_TCP)
+
+        dev.Connect(sock, "", net.ParseIP("10.0.0.100"), 8080)
+	dev.Send(sock, []bytes("hello"), 0, 0)
+
+	dev.Close(sock)
+	link.NetDisconnect()
+}
+```

README.md

@@ -1,9 +1,12 @@
 # TinyGo Drivers
 
-[![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)
+[![PkgGoDev](https://pkg.go.dev/badge/tinygo.org/x/drivers)](https://pkg.go.dev/tinygo.org/x/drivers) [![Build](https://github.com/tinygo-org/drivers/actions/workflows/build.yml/badge.svg?branch=dev)](https://github.com/tinygo-org/drivers/actions/workflows/build.yml)
 
 
-This package provides a collection of hardware drivers for devices such as sensors and displays that can be used together with [TinyGo](https://tinygo.org).
+This package provides a collection of over 100 different hardware drivers for devices such as sensors, displays, wireless adaptors, and actuators, that can be used together with [TinyGo](https://tinygo.org).
+
+For the complete list, please see:
+https://tinygo.org/docs/reference/devices/
 
 ## Installing
 
@@ -50,78 +53,6 @@ func main() {
 }
 ```
 
-## Currently supported devices
-
-The following 65 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 |
-| [AHT20 I2C Temperature and Humidity Sensor](http://www.aosong.com/userfiles/files/media/AHT20%20%E8%8B%B1%E6%96%87%E7%89%88%E8%AF%B4%E6%98%8E%E4%B9%A6%20A0%2020201222.pdf) | I2C |
-| [AMG88xx 8x8 Thermal camera sensor](https://cdn-learn.adafruit.com/assets/assets/000/043/261/original/Grid-EYE_SPECIFICATIONS%28Reference%29.pdf) | I2C |
-| [APA102 RGB LED](https://cdn-shop.adafruit.com/product-files/2343/APA102C.pdf) | SPI |
-| [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 |
-| [BMP388 pressure sensor](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmp388-ds001.pdf) | I2C |
-| [Buzzer](https://en.wikipedia.org/wiki/Buzzer#Piezoelectric) | GPIO |
-| [DHTXX thermometer and humidity sensor](https://cdn-shop.adafruit.com/datasheets/Digital+humidity+and+temperature+sensor+AM2302.pdf) | GPIO |
-| [DS1307 real time clock](https://datasheets.maximintegrated.com/en/ds/DS1307.pdf) | I2C |
-| [DS3231 real time clock](https://datasheets.maximintegrated.com/en/ds/DS3231.pdf) | I2C |
-| [ESP32 as WiFi Coprocessor with Arduino nina-fw](https://github.com/arduino/nina-fw) | SPI |
-| [ESP8266/ESP32 AT Command set for WiFi/TCP/UDP](https://github.com/espressif/esp32-at) | UART |
-| [GPS module](https://www.u-blox.com/en/product/neo-6-series) | I2C/UART |
-| [HC-SR04 Ultrasonic distance sensor](https://cdn.sparkfun.com/datasheets/Sensors/Proximity/HCSR04.pdf) | GPIO |
-| [HD44780 LCD controller](https://www.sparkfun.com/datasheets/LCD/HD44780.pdf) | GPIO/I2C |
-| [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 |
-| [INA260 Volt/Amp/Power meter](https://www.ti.com/lit/ds/symlink/ina260.pdf) | I2C |
-| [4x4 Membrane Keypad](https://cdn.sparkfun.com/assets/f/f/a/5/0/DS-16038.pdf) | GPIO |
-| [L293x motor driver](https://www.ti.com/lit/ds/symlink/l293d.pdf) | GPIO/PWM |
-| [L9110x motor driver](https://www.elecrow.com/download/datasheet-l9110.pdf) | GPIO/PWM |
-| [LIS2MDL magnetometer](https://www.st.com/resource/en/datasheet/lis2mdl.pdf) | I2C |
-| [LIS3DH accelerometer](https://www.st.com/resource/en/datasheet/lis3dh.pdf) | I2C |
-| [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 |
-| [MAX7219 & MAX7221 display driver](https://datasheets.maximintegrated.com/en/ds/MAX7219-MAX7221.pdf) | SPI |
-| [MCP23017 port expander](https://ww1.microchip.com/downloads/en/DeviceDoc/20001952C.pdf) | I2C |
-| [MCP3008 analog to digital converter (ADC)](http://ww1.microchip.com/downloads/en/DeviceDoc/21295d.pdf) | SPI |
-| [MCP2515 Stand-Alone CAN Controller with SPI Interface](https://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Family-Data-Sheet-DS20001801K.pdf) | SPI |
-| [Microphone - PDM](https://cdn-learn.adafruit.com/assets/assets/000/049/977/original/MP34DT01-M.pdf) | I2S/PDM |
-| [MMA8653 accelerometer](https://www.nxp.com/docs/en/data-sheet/MMA8653FC.pdf) | I2C |
-| [MPU6050 accelerometer/gyroscope](https://store.invensense.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf) | I2C |
-| [P1AM-100 Base Controller](https://facts-engineering.github.io/modules/P1AM-100/P1AM-100.html) | SPI |
-| [PCD8544 display](http://eia.udg.edu/~forest/PCD8544_1.pdf) | SPI |
-| [PCF8563 real time clock](https://www.nxp.com/docs/en/data-sheet/PCF8563.pdf) | I2C |
-| [Resistive Touchscreen (4-wire)](http://ww1.microchip.com/downloads/en/Appnotes/doc8091.pdf) | GPIO |
-| [Semihosting](https://wiki.segger.com/Semihosting) | Debug |
-| [Servo](https://learn.sparkfun.com/tutorials/hobby-servo-tutorial/all) | PWM |
-| [Shift register (PISO)](https://en.wikipedia.org/wiki/Shift_register#Parallel-in_serial-out_\(PISO\)) | GPIO |
-| [Shift registers (SIPO)](https://en.wikipedia.org/wiki/Shift_register#Serial-in_parallel-out_(SIPO)) | GPIO |
-| [SHT3x Digital Humidity Sensor](https://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/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 |
-| [TM1637 7-segment LED display](https://www.mcielectronics.cl/website_MCI/static/documents/Datasheet_TM1637.pdf) | I2C |
-| [TMP102 I2C Temperature Sensor](https://download.mikroe.com/documents/datasheets/tmp102-data-sheet.pdf) | I2C |
-| [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" (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
 
 Your contributions are welcome!

adafruit4650/device.go

@@ -0,0 +1,196 @@
+// Package adafruit4650 implements a driver for the Adafruit FeatherWing OLED - 128x64 OLED display.
+// The display is backed itself by a SH1107 driver chip.
+//
+// Store: https://www.adafruit.com/product/4650
+//
+// Documentation: https://learn.adafruit.com/adafruit-128x64-oled-featherwing
+package adafruit4650
+
+import (
+	"image/color"
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+const DefaultAddress = 0x3c
+
+const (
+	commandSetLowColumn  = 0x00
+	commandSetHighColumn = 0x10
+	commandSetPage       = 0xb0
+)
+
+const (
+	width  = 128
+	height = 64
+)
+
+// Device represents an Adafruit 4650 device
+type Device struct {
+	bus     drivers.I2C
+	Address uint8
+	buffer  []byte
+	width   int16
+	height  int16
+}
+
+// New creates a new device, not configuring anything yet.
+func New(bus drivers.I2C) Device {
+	return Device{
+		bus:     bus,
+		Address: DefaultAddress,
+		width:   width,
+		height:  height,
+	}
+}
+
+// Configure initializes the display with default configuration
+func (d *Device) Configure() error {
+
+	bufferSize := d.width * d.height / 8
+	d.buffer = make([]byte, bufferSize)
+
+	// This sequence is an amalgamation of the datasheet, official Arduino driver, CircuitPython driver and other drivers
+	initSequence := []byte{
+		0xae, // display off, sleep mode
+		//0xd5, 0x41, // set display clock divider (from original datasheet)
+		0xd5, 0x51, // set display clock divider (from Adafruit driver)
+		0xd9, 0x22, // pre-charge/dis-charge period mode: 2 DCLKs/2 DCLKs (POR)
+		0x20,       // memory mode
+		0x81, 0x4f, // contrast setting = 0x4f
+		0xad, 0x8a, // set dc/dc pump
+		0xa0,       // segment remap, flip-x
+		0xc0,       // common output scan direction
+		0xdc, 0x00, // set display start line 0 (POR=0)
+		0xa8, 0x3f, // multiplex ratio, height - 1 = 0x3f
+		0xd3, 0x60, // set display offset mode = 0x60
+		0xdb, 0x35, // VCOM deselect level = 0.770 (POR)
+		0xa4, // entire display off, retain RAM, normal status (POR)
+		0xa6, // normal (not reversed) display
+		0xaf, // display on
+	}
+
+	err := d.writeCommands(initSequence)
+	if err != nil {
+		return err
+	}
+
+	// recommended in the datasheet, same in other drivers
+	time.Sleep(100 * time.Millisecond)
+
+	return nil
+}
+
+// ClearDisplay clears the image buffer as well as the actual display
+func (d *Device) ClearDisplay() error {
+	d.ClearBuffer()
+	return d.Display()
+}
+
+// ClearBuffer clears the buffer
+func (d *Device) ClearBuffer() {
+	bzero(d.buffer)
+}
+
+// SetPixel modifies the internal buffer. Since this display has a bit-depth of 1 bit any non-zero
+// color component will be treated as 'on',  otherwise 'off'.
+func (d *Device) SetPixel(x int16, y int16, c color.RGBA) {
+	if x < 0 || x >= d.width || y < 0 || y >= d.height {
+		return
+	}
+
+	// RAM layout
+	//    *-----> y
+	//    |
+	//   x|     col0  col1  ... col63
+	//    v  p0  a0    b0         ..
+	//           a1    b1         ..
+	//           ..    ..         ..
+	//           a7    b7         ..
+	//       p1  a0    b0
+	//           a1    b1
+	//
+
+	//flip y - so the display orientation matches the silk screen labeling etc.
+	y = d.height - y - 1
+
+	page := x / 8
+	bytesPerPage := d.height
+	byteIndex := y + bytesPerPage*page
+	bit := x % 8
+	if (c.R | c.G | c.B) != 0 {
+		d.buffer[byteIndex] |= 1 << uint8(bit)
+	} else {
+		d.buffer[byteIndex] &^= 1 << uint8(bit)
+	}
+}
+
+// Display sends the whole buffer to the screen
+func (d *Device) Display() error {
+
+	bytesPerPage := d.height
+
+	pages := (d.width + 7) / 8
+	for page := int16(0); page < pages; page++ {
+
+		err := d.setRAMPosition(uint8(page), 0)
+		if err != nil {
+			return err
+		}
+
+		offset := page * bytesPerPage
+		err = d.writeRAM(d.buffer[offset : offset+bytesPerPage])
+		if err != nil {
+			return err
+		}
+	}
+
+	return nil
+}
+
+// setRAMPosition updates the device's current page and column position
+func (d *Device) setRAMPosition(page uint8, column uint8) error {
+	if page > 15 {
+		panic("page out of bounds")
+	}
+	if column > 127 {
+		panic("column out of bounds")
+	}
+	setPage := commandSetPage | (page & 0xF)
+
+	lo := column & 0xF
+	setLowColumn := commandSetLowColumn | lo
+
+	hi := (column >> 4) & 0x7
+	setHighColumn := commandSetHighColumn | hi
+
+	cmds := []byte{
+		setPage,
+		setLowColumn,
+		setHighColumn,
+	}
+
+	return d.writeCommands(cmds)
+}
+
+// Size returns the current size of the display.
+func (d *Device) Size() (w, h int16) {
+	return d.width, d.height
+}
+
+func (d *Device) writeCommands(commands []byte) error {
+	onlyCommandsFollowing := byte(0x00)
+	return d.bus.Tx(uint16(d.Address), append([]byte{onlyCommandsFollowing}, commands...), nil)
+}
+
+func (d *Device) writeRAM(data []byte) error {
+	onlyRAMFollowing := byte(0x40)
+	return d.bus.Tx(uint16(d.Address), append([]byte{onlyRAMFollowing}, data...), nil)
+}
+
+func bzero(buf []byte) {
+	for i := range buf {
+		buf[i] = 0
+	}
+}

adafruit4650/device_test.go

@@ -0,0 +1,176 @@
+package adafruit4650
+
+import (
+	"bytes"
+	_ "embed"
+	"encoding/hex"
+	"fmt"
+	"image"
+	"image/color"
+	"image/draw"
+	"image/png"
+	"os"
+	"testing"
+	"time"
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/tinyfont"
+	"tinygo.org/x/tinyfont/freemono"
+)
+
+//go:embed expected_hello_world.png
+var expectedHelloWorld []byte
+
+// mockBus mocks a fake i2c device adafruit4650 display.
+// The memory layout assumes that clients set up the device in a particular way and always send complete
+// pages to the device buffer.
+type mockBus struct {
+	img           draw.Image
+	line          int
+	addr          uint8
+	currentPage   int
+	currentColumn int
+}
+
+func (m *mockBus) Tx(addr uint16, w, r []byte) error {
+	if addr != uint16(m.addr) {
+		panic("unexpected address")
+	}
+	if r != nil {
+		panic("mock does not support reads")
+	}
+
+	if w[0] == 0x00 {
+		if w[1]&0xf0 == 0xb0 {
+			m.currentPage = int(w[1] & 0x0f)
+
+			lo := w[2] & 0x0f
+			hi := w[2] & 0x07
+			m.currentColumn = int(hi<<4 | lo)
+		}
+		return nil
+	}
+	if w[0] != 0x40 {
+		panic("unexpected first byte: " + hex.EncodeToString(w[0:1]))
+	}
+
+	return m.writeRAM(w[1:])
+}
+
+func newMock() *mockBus {
+
+	m := image.NewRGBA(image.Rect(0, 0, width, height))
+	return &mockBus{img: m, addr: DefaultAddress, currentPage: -1, currentColumn: -1}
+}
+
+func (m *mockBus) writeRAM(data []byte) error {
+
+	// RAM layout
+	//    *-----> y
+	//    |
+	//   x|     col0  col1  ... col63
+	//    v  p0  a0    b0         ..
+	//           a1    b1         ..
+	//           ..    ..         ..
+	//           a7    b7         ..
+	//       p1  a0    b0
+	//           a1    b1
+	//
+
+	fmt.Printf("writing page %d\n", m.currentPage)
+	// assuming entire pages will be written
+	for x := 0; x < 8; x++ {
+		for y := 0; y < height; y++ {
+
+			col := data[y]
+
+			c := color.Black
+			if col&(1<<x) != 0 {
+				c = color.White
+			}
+
+			m.img.Set(x+m.currentPage*8, height-y-1, c)
+		}
+	}
+
+	return nil
+}
+
+func (m *mockBus) toImage() *image.RGBA {
+
+	container := image.NewRGBA(m.img.Bounds().Inset(-1))
+	draw.Draw(container, container.Bounds(), image.NewUniform(color.RGBA{G: 255, A: 255}), image.Point{}, draw.Over)
+	draw.Draw(container, m.img.Bounds(), m.img, image.Point{}, draw.Over)
+	return container
+}
+
+func TestDevice_Display(t *testing.T) {
+
+	bus := newMock()
+	dev := New(bus)
+
+	dev.Configure()
+
+	drawPlus(&dev)
+	drawHellowWorld(&dev)
+
+	//when
+	dev.Display()
+
+	//then
+	actual := bus.toImage()
+
+	expected, err := png.Decode(bytes.NewReader(expectedHelloWorld))
+	if err != nil {
+		panic(err)
+	}
+
+	assertEqualImages(t, actual, expected)
+}
+
+func drawPlus(d drivers.Displayer) {
+	for i := int16(0); i < 128; i++ {
+		d.SetPixel(i, 32, color.RGBA{R: 1})
+	}
+	for i := int16(0); i < 64; i++ {
+		d.SetPixel(64, i, color.RGBA{R: 1})
+	}
+}
+
+func drawHellowWorld(d drivers.Displayer) {
+	tinyfont.WriteLine(d, &freemono.Regular9pt7b, 0, 32, "Hello World!", color.RGBA{R: 0xff, G: 0xff, B: 0xff, A: 0xff})
+}
+
+func assertEqualImages(t testing.TB, actual, expected image.Image) {
+
+	if actual.Bounds().Dx() != expected.Bounds().Dx() || actual.Bounds().Dy() != expected.Bounds().Dy() {
+		f := writeImage(actual)
+		t.Fatalf("differing size: was %v, expected %v, saved actual to %s", actual.Bounds(), expected.Bounds(), f)
+	}
+
+	bb := expected.Bounds()
+	for x := bb.Min.X; x < bb.Max.X; x++ {
+		for y := bb.Min.Y; y < bb.Max.Y; y++ {
+			actualBB := actual.Bounds()
+			if actual.At(x+actualBB.Min.X, y+actualBB.Min.Y) != expected.At(x, y) {
+				f := writeImage(actual)
+				t.Fatalf("different pixel at %d/%d: %v != %v, saved actual at %s", x, y, actual.At(x, y), expected.At(x, y), f)
+			}
+		}
+	}
+}
+
+func writeImage(img image.Image) string {
+
+	fn := fmt.Sprintf("%d.png", time.Now().Unix())
+	f, err := os.OpenFile(fn, os.O_RDWR|os.O_CREATE, 0644)
+	if err != nil {
+		panic(err)
+	}
+	defer f.Close()
+
+	err = png.Encode(f, img)
+	if err != nil {
+		panic(err)
+	}
+	return fn
+}

adt7410/adt7410.go

@@ -1,13 +1,13 @@
 // 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 (
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
 )
 
 type Error uint8
@@ -55,7 +55,7 @@ func (d *Device) Configure() (err error) {
 // Connected returns whether sensor has been found.
 func (d *Device) Connected() bool {
 	data := []byte{0}
-	d.bus.ReadRegister(uint8(d.Address), RegID, data)
+	legacy.ReadRegister(d.bus, uint8(d.Address), RegID, data)
 	return data[0]&0xF8 == 0xC8
 }
 
@@ -82,11 +82,11 @@ func (d *Device) writeByte(reg uint8, data byte) {
 }
 
 func (d *Device) readByte(reg uint8) byte {
-	d.bus.ReadRegister(d.Address, reg, d.buf)
+	legacy.ReadRegister(d.bus, d.Address, reg, d.buf)
 	return d.buf[0]
 }
 
 func (d *Device) readUint16(reg uint8) uint16 {
-	d.bus.ReadRegister(d.Address, reg, d.buf)
+	legacy.ReadRegister(d.bus, d.Address, reg, d.buf)
 	return uint16(d.buf[0])<<8 | uint16(d.buf[1])
 }

adxl345/adxl345.go

@@ -3,10 +3,12 @@
 // Datasheet EN: http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf
 //
 // Datasheet JP: http://www.analog.com/media/jp/technical-documentation/data-sheets/ADXL345_jp.pdf
-//
 package adxl345 // import "tinygo.org/x/drivers/adxl345"
 
-import "tinygo.org/x/drivers"
+import (
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+)
 
 type Range uint8
 type Rate uint8
@@ -69,21 +71,21 @@ func New(bus drivers.I2C) Device {
 
 // Configure sets up the device for communication
 func (d *Device) Configure() {
-	d.bus.WriteRegister(uint8(d.Address), REG_BW_RATE, []byte{d.bwRate.toByte()})
-	d.bus.WriteRegister(uint8(d.Address), REG_POWER_CTL, []byte{d.powerCtl.toByte()})
-	d.bus.WriteRegister(uint8(d.Address), REG_DATA_FORMAT, []byte{d.dataFormat.toByte()})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_BW_RATE, []byte{d.bwRate.toByte()})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_POWER_CTL, []byte{d.powerCtl.toByte()})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_DATA_FORMAT, []byte{d.dataFormat.toByte()})
 }
 
 // Halt stops the sensor, values will not updated
 func (d *Device) Halt() {
 	d.powerCtl.measure = 0
-	d.bus.WriteRegister(uint8(d.Address), REG_POWER_CTL, []byte{d.powerCtl.toByte()})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_POWER_CTL, []byte{d.powerCtl.toByte()})
 }
 
 // Restart makes reading the sensor working again after a halt
 func (d *Device) Restart() {
 	d.powerCtl.measure = 1
-	d.bus.WriteRegister(uint8(d.Address), REG_POWER_CTL, []byte{d.powerCtl.toByte()})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_POWER_CTL, []byte{d.powerCtl.toByte()})
 }
 
 // ReadAcceleration reads the current acceleration from the device and returns
@@ -93,18 +95,18 @@ func (d *Device) Restart() {
 func (d *Device) ReadAcceleration() (x int32, y int32, z int32, err error) {
 	rx, ry, rz := d.ReadRawAcceleration()
 
-	x = d.dataFormat.convertToIS(rx)
-	y = d.dataFormat.convertToIS(ry)
-	z = d.dataFormat.convertToIS(rz)
+	x = int32(d.dataFormat.convertToIS(rx))
+	y = int32(d.dataFormat.convertToIS(ry))
+	z = int32(d.dataFormat.convertToIS(rz))
 
 	return
 }
 
 // ReadRawAcceleration reads the sensor values and returns the raw x, y and z axis
 // from the adxl345.
-func (d *Device) ReadRawAcceleration() (x int32, y int32, z int32) {
+func (d *Device) ReadRawAcceleration() (x int16, y int16, z int16) {
 	data := []byte{0, 0, 0, 0, 0, 0}
-	d.bus.ReadRegister(uint8(d.Address), REG_DATAX0, data)
+	legacy.ReadRegister(d.bus, uint8(d.Address), REG_DATAX0, data)
 
 	x = readIntLE(data[0], data[1])
 	y = readIntLE(data[2], data[3])
@@ -120,25 +122,25 @@ func (d *Device) UseLowPower(power bool) {
 	} else {
 		d.bwRate.lowPower = 0
 	}
-	d.bus.WriteRegister(uint8(d.Address), REG_BW_RATE, []byte{d.bwRate.toByte()})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_BW_RATE, []byte{d.bwRate.toByte()})
 }
 
 // SetRate change the current rate of the sensor
 func (d *Device) SetRate(rate Rate) bool {
 	d.bwRate.rate = rate & 0x0F
-	d.bus.WriteRegister(uint8(d.Address), REG_BW_RATE, []byte{d.bwRate.toByte()})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_BW_RATE, []byte{d.bwRate.toByte()})
 	return true
 }
 
 // SetRange change the current range of the sensor
 func (d *Device) SetRange(sensorRange Range) bool {
 	d.dataFormat.sensorRange = sensorRange & 0x03
-	d.bus.WriteRegister(uint8(d.Address), REG_DATA_FORMAT, []byte{d.dataFormat.toByte()})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_DATA_FORMAT, []byte{d.dataFormat.toByte()})
 	return true
 }
 
 // convertToIS adjusts the raw values from the adxl345 with the range configuration
-func (d *dataFormat) convertToIS(rawValue int32) int32 {
+func (d *dataFormat) convertToIS(rawValue int16) int16 {
 	switch d.sensorRange {
 	case RANGE_2G:
 		return rawValue * 4 // rawValue * 2 * 1000 / 512
@@ -188,6 +190,6 @@ func (b *bwRate) toByte() (bits uint8) {
 }
 
 // readInt converts two bytes to int16
-func readIntLE(msb byte, lsb byte) int32 {
-	return int32(uint16(msb) | uint16(lsb)<<8)
+func readIntLE(msb byte, lsb byte) int16 {
+	return int16(uint16(msb) | uint16(lsb)<<8)
 }

amg88xx/amg88xx.go

@@ -8,6 +8,7 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
 )
 
 // Device wraps an I2C connection to a AMG88xx device.
@@ -48,7 +49,7 @@ func (d *Device) Configure(cfg Config) {
 
 // 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)
+	legacy.ReadRegister(d.bus, 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
@@ -61,17 +62,17 @@ func (d *Device) ReadPixels(buffer *[64]int16) {
 
 // SetPCTL sets the PCTL
 func (d *Device) SetPCTL(pctl uint8) {
-	d.bus.WriteRegister(uint8(d.Address), PCTL, []byte{pctl})
+	legacy.WriteRegister(d.bus, 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})
+	legacy.WriteRegister(d.bus, 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})
+	legacy.WriteRegister(d.bus, uint8(d.Address), FPSC, []byte{framerate & 0x01})
 }
 
 // SetMovingAverageMode sets the moving average mode
@@ -80,7 +81,7 @@ func (d *Device) SetMovingAverageMode(mode bool) {
 	if mode {
 		value = 1
 	}
-	d.bus.WriteRegister(uint8(d.Address), AVE, []byte{value << 5})
+	legacy.WriteRegister(d.bus, uint8(d.Address), AVE, []byte{value << 5})
 }
 
 // SetInterruptLevels sets the interrupt levels
@@ -97,8 +98,8 @@ func (d *Device) SetInterruptLevelsHysteresis(high int16, low int16, hysteresis
 	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)})
+	legacy.WriteRegister(d.bus, uint8(d.Address), INTHL, []byte{uint8(high & 0xFF)})
+	legacy.WriteRegister(d.bus, uint8(d.Address), INTHL, []byte{uint8((high & 0xFF) >> 4)})
 
 	low = low / PIXEL_TEMP_CONVERSION
 	if low < -4095 {
@@ -107,8 +108,8 @@ func (d *Device) SetInterruptLevelsHysteresis(high int16, low int16, hysteresis
 	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)})
+	legacy.WriteRegister(d.bus, uint8(d.Address), INTHL, []byte{uint8(low & 0xFF)})
+	legacy.WriteRegister(d.bus, uint8(d.Address), INTHL, []byte{uint8((low & 0xFF) >> 4)})
 
 	hysteresis = hysteresis / PIXEL_TEMP_CONVERSION
 	if hysteresis < -4095 {
@@ -117,32 +118,32 @@ func (d *Device) SetInterruptLevelsHysteresis(high int16, low int16, hysteresis
 	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)})
+	legacy.WriteRegister(d.bus, uint8(d.Address), INTHL, []byte{uint8(hysteresis & 0xFF)})
+	legacy.WriteRegister(d.bus, 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})
+	legacy.WriteRegister(d.bus, 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})
+	legacy.WriteRegister(d.bus, 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})
+	legacy.WriteRegister(d.bus, 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)
+	legacy.ReadRegister(d.bus, uint8(d.Address), INT_OFFSET, data)
 	return data
 }
 
@@ -154,6 +155,6 @@ func (d *Device) ClearInterrupt() {
 // ReadThermistor reads the onboard thermistor
 func (d *Device) ReadThermistor() int16 {
 	data := make([]uint8, 2)
-	d.bus.ReadRegister(uint8(d.Address), TTHL, data)
+	legacy.ReadRegister(d.bus, uint8(d.Address), TTHL, data)
 	return (int16((uint16(data[1])<<8)|uint16(data[0])) * THERMISTOR_CONVERSION) / 10
 }

apa102/apa102.go

@@ -27,44 +27,46 @@ var startFrame = []byte{0x00, 0x00, 0x00, 0x00}
 type Device struct {
 	bus   drivers.SPI
 	Order int
+	buf   [4]byte
 }
 
 // New returns a new APA102 driver. Pass in a fully configured SPI bus.
-func New(b drivers.SPI) Device {
-	return Device{bus: b, Order: BGR}
+func New(b drivers.SPI) *Device {
+	return &Device{bus: b, Order: BGR}
 }
 
 // NewSoftwareSPI returns a new APA102 driver that will use a software based
 // implementation of the SPI protocol.
-func NewSoftwareSPI(sckPin, sdoPin machine.Pin, delay uint32) Device {
+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.
 // The A value (Alpha channel) is used for brightness, set to 0xff (255) for maximum.
-func (d Device) WriteColors(cs []color.RGBA) (n int, err error) {
+func (d *Device) WriteColors(cs []color.RGBA) (n int, err error) {
 	d.startFrame()
 
 	// write data
 	for _, c := range cs {
 		// brightness is scaled to 5 bit value
-		d.bus.Transfer(0xe0 | (c.A >> 3))
+		d.buf[0] = 0xe0 | (c.A >> 3)
 
 		// set the colors
 		switch d.Order {
 		case BRG:
-			d.bus.Transfer(c.B)
-			d.bus.Transfer(c.R)
-			d.bus.Transfer(c.G)
+			d.buf[1] = c.B
+			d.buf[2] = c.R
+			d.buf[3] = c.G
 		case GRB:
-			d.bus.Transfer(c.G)
-			d.bus.Transfer(c.R)
-			d.bus.Transfer(c.B)
+			d.buf[1] = c.G
+			d.buf[2] = c.R
+			d.buf[3] = c.B
 		case BGR:
-			d.bus.Transfer(c.B)
-			d.bus.Transfer(c.G)
-			d.bus.Transfer(c.R)
+			d.buf[1] = c.B
+			d.buf[2] = c.G
+			d.buf[3] = c.R
 		}
+		d.bus.Tx(d.buf[:], nil)
 	}
 
 	d.endFrame(len(cs))
@@ -73,7 +75,7 @@ func (d Device) WriteColors(cs []color.RGBA) (n int, err error) {
 }
 
 // Write the raw bytes using the APA102 protocol.
-func (d Device) Write(buf []byte) (n int, err error) {
+func (d *Device) Write(buf []byte) (n int, err error) {
 	d.startFrame()
 	d.bus.Tx(buf, nil)
 	d.endFrame(len(buf) / 4)
@@ -82,14 +84,14 @@ func (d Device) Write(buf []byte) (n int, err error) {
 }
 
 // startFrame sends the start bytes for a strand of LEDs.
-func (d Device) startFrame() {
+func (d *Device) startFrame() {
 	d.bus.Tx(startFrame, nil)
 }
 
 // endFrame sends the end frame marker with one extra bit per LED so
 // long strands of LEDs receive the necessary termination for updates.
 // See https://cpldcpu.wordpress.com/2014/11/30/understanding-the-apa102-superled/
-func (d Device) endFrame(count int) {
+func (d *Device) endFrame(count int) {
 	for i := 0; i < count/16; i++ {
 		d.bus.Transfer(0xff)
 	}

apds9960/apds9960.go

@@ -0,0 +1,468 @@
+// Package apds9960 implements a driver for APDS-9960,
+// a digital proximity, ambient light, RGB and gesture sensor.
+//
+// Datasheet: https://cdn.sparkfun.com/assets/learn_tutorials/3/2/1/Avago-APDS-9960-datasheet.pdf
+package apds9960
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+)
+
+// Device wraps an I2C connection to a APDS-9960 device.
+type Device struct {
+	bus     drivers.I2C
+	Address uint8
+	mode    uint8
+	gesture gestureData
+}
+
+// Configuration for APDS-9960 device.
+type Configuration struct {
+	ProximityPulseLength uint8
+	ProximityPulseCount  uint8
+	GesturePulseLength   uint8
+	GesturePulseCount    uint8
+	ProximityGain        uint8
+	GestureGain          uint8
+	ColorGain            uint8
+	ADCIntegrationCycles uint16
+	LEDBoost             uint16
+	threshold            uint8
+	sensitivity          uint8
+}
+
+// for gesture-related data
+type gestureData struct {
+	detected    uint8
+	threshold   uint8
+	sensitivity uint8
+	gXDelta     int16
+	gYDelta     int16
+	gXPrevDelta int16
+	gYPrevDelta int16
+	received    bool
+}
+
+// for enabling various device function
+type enableConfig struct {
+	GEN  bool
+	PIEN bool
+	AIEN bool
+	WEN  bool
+	PEN  bool
+	AEN  bool
+	PON  bool
+}
+
+// New creates a new APDS-9960 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: ADPS9960_ADDRESS, mode: MODE_NONE}
+}
+
+// Connected returns whether APDS-9960 has been found.
+// It does a "who am I" request and checks the response.
+func (d *Device) Connected() bool {
+	data := []byte{0}
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_ID_REG, data)
+	return data[0] == 0xAB
+}
+
+// GetMode returns current engine mode
+func (d *Device) GetMode() uint8 {
+	return d.mode
+}
+
+// DisableAll turns off the device and all functions
+func (d *Device) DisableAll() {
+	d.enable(enableConfig{})
+	legacy.WriteRegister(d.bus, d.Address, APDS9960_GCONF4_REG, []byte{0x00})
+	d.mode = MODE_NONE
+	d.gesture.detected = GESTURE_NONE
+}
+
+// SetProximityPulse sets proximity pulse length (4, 8, 16, 32) and count (1~64)
+// default: 16, 64
+func (d *Device) SetProximityPulse(length, count uint8) {
+	legacy.WriteRegister(d.bus, d.Address, APDS9960_PPULSE_REG, []byte{getPulseLength(length)<<6 | getPulseCount(count)})
+}
+
+// SetGesturePulse sets gesture pulse length (4, 8, 16, 32) and count (1~64)
+// default: 16, 64
+func (d *Device) SetGesturePulse(length, count uint8) {
+	legacy.WriteRegister(d.bus, d.Address, APDS9960_GPULSE_REG, []byte{getPulseLength(length)<<6 | getPulseCount(count)})
+}
+
+// SetADCIntegrationCycles sets ALS/color ADC internal integration cycles (1~256, 1 cycle = 2.78 ms)
+// default: 4 (~10 ms)
+func (d *Device) SetADCIntegrationCycles(cycles uint16) {
+	if cycles > 256 {
+		cycles = 256
+	}
+	legacy.WriteRegister(d.bus, d.Address, APDS9960_ATIME_REG, []byte{uint8(256 - cycles)})
+}
+
+// SetGains sets proximity/gesture gain (1, 2, 4, 8x) and ALS/color gain (1, 4, 16, 64x)
+// default: 1, 1, 4
+func (d *Device) SetGains(proximityGain, gestureGain, colorGain uint8) {
+	legacy.WriteRegister(d.bus, d.Address, APDS9960_CONTROL_REG, []byte{getProximityGain(proximityGain)<<2 | getALSGain(colorGain)})
+	legacy.WriteRegister(d.bus, d.Address, APDS9960_GCONF2_REG, []byte{getProximityGain(gestureGain) << 5})
+}
+
+// LEDBoost sets proximity and gesture LED current level (100, 150, 200, 300 (%))
+// default: 100
+func (d *Device) LEDBoost(percent uint16) {
+	var v uint8
+	switch percent {
+	case 100:
+		v = 0
+	case 150:
+		v = 1
+	case 200:
+		v = 2
+	case 300:
+		v = 3
+	}
+	legacy.WriteRegister(d.bus, d.Address, APDS9960_CONFIG2_REG, []byte{0x01 | v<<4})
+}
+
+// Setthreshold sets threshold (0~255) for detecting gestures
+// default: 30
+func (d *Device) Setthreshold(t uint8) {
+	d.gesture.threshold = t
+}
+
+// Setsensitivity sets sensivity (0~100) for detecting gestures
+// default: 20
+func (d *Device) Setsensitivity(s uint8) {
+	if s > 100 {
+		s = 100
+	}
+	d.gesture.sensitivity = 100 - s
+}
+
+// EnableProximity starts the proximity engine
+func (d *Device) EnableProximity() {
+	if d.mode != MODE_NONE {
+		d.DisableAll()
+	}
+	d.enable(enableConfig{PON: true, PEN: true, WEN: true})
+	d.mode = MODE_PROXIMITY
+}
+
+// ProximityAvailable reports if proximity data is available
+func (d *Device) ProximityAvailable() bool {
+	if d.mode == MODE_PROXIMITY && d.readStatus("PVALID") {
+		return true
+	}
+	return false
+}
+
+// ReadProximity reads proximity data (0~255)
+func (d *Device) ReadProximity() (proximity int32) {
+	if d.mode != MODE_PROXIMITY {
+		return 0
+	}
+	data := []byte{0}
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_PDATA_REG, data)
+	return 255 - int32(data[0])
+}
+
+// EnableColor starts the color engine
+func (d *Device) EnableColor() {
+	if d.mode != MODE_NONE {
+		d.DisableAll()
+	}
+	d.enable(enableConfig{PON: true, AEN: true, WEN: true})
+	d.mode = MODE_COLOR
+}
+
+// ColorAvailable reports if color data is available
+func (d *Device) ColorAvailable() bool {
+	if d.mode == MODE_COLOR && d.readStatus("AVALID") {
+		return true
+	}
+	return false
+}
+
+// ReadColor reads color data (red, green, blue, clear color/brightness)
+func (d *Device) ReadColor() (r int32, g int32, b int32, clear int32) {
+	if d.mode != MODE_COLOR {
+		return
+	}
+	data := []byte{0, 0, 0, 0, 0, 0, 0, 0}
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_CDATAL_REG, data[:1])
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_CDATAH_REG, data[1:2])
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_RDATAL_REG, data[2:3])
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_RDATAH_REG, data[3:4])
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_GDATAL_REG, data[4:5])
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_GDATAH_REG, data[5:6])
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_BDATAL_REG, data[6:7])
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_BDATAH_REG, data[7:])
+	clear = int32(uint16(data[1])<<8 | uint16(data[0]))
+	r = int32(uint16(data[3])<<8 | uint16(data[2]))
+	g = int32(uint16(data[5])<<8 | uint16(data[4]))
+	b = int32(uint16(data[7])<<8 | uint16(data[6]))
+	return
+}
+
+// EnableGesture starts the gesture engine
+func (d *Device) EnableGesture() {
+	if d.mode != MODE_NONE {
+		d.DisableAll()
+	}
+	d.enable(enableConfig{PON: true, PEN: true, GEN: true, WEN: true})
+	d.mode = MODE_GESTURE
+	d.gesture.detected = GESTURE_NONE
+	d.gesture.gXDelta = 0
+	d.gesture.gYDelta = 0
+	d.gesture.gXPrevDelta = 0
+	d.gesture.gYPrevDelta = 0
+	d.gesture.received = false
+}
+
+// GestureAvailable reports if gesture data is available
+func (d *Device) GestureAvailable() bool {
+	if d.mode != MODE_GESTURE {
+		return false
+	}
+
+	data := []byte{0, 0, 0, 0}
+
+	// check GVALID
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_GSTATUS_REG, data[:1])
+	if data[0]&0x01 == 0 {
+		return false
+	}
+
+	// get number of data sets available in FIFO
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_GFLVL_REG, data[:1])
+	availableDataSets := data[0]
+	if availableDataSets == 0 {
+		return false
+	}
+
+	// read up, down, left and right proximity data from FIFO
+	var dataSets [32][4]uint8
+	for i := uint8(0); i < availableDataSets; i++ {
+		legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_U_REG, data[:1])
+		legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_D_REG, data[1:2])
+		legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_L_REG, data[2:3])
+		legacy.ReadRegister(d.bus, d.Address, APDS9960_GFIFO_R_REG, data[3:4])
+		for j := uint8(0); j < 4; j++ {
+			dataSets[i][j] = data[j]
+		}
+	}
+
+	// gesture detection process
+	d.gesture.detected = GESTURE_NONE
+	for i := uint8(0); i < availableDataSets; i++ {
+		U := dataSets[i][0]
+		D := dataSets[i][1]
+		L := dataSets[i][2]
+		R := dataSets[i][3]
+
+		// if all readings fall below threshold, it's possible that
+		// a movement's just been made
+		if U < d.gesture.threshold && D < d.gesture.threshold && L < d.gesture.threshold && R < d.gesture.threshold {
+			d.gesture.received = true
+			// if there were movement in the previous step (including the last data sets)
+			if d.gesture.gXPrevDelta != 0 && d.gesture.gYPrevDelta != 0 {
+				totalX := d.gesture.gXPrevDelta - d.gesture.gXDelta
+				totalY := d.gesture.gYPrevDelta - d.gesture.gYDelta
+				// if previous and current movement are in opposite directions (pass through one led then next)
+				// and the difference is big enough, the gesture is recorded
+				switch {
+				case totalX < -int16(d.gesture.sensitivity):
+					d.gesture.detected = GESTURE_LEFT
+				case totalX > int16(d.gesture.sensitivity):
+					d.gesture.detected = GESTURE_RIGHT
+				case totalY > int16(d.gesture.sensitivity):
+					d.gesture.detected = GESTURE_DOWN
+				case totalY < -int16(d.gesture.sensitivity):
+					d.gesture.detected = GESTURE_UP
+				}
+				d.gesture.gXDelta = 0
+				d.gesture.gYDelta = 0
+				d.gesture.gXPrevDelta = 0
+				d.gesture.gYPrevDelta = 0
+			}
+			continue
+		}
+
+		// recording current movement
+		d.gesture.gXDelta = int16(R) - int16(L)
+		d.gesture.gYDelta = int16(D) - int16(U)
+		if d.gesture.received {
+			d.gesture.received = false
+			d.gesture.gXPrevDelta = d.gesture.gXDelta
+			d.gesture.gYPrevDelta = d.gesture.gYDelta
+		}
+	}
+
+	return d.gesture.detected != GESTURE_NONE
+}
+
+// ReadGesture reads last gesture data
+func (d *Device) ReadGesture() (gesture int32) {
+	return int32(d.gesture.detected)
+}
+
+// private functions
+
+func (d *Device) configureDevice(cfg Configuration) {
+	d.DisableAll() // turn off everything
+
+	// "default" settings
+	if cfg.ProximityPulseLength == 0 {
+		cfg.ProximityPulseLength = 16
+	}
+	if cfg.ProximityPulseCount == 0 {
+		cfg.ProximityPulseCount = 64
+	}
+	if cfg.GesturePulseLength == 0 {
+		cfg.GesturePulseLength = 16
+	}
+	if cfg.GesturePulseCount == 0 {
+		cfg.GesturePulseCount = 64
+	}
+	if cfg.ProximityGain == 0 {
+		cfg.ProximityGain = 1
+	}
+	if cfg.GestureGain == 0 {
+		cfg.GestureGain = 1
+	}
+	if cfg.ColorGain == 0 {
+		cfg.ColorGain = 4
+	}
+	if cfg.ADCIntegrationCycles == 0 {
+		cfg.ADCIntegrationCycles = 4
+	}
+	if cfg.threshold == 0 {
+		d.gesture.threshold = 30
+	}
+	if cfg.sensitivity == 0 {
+		d.gesture.sensitivity = 20
+	}
+
+	d.SetProximityPulse(cfg.ProximityPulseLength, cfg.ProximityPulseCount)
+	d.SetGesturePulse(cfg.GesturePulseLength, cfg.GesturePulseCount)
+	d.SetGains(cfg.ProximityGain, cfg.GestureGain, cfg.ColorGain)
+	d.SetADCIntegrationCycles(cfg.ADCIntegrationCycles)
+
+	if cfg.LEDBoost > 0 {
+		d.LEDBoost(cfg.LEDBoost)
+	}
+}
+
+func (d *Device) enable(cfg enableConfig) {
+	var gen, pien, aien, wen, pen, aen, pon uint8
+
+	if cfg.GEN {
+		gen = 1
+	}
+	if cfg.PIEN {
+		pien = 1
+	}
+	if cfg.AIEN {
+		aien = 1
+	}
+	if cfg.WEN {
+		wen = 1
+	}
+	if cfg.PEN {
+		pen = 1
+	}
+	if cfg.AEN {
+		aen = 1
+	}
+	if cfg.PON {
+		pon = 1
+	}
+
+	data := []byte{gen<<6 | pien<<5 | aien<<4 | wen<<3 | pen<<2 | aen<<1 | pon}
+	legacy.WriteRegister(d.bus, d.Address, APDS9960_ENABLE_REG, data)
+
+	if cfg.PON {
+		time.Sleep(time.Millisecond * 10)
+	}
+}
+
+func (d *Device) readStatus(param string) bool {
+	data := []byte{0}
+	legacy.ReadRegister(d.bus, d.Address, APDS9960_STATUS_REG, data)
+
+	switch param {
+	case "CPSAT":
+		return data[0]>>7&0x01 == 1
+	case "PGSAT":
+		return data[0]>>6&0x01 == 1
+	case "PINT":
+		return data[0]>>5&0x01 == 1
+	case "AINT":
+		return data[0]>>4&0x01 == 1
+	case "PVALID":
+		return data[0]>>1&0x01 == 1
+	case "AVALID":
+		return data[0]&0x01 == 1
+	default:
+		return false
+	}
+}
+
+func getPulseLength(l uint8) uint8 {
+	switch l {
+	case 4:
+		return 0
+	case 8:
+		return 1
+	case 16:
+		return 2
+	case 32:
+		return 3
+	default:
+		return 0
+	}
+}
+
+func getPulseCount(c uint8) uint8 {
+	if c < 1 && c > 64 {
+		return 0
+	}
+	return c - 1
+}
+
+func getProximityGain(g uint8) uint8 {
+	switch g {
+	case 1:
+		return 0
+	case 2:
+		return 1
+	case 4:
+		return 2
+	case 8:
+		return 3
+	default:
+		return 0
+	}
+}
+
+func getALSGain(g uint8) uint8 {
+	switch g {
+	case 1:
+		return 0
+	case 4:
+		return 1
+	case 16:
+		return 2
+	case 64:
+		return 3
+	default:
+		return 0
+	}
+}

apds9960/apds9960_generic.go

@@ -0,0 +1,9 @@
+//go:build !nano_33_ble
+
+package apds9960
+
+// Configure sets up the APDS-9960 device.
+func (d *Device) Configure(cfg Configuration) {
+	// configure device
+	d.configureDevice(cfg)
+}

apds9960/apds9960_nano_33_ble.go

@@ -0,0 +1,23 @@
+//go:build nano_33_ble
+
+package apds9960
+
+import (
+	"machine"
+	"time"
+)
+
+// Configure sets up the APDS-9960 device.
+func (d *Device) Configure(cfg Configuration) {
+
+	// Following lines are Nano 33 BLE specific, they have nothing to do with sensor per se
+	machine.LSM_PWR.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	machine.LSM_PWR.High()
+	machine.I2C_PULLUP.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	machine.I2C_PULLUP.High()
+	// Wait a moment
+	time.Sleep(10 * time.Millisecond)
+
+	// configure device
+	d.configureDevice(cfg)
+}

apds9960/registers.go

@@ -0,0 +1,78 @@
+package apds9960
+
+const (
+
+	// I2C address
+	ADPS9960_ADDRESS = 0x39
+
+	// control/status registers
+	APDS9960_RAM_REG        = 0x00
+	APDS9960_ENABLE_REG     = 0x80
+	APDS9960_ATIME_REG      = 0x81
+	APDS9960_WTIME_REG      = 0x83
+	APDS9960_AILTIL_REG     = 0x84
+	APDS9960_AILTH_REG      = 0x85
+	APDS9960_AIHTL_REG      = 0x86
+	APDS9960_AIHTH_REG      = 0x87
+	APDS9960_PILT_REG       = 0x89
+	APDS9960_PIHT_REG       = 0x8B
+	APDS9960_PERS_REG       = 0x8C
+	APDS9960_CONFIG1_REG    = 0x8D
+	APDS9960_PPULSE_REG     = 0x8E
+	APDS9960_CONTROL_REG    = 0x8F
+	APDS9960_CONFIG2_REG    = 0x90
+	APDS9960_ID_REG         = 0x92
+	APDS9960_STATUS_REG     = 0x93
+	APDS9960_CDATAL_REG     = 0x94
+	APDS9960_CDATAH_REG     = 0x95
+	APDS9960_RDATAL_REG     = 0x96
+	APDS9960_RDATAH_REG     = 0x97
+	APDS9960_GDATAL_REG     = 0x98
+	APDS9960_GDATAH_REG     = 0x99
+	APDS9960_BDATAL_REG     = 0x9A
+	APDS9960_BDATAH_REG     = 0x9B
+	APDS9960_PDATA_REG      = 0x9C
+	APDS9960_POFFSET_UR_REG = 0x9D
+	APDS9960_POFFSET_DL_REG = 0x9E
+	APDS9960_CONFIG3_REG    = 0x9F
+	APDS9960_GPENTH_REG     = 0xA0
+	APDS9960_GEXTH_REG      = 0xA1
+	APDS9960_GCONF1_REG     = 0xA2
+	APDS9960_GCONF2_REG     = 0xA3
+	APDS9960_GOFFSET_U_REG  = 0xA4
+	APDS9960_GOFFSET_D_REG  = 0xA5
+	APDS9960_GOFFSET_L_REG  = 0xA7
+	APDS9960_GOFFSET_R_REG  = 0xA9
+	APDS9960_GPULSE_REG     = 0xA6
+	APDS9960_GCONF3_REG     = 0xAA
+	APDS9960_GCONF4_REG     = 0xAB
+	APDS9960_GFLVL_REG      = 0xAE
+	APDS9960_GSTATUS_REG    = 0xAF
+	APDS9960_IFORCE_REG     = 0xE4
+	APDS9960_PICLEAR_REG    = 0xE5
+	APDS9960_CICLEAR_REG    = 0xE6
+	APDS9960_AICLEAR_REG    = 0xE7
+	APDS9960_GFIFO_U_REG    = 0xFC
+	APDS9960_GFIFO_D_REG    = 0xFD
+	APDS9960_GFIFO_L_REG    = 0xFE
+	APDS9960_GFIFO_R_REG    = 0xFF
+)
+
+const (
+
+	// sensor modes
+	MODE_NONE = iota
+	MODE_PROXIMITY
+	MODE_COLOR
+	MODE_GESTURE
+)
+
+const (
+
+	// detected gestures
+	GESTURE_NONE = iota
+	GESTURE_UP
+	GESTURE_DOWN
+	GESTURE_LEFT
+	GESTURE_RIGHT
+)

as560x/as5600.go

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

as560x/as5601.go

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

as560x/as560x.go

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

as560x/helpers.go

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

as560x/i2c_register.go

@@ -0,0 +1,170 @@
+package as560x // import tinygo.org/x/drivers/ams560x
+
+import (
+	"encoding/binary"
+	"errors"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+)
+
+// registerAttributes is a bitfield of attributes for a register
+type registerAttributes uint8
+
+const (
+	// reg_read indicates that the register is readable
+	reg_read registerAttributes = 1 << iota
+	// reg_write indicates that the register is writeable
+	reg_write
+	// reg_program indicates that the register can be permanently programmed ('BURNed')
+	reg_program
+)
+
+var (
+	errRegisterNotReadable  = errors.New("Register is not readable")
+	errRegisterNotWriteable = errors.New("Register is not writeable")
+)
+
+// i2cRegister encapsulates the address, structure and read/write logic for a register on a AS560x device
+type i2cRegister struct {
+	// host is the 'host register' for virtual registers. Physical/root registers have this set to self
+	host *i2cRegister
+	// address is the i2c address of the register. For 2-byte (word) addresses it's the low byte which holds the MSBs
+	address uint8
+	// shift is the number of bits the value is 'left shifted' into the register byte/word (0-15)
+	shift uint16
+	// mask is a bitwise mask applied to the register AFTER 'right shifting' to mask the register value
+	mask uint16
+	// num_bytes is the width of the register in bytes, 1 or 2.
+	num_bytes uint8
+	// attributes holds the register attributes. A bitfield of REG_xyz constants
+	attributes registerAttributes
+	// cached indicates whether we are holding a cached value of the register in value
+	cached bool
+	// value can be used as a 'cache' of the register's value for writeable registers.
+	value uint16
+}
+
+// newI2CRegister returns a pointer to a new i2cRegister with no cached value
+func newI2CRegister(address uint8, shift uint16, mask uint16, num_bytes uint8, attributes registerAttributes) *i2cRegister {
+	reg := &i2cRegister{
+		address:    address,
+		shift:      shift,
+		mask:       mask,
+		num_bytes:  num_bytes,
+		attributes: attributes,
+	}
+	// root registers host themselves
+	reg.host = reg
+	return reg
+}
+
+// newVirtualRegister returns a pointer to a new i2cRegister with the given host register and shift/mask.
+func newVirtualRegister(host *i2cRegister, shift uint16, mask uint16) *i2cRegister {
+	return &i2cRegister{
+		host:       host,
+		address:    host.address,
+		shift:      shift,
+		mask:       mask,
+		num_bytes:  host.num_bytes,
+		attributes: host.attributes,
+	}
+}
+
+// invalidate invalidates any cached value for the register and forces an I2C read on the next read()
+func (r *i2cRegister) invalidate() {
+	r.host.cached = false
+	r.host.value = 0
+}
+
+// readShiftAndMask is an internal method to read a value for the register over the given I2C bus from the device with the given address applying the given shift and mask
+func (r *i2cRegister) readShiftAndMask(bus drivers.I2C, deviceAddress uint8, shift uint16, mask uint16) (uint16, error) {
+	if r.host.attributes&reg_read == 0 {
+		return 0, errRegisterNotReadable
+	}
+
+	// Only read over I2C if we don't have the host register value cached
+	var val uint16 = r.host.value
+	if !r.host.cached {
+		// To avoid an alloc we always use an array of 2 bytes
+		var buffer [2]byte
+		var buf []byte
+		if r.host.num_bytes < 2 {
+			buf = buffer[:1]
+		} else {
+			buf = buffer[:]
+		}
+		// Read the host register over I2C
+		err := legacy.ReadRegister(bus, deviceAddress, r.host.address, buf)
+		if nil != err {
+			return 0, err
+		}
+		// Unpack data from I2C
+		if r.host.num_bytes > 1 {
+			val = binary.BigEndian.Uint16(buf)
+		} else {
+			val = uint16(buf[0])
+		}
+		// cache this value if the host register is writeable. Note we cache the entire buffer without applying shift/mask
+		if r.host.attributes&reg_write != 0 {
+			r.host.value = val
+			r.host.cached = true
+		}
+	}
+	// Shift and mask the value before returning
+	val >>= shift
+	val &= mask
+	return val, nil
+}
+
+// read reads a value for the register over the given I2C bus from the device with the given address.
+func (r *i2cRegister) read(bus drivers.I2C, deviceAddress uint8) (uint16, error) {
+	return r.readShiftAndMask(bus, deviceAddress, r.shift, r.mask)
+}
+
+// write writes a value for the register over the given I2C bus to the device with the given address.
+func (r *i2cRegister) write(bus drivers.I2C, deviceAddress uint8, value uint16) error {
+	if r.host.attributes&reg_write == 0 {
+		return errRegisterNotWriteable
+	}
+	var newValue uint16 = 0
+	// Data sheet tells us to do a read first, modify only the desired bits and then write back
+	// since (quote:) 'Blank fields may contain factory settings'
+	// We will also need to do this anyway to support virtualRegister mappings on some registers
+	// (e.g. CONF/STATUS)
+	if (r.host.attributes & reg_read) > 0 { // not all registers are readable, e.g. BURN
+		// read the host register's entire host byte/word, regardless of shift & mask
+		readValue, error := r.readShiftAndMask(bus, deviceAddress, 0, 0xffff)
+		if error != nil {
+			return error
+		}
+		// Zero-out ONLY the relevant bits in newValue we just read
+		readValue &= (0xffff ^ (r.mask << r.shift))
+		newValue = readValue
+	}
+	// Mask the new value and shift it into place
+	value &= r.mask
+	value <<= r.shift
+	// OR the masked & shifted value back into newValue to be written
+	newValue |= value
+	// Pack newValue into a byte buffer to write. To avoid an alloc we always use an array of 2 bytes
+	var buffer [2]byte
+	var buf []byte
+	if r.host.num_bytes < 2 {
+		buf = buffer[:1]
+		buf[0] = uint8(newValue & 0xff)
+	} else {
+		buf = buffer[:]
+		binary.BigEndian.PutUint16(buf, newValue)
+	}
+
+	// Write the register from the buffer over I2C
+	err := legacy.WriteRegister(bus, deviceAddress, r.host.address, buf)
+	// after successful I2C write, cache this value if the host register (if also readable)
+	// Note we cache the entire buffer without applying shift/mask
+	if nil == err && r.host.attributes&reg_read != 0 {
+		r.host.value = newValue
+		r.host.cached = true
+	}
+	return err
+}

as560x/registers.go

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

at24cx/at24cx.go

@@ -11,7 +11,7 @@ import (
 	"tinygo.org/x/drivers"
 )
 
-// Device wraps an I2C connection to a DS3231 device.
+// Device wraps an I2C connection to an AT24CX device.
 type Device struct {
 	bus               drivers.I2C
 	Address           uint16

axp192/axp192.go

@@ -0,0 +1,258 @@
+// Package axp192 provides a driver for the axp192 I2C Enhanced single Cell
+// Li-Battery and Power System Management IC.
+//
+// http://www.x-powers.com/en.php/Info/product_detail/article_id/29
+// Datasheet: https://github.com/m5stack/M5-Schematic/blob/master/Core/AXP192%20Datasheet_v1.1_en_draft_2211.pdf
+package axp192 // import "tinygo.org/x/drivers/axp192"
+
+import (
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+)
+
+type Error uint8
+
+const (
+	ErrInvalidID Error = 0x1
+)
+
+func (e Error) Error() string {
+	switch e {
+	case ErrInvalidID:
+		return "Invalid chip ID"
+	default:
+		return "Unknown error"
+	}
+}
+
+type Device struct {
+	bus     drivers.I2C
+	buf     []byte
+	Address uint8
+}
+
+// New returns AXP192 device for the provided I2C bus using default address.
+func New(i2c drivers.I2C) *Device {
+	return &Device{
+		bus:     i2c,
+		buf:     make([]byte, 2),
+		Address: Address,
+	}
+}
+
+type Config struct {
+}
+
+// Configure the AXP192 device.
+func (d *Device) Configure(config Config) error {
+	return nil
+}
+
+// ReadPowerSupplyStatus reads power supply status.
+func (d *Device) ReadPowerSupplyStatus() uint8 {
+	return d.read8bit(RegPowerSupplyStatus)
+}
+
+// SetVbusIPSOutAccessManagement sets VBUS-IPSOUT access management.
+func (d *Device) SetVbusIPSOutAccessManagement(a uint8) {
+	d.write1Byte(RegVbusIPSOutAccessManagement, a)
+}
+
+// GetVbusIPSOutAccessManagement gets VBUS-IPSOUT access management.
+func (d *Device) GetVbusIPSOutAccessManagement() uint8 {
+	return d.read8bit(RegVbusIPSOutAccessManagement)
+}
+
+// SetGPIO1Control sets GPIO1 function.
+func (d *Device) SetGPIO1Control(a uint8) {
+	d.write1Byte(RegGPIO1Control, a)
+}
+
+// GetGPIO1Control gets GPIO1 function.
+func (d *Device) GetGPIO1Control() uint8 {
+	return d.read8bit(RegGPIO1Control)
+}
+
+// SetGPIO2Control sets GPIO2 function.
+func (d *Device) SetGPIO2Control(a uint8) {
+	d.write1Byte(RegGPIO2Control, a)
+}
+
+// GetGPIO2Control gets GPIO2 function.
+func (d *Device) GetGPIO2Control() uint8 {
+	return d.read8bit(RegGPIO2Control)
+}
+
+// SetGPIO20SignalStatus sets GPIO[2:0] signal status.
+func (d *Device) SetGPIO20SignalStatus(a uint8) {
+	d.write1Byte(RegGPIO20SignalStatus, a)
+}
+
+// GetGPIO20SignalStatus gets GPIO[2:0] signal status.
+func (d *Device) GetGPIO20SignalStatus() uint8 {
+	return d.read8bit(RegGPIO20SignalStatus)
+}
+
+// SetBackupBatteryChargingControl sets backup battery charge control.
+func (d *Device) SetBackupBatteryChargingControl(a uint8) {
+	d.write1Byte(RegBackupBatteryChargingControl, a)
+}
+
+// GetBackupBatteryChargingControl gets backup battery charge control.
+func (d *Device) GetBackupBatteryChargingControl() uint8 {
+	return d.read8bit(RegBackupBatteryChargingControl)
+}
+
+// SetDCDC1VoltageSet sets DC-DC1 output voltage.
+func (d *Device) SetDCDC1VoltageSet(a uint8) {
+	d.write1Byte(RegDCDC1VoltageSet, a)
+}
+
+// GetDCDC1VoltageSet gets DC-DC1 output voltage.
+func (d *Device) GetDCDC1VoltageSet() uint8 {
+	return d.read8bit(RegDCDC1VoltageSet)
+}
+
+// SetDCDC2VoltageSet sets DC-DC2 dynamic voltage parameter.
+func (d *Device) SetDCDC2VoltageSet(a uint8) {
+	d.write1Byte(RegDCDC2VoltageSet, a)
+}
+
+// GetDCDC2VoltageSet gets DC-DC2 dynamic voltage parameter.
+func (d *Device) GetDCDC2VoltageSet() uint8 {
+	return d.read8bit(RegDCDC2VoltageSet)
+}
+
+// SetDCDC3VoltageSet sets DC-DC3 output voltage.
+func (d *Device) SetDCDC3VoltageSet(a uint8) {
+	d.write1Byte(RegDCDC3VoltageSet, a)
+}
+
+// GetDCDC3VoltageSet gets DC-DC3 output voltage.
+func (d *Device) GetDCDC3VoltageSet() uint8 {
+	return d.read8bit(RegDCDC3VoltageSet)
+}
+
+// SetLDO23VoltageSet sets LDO2/3 output voltage.
+func (d *Device) SetLDO23VoltageSet(a uint8) {
+	d.write1Byte(RegLDO23VoltageSet, a)
+}
+
+// GetLDO23VoltageSet gets LDO2/3 output voltage.
+func (d *Device) GetLDO23VoltageSet() uint8 {
+	return d.read8bit(RegLDO23VoltageSet)
+}
+
+// SetDCDC13LDO23Switch sets DC-DC1/3 & LOD2/3 output control.
+func (d *Device) SetDCDC13LDO23Switch(a uint8) {
+	d.write1Byte(RegDCDC13LDO23Switch, a)
+}
+
+// GetDCDC13LDO23Switch gets DC-DC1/3 & LOD2/3 output control.
+func (d *Device) GetDCDC13LDO23Switch() uint8 {
+	return d.read8bit(RegDCDC13LDO23Switch)
+}
+
+// SetGPIO43FunctionControl sets GPIO[4:3] pin function.
+func (d *Device) SetGPIO43FunctionControl(a uint8) {
+	d.write1Byte(RegGPIO43FunctionControl, a)
+}
+
+// GetGPIO43FunctionControl gets GPIO[4:3] pin function.
+func (d *Device) GetGPIO43FunctionControl() uint8 {
+	return d.read8bit(RegGPIO43FunctionControl)
+}
+
+// SetPEKParameterSet sets PEK press key parameter.
+func (d *Device) SetPEKParameterSet(a uint8) {
+	d.write1Byte(RegPEKParameterSet, a)
+}
+
+// GetPEKParameterSet gets PEK press key parameter.
+func (d *Device) GetPEKParameterSet() uint8 {
+	return d.read8bit(RegPEKParameterSet)
+}
+
+// SetADCEnableSet sets ADC enable 1.
+func (d *Device) SetADCEnableSet(a uint8) {
+	d.write1Byte(RegADCEnableSet, a)
+}
+
+// GetADCEnableSet gets ADC enable 1.
+func (d *Device) GetADCEnableSet() uint8 {
+	return d.read8bit(RegADCEnableSet)
+}
+
+// SetGPIO43SignalStatus sets GPIO[4:3] signal status.
+func (d *Device) SetGPIO43SignalStatus(a uint8) {
+	d.write1Byte(RegGPIO43SignalStatus, a)
+}
+
+// GetGPIO43SignalStatus gets GPIO[4:3] signal status.
+func (d *Device) GetGPIO43SignalStatus() uint8 {
+	return d.read8bit(RegGPIO43SignalStatus)
+}
+
+// SetDCVoltage sets DC voltage.
+func (d *Device) SetDCVoltage(number uint8, voltage uint16) {
+	if voltage < 700 {
+		voltage = 0
+	} else {
+		voltage = (voltage - 700) / 25
+	}
+
+	switch number {
+	case 0:
+		v := d.GetDCDC1VoltageSet()
+		d.SetDCDC1VoltageSet((v & 0x80) | (uint8(voltage) & 0x7F))
+	case 1:
+		v := d.GetDCDC2VoltageSet()
+		d.SetDCDC2VoltageSet((v & 0x80) | (uint8(voltage) & 0x7F))
+	case 2:
+		v := d.GetDCDC3VoltageSet()
+		d.SetDCDC3VoltageSet((v & 0x80) | (uint8(voltage) & 0x7F))
+	}
+}
+
+// SetLDOVoltage sets LDO voltage.
+func (d *Device) SetLDOVoltage(number uint8, voltage uint16) {
+	if voltage > 3300 {
+		voltage = 15
+	} else {
+		voltage = (voltage / 100) - 18
+	}
+
+	switch number {
+	case 2:
+		v := d.GetLDO23VoltageSet()
+		d.SetLDO23VoltageSet((v & 0x0F) | (uint8(voltage) << 4))
+		break
+	case 3:
+		v := d.GetLDO23VoltageSet()
+		d.SetLDO23VoltageSet((v & 0xF0) | uint8(voltage))
+		break
+	}
+}
+
+// SetLDOEnable enable LDO.
+func (d *Device) SetLDOEnable(number uint8, state bool) {
+	mark := uint8(0x01)
+	mark <<= number
+	switch number {
+	case 2:
+		v := d.GetDCDC13LDO23Switch()
+		d.SetDCDC13LDO23Switch(v | mark)
+	case 3:
+		v := d.GetDCDC13LDO23Switch()
+		d.SetDCDC13LDO23Switch(v & (^mark))
+	}
+}
+
+func (d *Device) write1Byte(reg, data uint8) {
+	legacy.WriteRegister(d.bus, d.Address, reg, []byte{data})
+}
+
+func (d *Device) read8bit(reg uint8) uint8 {
+	legacy.ReadRegister(d.bus, d.Address, reg, d.buf[:1])
+	return d.buf[0]
+}

axp192/m5stack-core2-axp192/axp192.go

@@ -0,0 +1,158 @@
+package axp192
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers"
+	axp192orig "tinygo.org/x/drivers/axp192"
+)
+
+// Device wraps an I2C connection to a AXP192 device.
+type Device struct {
+	*axp192orig.Device
+	LED    Pin
+	RST    Pin
+	SPK_EN Pin
+}
+
+// New creates a new AXP192 connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(i2c drivers.I2C) *Device {
+	d := axp192orig.New(i2c)
+
+	axp := &Device{
+		Device: d,
+	}
+	axp.LED = Pin{pin: 1, axp: axp}
+	axp.SPK_EN = Pin{pin: 2, axp: axp}
+	axp.RST = Pin{pin: 4, axp: axp}
+
+	axp.begin()
+
+	return axp
+}
+
+type Config struct {
+}
+
+// Configure sets up the device for communication
+func (d *Device) Configure(config Config) error {
+	return d.Device.Configure(axp192orig.Config{})
+}
+
+func (d *Device) begin() {
+	d.SetVbusIPSOutAccessManagement((d.GetVbusIPSOutAccessManagement() & 0x04) | 0x02)
+	d.SetGPIO1Control(d.GetGPIO1Control() & 0xF8)
+	d.SetGPIO2Control(d.GetGPIO2Control() & 0xF8)
+	d.SetBackupBatteryChargingControl((d.GetBackupBatteryChargingControl() & 0x1C) | 0xA2)
+	d.SetESPVoltage(3350)
+	d.SetLcdVoltage(3300)
+	d.SetLDOVoltage(2, 3300) //Periph power voltage preset (LCD_logic, SD card)
+	d.SetLDOVoltage(3, 2000) //Vibrator power voltage preset
+
+	d.SetLDOEnable(2, true)
+	d.SetDCDC3(true) // LCD Backlight
+	// GPIO4 : LCD Reset
+	d.SetGPIO43FunctionControl((d.GetGPIO43FunctionControl() & 0x72) | 0x84)
+	// Power On/Off Setting
+	d.SetPEKParameterSet(0x4C)
+	d.SetADCEnableSet(0xFF)
+
+	d.RST.Low()
+	time.Sleep(100 * time.Millisecond)
+	d.RST.High()
+	time.Sleep(100 * time.Millisecond)
+}
+
+// ToggleLED toggles LED connected to AXP192.
+func (d *Device) ToggleLED() {
+	v := d.GetGPIO20SignalStatus()
+	if (v & 0x02) > 0 {
+		d.SetGPIO20SignalStatus(v & 0xFD)
+	} else {
+		d.SetGPIO20SignalStatus(v | 0x02)
+	}
+}
+
+// SetESPVoltage sets voltage of ESP32.
+func (d *Device) SetESPVoltage(voltage uint16) {
+	if voltage >= 3000 && voltage <= 3400 {
+		d.SetDCVoltage(0, voltage)
+	}
+}
+
+// SetLcdVoltage sets voltage of LCD.
+func (d *Device) SetLcdVoltage(voltage uint16) {
+	if voltage >= 2500 && voltage <= 3300 {
+		d.SetDCVoltage(2, voltage)
+	}
+}
+
+// SetDCDC3 enables or disables DCDC3.
+func (d *Device) SetDCDC3(State bool) {
+	v := d.GetDCDC13LDO23Switch()
+	if State == true {
+		v = (1 << 1) | v
+	} else {
+		v = ^(uint8(1) << 1) & v
+	}
+	d.SetDCDC13LDO23Switch(v)
+}
+
+// Pin is a single pin on AXP192.
+type Pin struct {
+	pin uint8
+	axp *Device
+}
+
+// High sets this GPIO pin to high.
+func (p Pin) High() {
+	switch p.pin {
+	case 1: // LED
+		v := p.axp.GetGPIO20SignalStatus()
+		p.axp.SetGPIO20SignalStatus(v | 0x02)
+	case 2: // SPK_EN
+	case 4: // RST
+		v := p.axp.GetGPIO43SignalStatus()
+		v |= uint8(0x02)
+		p.axp.SetGPIO43SignalStatus(v)
+	}
+}
+
+// Low sets this GPIO pin to low.
+func (p Pin) Low() {
+	switch p.pin {
+	case 1: // LED
+		v := p.axp.GetGPIO20SignalStatus()
+		p.axp.SetGPIO20SignalStatus(v & 0xFD)
+	case 2: // SPK_EN
+	case 4: // RST
+		v := p.axp.GetGPIO43SignalStatus()
+		v &= ^uint8(0x02)
+		p.axp.SetGPIO43SignalStatus(v)
+	}
+}
+
+// Toggle switches an output pin from low to high or from high to low.
+func (p Pin) Toggle() {
+	switch p.pin {
+	case 1: // LED
+		v := p.axp.GetGPIO20SignalStatus()
+		if (v & 0x02) == 0 {
+			p.axp.SetGPIO20SignalStatus(v | 0x02)
+		} else {
+			p.axp.SetGPIO20SignalStatus(v & 0xFD)
+		}
+	case 2: // SPK_EN
+	case 4: // RST
+		v := p.axp.GetGPIO43SignalStatus()
+		if (v & 0x02) == 0 {
+			v |= uint8(0x02)
+		} else {
+			v &= ^uint8(0x02)
+		}
+		p.axp.SetGPIO43SignalStatus(v)
+	}
+}

axp192/registers.go

@@ -0,0 +1,127 @@
+package axp192
+
+// power supply control class
+// 0x00 Power supply status register
+// 0x01  Power supply mode/charging status register
+// 0x04  OTG VBUS status register
+// 0x06‐09  Data buffer register
+// 0x10  EXTEN & DC‐DC2 switch register
+// 0x12  DC‐DC1/3 & LDO2/3switch register
+// 0x23  DC‐DC2 voltage set register
+// 0x25  DC‐DC2 voltage slope set register
+// 0x26  DC‐DC1voltage set register
+// 0x27  DC‐DC3 voltage set register
+// 0x28  LDO2/3 voltage set register
+// 0x30  VBUS‐IPSOUT access set register
+// 0x31  VOFF power off voltage set register
+// 0x32  Power off、battery detect、CHGLED control register
+// 0x33  Charging control register1
+// 0x34  Charging control register2
+// 0x35  Backup battery charging control register
+// 0x36  PEK parameter set register
+// 0x37  DCDC switch frequency set register
+// 0x38  Battery charging under temperature warning set register
+// 0x39  Battery charging over temperature warning set register
+// 0x3A  APS under voltage Level1 set register
+// 0x3B  APS under voltage Level2 set register
+// 0x3C  Battery discharging under temperature warning set register
+// 0x3D  Battery discharging over temperature warning set register
+// 0x80  DCDC mode set register
+// 0x82  ADC enable set register 1
+// 0x83  ADC enable set register 2
+// 0x84  ADC sample frequency set, TS pin control register
+// 0x85  GPIO [3:0] input range set register
+// 0x8A  Timer control register
+// 0x8B  VBUS monitor set register
+// 0x8F  Over temperature power off control register
+
+// GPIO control class
+// 0x90  GPIO0 control register
+// 0x91  GPIO0 LDO mode output voltage set register
+// 0x92  GPIO1 control register
+// 0x93  GPIO2 control register
+// 0x94  GPIO[2:0] signal status register
+// 0x95  GPIO[4:3] function control register
+// 0x96  GPIO[4:3] signal status register
+// 0x97  GPIO[2:0] pull down control register
+// 0x98  PWM1 frequency set register
+// 0x99  PWM1 duty ratio set register 1
+// 0x9A  PWM1 duty ratio set register 2
+// 0x9B  PWM2 frequency set register
+// 0x9C  PWM2 duty ratio set register 1
+// 0x9D  PWM2 duty ratio set register 2
+// 0x9E  GPIO5 control register
+
+// IRQ control class
+// 0x40  IRQ enable control register 1
+// 0x41  IRQ enable control register 2
+// 0x42  IRQ enable control register 3
+// 0x43  IRQ enable control register 4
+// 0x44  IRQ status register 1
+// 0x45  IRQ status register 2
+// 0x46  IRQ status register 3
+// 0x47  IRQ status register 4
+
+// ADC data class
+// 0x56  ACIN voltage ADC data high 8 bit
+// 0x57  ACIN voltage ADC data low 4 bit
+// 0x58  ACIN current ADC data high 8 bit
+// 0x59  ACIN current ADC data low 4 bit
+// 0x5A  VBUS voltage ADC data high 8 bit
+// 0x5B  VBUS voltage ADC data low 4 bit
+// 0x5C  VBUS current ADC data high 8 bit
+// 0x5D  VBUS current ADC data low 4 bit
+// 0x5E  AXP192 internal temperature monitor ADC data High 8 bit
+// 0x5F  AXP192 internal temperature monitor ADC data low 4 bit
+// 0x62  TS input ADC data High 8 bit，monitor battery temperature by default
+// 0x63  TS input ADC data low 4 bit，monitor battery temperature by default
+// 0x64  GPIO0 voltage ADC data high 8 bit
+// 0x65  GPIO0 voltage ADC data low 4 bit
+// 0x66  GPIO1 voltage ADC data high 8 bit
+// 0x67  GPIO1 voltage ADC data low 4 bit
+// 0x68  GPIO2 voltage ADC data high 8 bit
+// 0x69  GPIO2 voltage ADC data low 4 bit
+// 0x6A  GPIO[3] voltage ADC data high 8 bit
+// 0x6B  GPIO[3] voltage ADC data low 4 bit
+// 0x70  Battery instantaneous power high 8 bit
+// 0x71  Battery instantaneous power middle 8 bit
+// 0x72  Battery instantaneous power low 8 bit
+// 0x78  Battery voltage high 8 bit
+// 0x79  Battery voltage low 4 bit
+// 0x7A  Battery charging current high 8 bit
+// 0x7B  Battery charging current low 5 bit
+// 0x7C  Battery discharging current high 8 bit
+// 0x7D  Battery discharging current low 5 bit
+// 0x7E  APS voltage high 8 bit
+// 0x7F  APS voltage low 4 bit
+// 0xB0  Battery charging coulomb counter data register 3
+// 0xB1  Battery charging coulomb counter data register 2
+// 0xB2  Battery charging coulomb counter data register 1
+// 0xB3  Battery charging coulomb counter data register 0
+// 0xB4  Battery discharging coulomb counter data register 3
+// 0xB5  Battery discharging coulomb counter data register 2
+// 0xB6  Battery discharging coulomb counter data register 1
+// 0xB7  Battery discharging coulomb counter data register 0
+// 0xB8  Coulomb counter control register
+
+const (
+	// Address is default I2C address.
+	Address = 0x34
+
+	RegPowerSupplyStatus            = 0x00
+	RegDCDC13LDO23Switch            = 0x12
+	RegVbusIPSOutAccessManagement   = 0x30
+	RegBackupBatteryChargingControl = 0x35
+	RegDCDC2VoltageSet              = 0x25
+	RegDCDC1VoltageSet              = 0x26
+	RegDCDC3VoltageSet              = 0x27
+	RegLDO23VoltageSet              = 0x28
+	RegPEKParameterSet              = 0x36
+	RegADCEnableSet                 = 0x82
+
+	RegGPIO1Control          = 0x92
+	RegGPIO2Control          = 0x93
+	RegGPIO20SignalStatus    = 0x94
+	RegGPIO43FunctionControl = 0x95
+	RegGPIO43SignalStatus    = 0x96
+)

bh1750/bh1750.go

@@ -2,7 +2,6 @@
 //
 // Datasheet:
 // https://www.mouser.com/ds/2/348/bh1750fvi-e-186247.pdf
-//
 package bh1750 // import "tinygo.org/x/drivers/bh1750"
 
 import (

blinkm/blinkm.go

@@ -1,7 +1,6 @@
 // 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 "tinygo.org/x/drivers"

bma42x/bma42x.go

@@ -0,0 +1,352 @@
+// Package bma42x provides a driver for the BMA421 and BMA425 accelerometer
+// chips.
+//
+// Here is a reasonably good datasheet:
+// https://datasheet.lcsc.com/lcsc/1912111437_Bosch-Sensortec-BMA425_C437656.pdf
+//
+// This driver was originally written for the PineTime, using the datasheet as a
+// guide. There is an open source C driver provided by Bosch, but unfortunately
+// it needs some small modifications to work with other chips (most importantly,
+// the "config file").
+// The InfiniTime and Wasp-OS drivers for this accelerometer have also been used
+// to figure out some driver details (especially step counting).
+package bma42x
+
+import (
+	_ "embed"
+	"errors"
+	"reflect"
+	"time"
+	"unsafe"
+
+	"tinygo.org/x/drivers"
+)
+
+// Driver for BMA421 and BMA425:
+// BMA421: https://files.pine64.org/doc/datasheet/pinetime/BST-BMA421-FL000.pdf
+// BMA425: https://datasheet.lcsc.com/lcsc/1912111437_Bosch-Sensortec-BMA425_C437656.pdf
+
+// This is the BMA421 firmware from the Wasp-OS project.
+// It is identical to the so-called BMA423 firmware in InfiniTime, which I
+// suspect to be actually a BMA421 firmware. I don't know where this firmware
+// comes from or what the licensing status is.
+// It has the FEATURES_IN command prepended, so that it can be written directly
+// using I2C.Tx.
+// Source: https://github.com/wasp-os/bma42x-upy/blob/master/BMA42X-Sensor-API/bma421.h
+//
+//go:embed bma421-config-waspos.bin
+var bma421Firmware string
+
+// Same as the BMA421 firmware, but for the BMA425.
+// Source: https://github.com/wasp-os/bma42x-upy/blob/master/BMA42X-Sensor-API/bma425.h
+//
+//go:embed bma425-config-waspos.bin
+var bma425Firmware string
+
+var (
+	errUnknownDevice     = errors.New("bma42x: unknown device")
+	errUnsupportedDevice = errors.New("bma42x: device not part of config")
+	errConfigMismatch    = errors.New("bma42x: config mismatch")
+	errTimeout           = errors.New("bma42x: timeout")
+	errInitFailed        = errors.New("bma42x: failed to initialize")
+)
+
+const Address = 0x18 // BMA421/BMA425 address
+
+type DeviceType uint8
+
+const (
+	DeviceBMA421 DeviceType = 1 << iota
+	DeviceBMA425
+
+	AnyDevice            = DeviceBMA421 | DeviceBMA425
+	noDevice  DeviceType = 0
+)
+
+// Features to enable while configuring the accelerometer.
+type Features uint8
+
+const (
+	FeatureStepCounting = 1 << iota
+)
+
+type Config struct {
+	// Which devices to support (OR the device types together as needed).
+	Device DeviceType
+
+	// Which features to enable. With Features == 0, only the accelerometer will
+	// be enabled.
+	Features Features
+}
+
+type Device struct {
+	bus               drivers.I2C
+	address           uint8
+	accelData         [6]byte
+	combinedTempSteps [5]uint8 // [0:3] steps, [4] temperature
+	dataBuf           [2]byte
+}
+
+func NewI2C(i2c drivers.I2C, address uint8) *Device {
+	return &Device{
+		bus:     i2c,
+		address: address,
+	}
+}
+
+func (d *Device) Connected() bool {
+	val, err := d.read1(_CHIP_ID)
+	return err == nil && identifyChip(val) != noDevice
+}
+
+func (d *Device) Configure(config Config) error {
+	if config.Device == 0 {
+		config.Device = AnyDevice
+	}
+
+	// Check chip ID, to check the connection and to determine which BMA42x
+	// device we're dealing with.
+	chipID, err := d.read1(_CHIP_ID)
+	if err != nil {
+		return err
+	}
+
+	// Determine which firmware (config file?) we'll be using.
+	// There is an extra check for the device before using the given firmware.
+	// This check will typically be optimized away if the given device is not
+	// configured, so that the firmware (which is 6kB in size!) won't be linked
+	// into the binary.
+	var firmware string
+	switch identifyChip(chipID) {
+	case DeviceBMA421:
+		if config.Device&DeviceBMA421 == 0 {
+			return errUnsupportedDevice
+		}
+		firmware = bma421Firmware
+	case DeviceBMA425:
+		if config.Device&DeviceBMA425 == 0 {
+			return errUnsupportedDevice
+		}
+		firmware = bma425Firmware
+	default:
+		return errUnknownDevice
+	}
+
+	// Reset the chip, to be able to initialize it properly.
+	// The datasheet says a delay is needed after a SoftReset, but it doesn't
+	// say how long this delay should be. The bma423 driver however uses a 200ms
+	// delay, so that's what we'll be using.
+	err = d.write1(_CMD, cmdSoftReset)
+	if err != nil {
+		return err
+	}
+	time.Sleep(200 * time.Millisecond)
+
+	// Disable power saving.
+	err = d.write1(_PWR_CONF, 0x00)
+	if err != nil {
+		return err
+	}
+	time.Sleep(450 * time.Microsecond)
+
+	// Start initialization (because the datasheet says so).
+	err = d.write1(_INIT_CTRL, 0x00)
+	if err != nil {
+		return err
+	}
+
+	// Write "config file" (actually a firmware, I think) to the chip.
+	// To do this, unsafely cast the string to a byte slice to avoid putting it
+	// in RAM. This is safe in this case because Tx won't write to the 'w'
+	// slice.
+	err = d.bus.Tx(uint16(d.address), unsafeStringToSlice(firmware), nil)
+	if err != nil {
+		return err
+	}
+
+	// Read the config data back.
+	// We don't do that, as it slows down configuration and it probably isn't
+	// _really_ necessary with a reasonably stable I2C bus.
+	if false {
+		data := make([]byte, len(firmware)-1)
+		err = d.readn(_FEATURES_IN, data)
+		if err != nil {
+			return err
+		}
+		for i, c := range data {
+			if firmware[i+1] != c {
+				return errConfigMismatch
+			}
+		}
+	}
+
+	// Enable sensors.
+	err = d.write1(_INIT_CTRL, 0x01)
+	if err != nil {
+		return err
+	}
+
+	// Wait until the device is initialized.
+	start := time.Now()
+	status := uint8(0) // busy
+	for status == 0 {
+		status, err = d.read1(_INTERNAL_STATUS)
+		if err != nil {
+			return err // I2C bus error.
+		}
+		if status > 1 {
+			// Expected either 0 ("not_init") or 1 ("init_ok").
+			return errInitFailed
+		}
+		if time.Since(start) >= 150*time.Millisecond {
+			// The datasheet says initialization should not take longer than
+			return errTimeout
+		}
+		// Don't bother the chip all the time while it's initializing.
+		time.Sleep(50 * time.Microsecond)
+	}
+
+	if config.Features&FeatureStepCounting != 0 {
+		// Enable step counter.
+		// TODO: support step counter parameters.
+		var buf [71]byte
+		buf[0] = _FEATURES_IN // prefix buf with the command
+		data := buf[1:]
+		err = d.readn(_FEATURES_IN, data)
+		if err != nil {
+			return err
+		}
+		data[0x3A+1] |= 0x10 // enable step counting by setting a magical bit
+		err = d.bus.Tx(uint16(d.address), buf[:], nil)
+		if err != nil {
+			return err
+		}
+	}
+
+	// Enable the accelerometer.
+	err = d.write1(_PWR_CTRL, 0x04)
+	if err != nil {
+		return err
+	}
+
+	// Configure accelerometer for low power usage:
+	//   acc_perf_mode=0   (power saving enabled)
+	//   acc_bwp=osr4_avg1 (no averaging)
+	//   acc_odr=50Hz      (50Hz sampling interval, enough for the step counter)
+	const accelConf = 0x00<<7 | 0x00<<4 | 0x07<<0
+	err = d.write1(_ACC_CONF, accelConf)
+	if err != nil {
+		return err
+	}
+
+	// Reduce current consumption.
+	// With power saving enabled (and the above ACC_CONF) the chip consumes only
+	// 14µA.
+	err = d.write1(_PWR_CONF, 0x03)
+	if err != nil {
+		return err
+	}
+
+	return nil
+}
+
+func (d *Device) Update(which drivers.Measurement) error {
+	// TODO: combine temperature and step counter into a single read.
+	if which&drivers.Temperature != 0 {
+		val, err := d.read1(_TEMPERATURE)
+		if err != nil {
+			return err
+		}
+		d.combinedTempSteps[4] = val
+	}
+	if which&drivers.Acceleration != 0 {
+		// The acceleration data is stored in DATA8 through DATA13 as 3 12-bit
+		// values.
+		err := d.readn(_DATA_8, d.accelData[:]) // ACC_X(LSB)
+		if err != nil {
+			return err
+		}
+		err = d.readn(_STEP_COUNTER_0, d.combinedTempSteps[:4])
+		if err != nil {
+			return err
+		}
+	}
+	return nil
+}
+
+// Temperature returns the last read temperature in celsius milli degrees (1°C
+// is 1000).
+func (d *Device) Temperature() int32 {
+	// The temperature value is a two's complement number (meaning: signed) in
+	// units of 1 kelvin, with 0 being 23°C.
+	return (int32(int8(d.combinedTempSteps[4])) + 23) * 1000
+}
+
+// Acceleration returns the last read acceleration 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) Acceleration() (x, y, z int32) {
+	// Combine raw data from d.accelData (stored as 12-bit signed values) into a
+	// number (0..4095):
+	x = int32(d.accelData[0])>>4 | int32(d.accelData[1])<<4
+	y = int32(d.accelData[2])>>4 | int32(d.accelData[3])<<4
+	z = int32(d.accelData[4])>>4 | int32(d.accelData[5])<<4
+	// Sign extend this number to -2048..2047:
+	x = (x << 20) >> 20
+	y = (y << 20) >> 20
+	z = (z << 20) >> 20
+	// Scale from -512..511 to -1000_000..998_046.
+	// Or, at the maximum range (4g), from -2048..2047 to -2000_000..3998_046.
+	// The formula derived as follows (where 512 is the expected value at 1g):
+	//   x = x * 1000_000      / 512
+	//   x = x * (1000_000/64) / (512/64)
+	//   x = x * 15625         / 8
+	x = x * 15625 / 8
+	y = y * 15625 / 8
+	z = z * 15625 / 8
+	return
+}
+
+// Steps returns the number of steps counted since the BMA42x sensor was
+// initialized.
+func (d *Device) Steps() (steps uint32) {
+	steps |= uint32(d.combinedTempSteps[0]) << 0
+	steps |= uint32(d.combinedTempSteps[1]) << 8
+	steps |= uint32(d.combinedTempSteps[2]) << 16
+	steps |= uint32(d.combinedTempSteps[3]) << 24
+	return
+}
+
+func (d *Device) read1(register uint8) (uint8, error) {
+	d.dataBuf[0] = register
+	err := d.bus.Tx(uint16(d.address), d.dataBuf[:1], d.dataBuf[1:2])
+	return d.dataBuf[1], err
+}
+
+func (d *Device) readn(register uint8, data []byte) error {
+	d.dataBuf[0] = register
+	return d.bus.Tx(uint16(d.address), d.dataBuf[:1], data)
+}
+
+func (d *Device) write1(register uint8, data uint8) error {
+	d.dataBuf[0] = register
+	d.dataBuf[1] = data
+	return d.bus.Tx(uint16(d.address), d.dataBuf[:2], nil)
+}
+
+func unsafeStringToSlice(s string) []byte {
+	// TODO: use unsafe.Slice(unsafe.StringData(...)) once we require Go 1.20.
+	sh := (*reflect.StringHeader)(unsafe.Pointer(&s))
+	return unsafe.Slice((*byte)(unsafe.Pointer(sh.Data)), len(s))
+}
+
+func identifyChip(chipID uint8) DeviceType {
+	switch chipID {
+	case 0x11:
+		return DeviceBMA421
+	case 0x13:
+		return DeviceBMA425
+	default:
+		return noDevice
+	}
+}

bma42x/registers.go

@@ -0,0 +1,73 @@
+package bma42x
+
+const (
+	// I2C registers
+	_CHIP_ID         = 0x00
+	_ERR_REG         = 0x02
+	_STATUS          = 0x03
+	_DATA_0          = 0x0A
+	_DATA_1          = 0x0B
+	_DATA_2          = 0x0C
+	_DATA_3          = 0x0D
+	_DATA_4          = 0x0E
+	_DATA_5          = 0x0F
+	_DATA_6          = 0x10
+	_DATA_7          = 0x11
+	_DATA_8          = 0x12
+	_DATA_9          = 0x13
+	_DATA_10         = 0x14
+	_DATA_11         = 0x15
+	_DATA_12         = 0x16
+	_DATA_13         = 0x17
+	_SENSORTIME_0    = 0x18
+	_SENSORTIME_1    = 0x19
+	_SENSORTIME_2    = 0x1A
+	_EVENT           = 0x1B
+	_INT_STATUS_0    = 0x1C
+	_INT_STATUS_1    = 0x1D
+	_STEP_COUNTER_0  = 0x1E
+	_STEP_COUNTER_1  = 0x1F
+	_STEP_COUNTER_2  = 0x20
+	_STEP_COUNTER_3  = 0x21
+	_TEMPERATURE     = 0x22
+	_FIFO_LENGTH_0   = 0x24
+	_FIFO_LENGTH_1   = 0x25
+	_FIFO_DATA       = 0x26
+	_ACTIVITY_TYPE   = 0x27
+	_INTERNAL_STATUS = 0x2A
+	_ACC_CONF        = 0x40
+	_ACC_RANGE       = 0x41
+	_AUX_CONF        = 0x44
+	_FIFO_DOWNS      = 0x45
+	_FIFO_WTM_0      = 0x46
+	_FIFO_WTM_1      = 0x47
+	_FIFO_CONFIG_0   = 0x48
+	_FIFO_CONFIG_1   = 0x49
+	_AUX_DEV_ID      = 0x4B
+	_AUX_IF_CONF     = 0x4C
+	_AUX_RD_ADDR     = 0x4D
+	_AUX_WR_ADDR     = 0x4E
+	_AUX_WR_DATA     = 0x4F
+	_INT1_IO_CTRL    = 0x53
+	_INT2_IO_CTRL    = 0x54
+	_INT_LATCH       = 0x55
+	_INT1_MAP        = 0x56
+	_INT2_MAP        = 0x57
+	_INT_MAP_DATA    = 0x58
+	_INIT_CTRL       = 0x59
+	_FEATURES_IN     = 0x5E
+	_INTERNAL_ERROR  = 0x5F
+	_NVM_CONF        = 0x6A
+	_IF_CONF         = 0x6B
+	_ACC_SELF_TEST   = 0x6D
+	_NV_CONF         = 0x70
+	_OFFSET_0        = 0x71
+	_OFFSET_1        = 0x72
+	_OFFSET_2        = 0x73
+	_PWR_CONF        = 0x7C
+	_PWR_CTRL        = 0x7D
+	_CMD             = 0x7E
+
+	// Commands send to regCommand.
+	cmdSoftReset = 0xB6
+)

bme280/bme280.go

@@ -3,13 +3,14 @@
 //
 // Datasheet:
 // https://cdn-shop.adafruit.com/datasheets/BST-BME280_DS001-10.pdf
-//
 package bme280
 
 import (
 	"math"
+	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
 )
 
 // calibrationCoefficients reads at startup and stores the calibration coefficients
@@ -34,11 +35,27 @@ type calibrationCoefficients struct {
 	h6 int8
 }
 
+type Oversampling byte
+type Mode byte
+type FilterCoefficient byte
+type Period byte
+
+// Config contains settings for filtering, sampling, and modes of operation
+type Config struct {
+	Pressure    Oversampling
+	Temperature Oversampling
+	Humidity    Oversampling
+	Period      Period
+	Mode        Mode
+	IIR         FilterCoefficient
+}
+
 // Device wraps an I2C connection to a BME280 device.
 type Device struct {
 	bus                     drivers.I2C
 	Address                 uint16
 	calibrationCoefficients calibrationCoefficients
+	Config                  Config
 }
 
 // New creates a new BME280 connection. The I2C bus must already be
@@ -52,24 +69,49 @@ func New(bus drivers.I2C) Device {
 	}
 }
 
-// Configure sets up the device for communication and
-// read the calibration coefficientes.
+// ConfigureWithSettings sets up the device for communication and
+// read the calibration coefficients.
+//
+// The default configuration is the Indoor Navigation settings
+// from the BME280 datasheet.
 func (d *Device) Configure() {
+	d.ConfigureWithSettings(Config{})
+}
+
+// ConfigureWithSettings sets up the device for communication and
+// read the calibration coefficients.
+//
+// The default configuration if config is left at defaults is
+// the Indoor Navigation settings from the BME280 datasheet.
+func (d *Device) ConfigureWithSettings(config Config) {
+	d.Config = config
+
+	// If config is not initialized, use Indoor Navigation defaults.
+	if d.Config == (Config{}) {
+		d.Config = Config{
+			Mode:        ModeNormal,
+			Period:      Period0_5ms,
+			Temperature: Sampling2X,
+			Humidity:    Sampling1X,
+			Pressure:    Sampling16X,
+			IIR:         Coeff16,
+		}
+	}
 
 	var data [24]byte
-	err := d.bus.ReadRegister(uint8(d.Address), REG_CALIBRATION, data[:])
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CALIBRATION, data[:])
 	if err != nil {
 		return
 	}
 
 	var h1 [1]byte
-	err = d.bus.ReadRegister(uint8(d.Address), REG_CALIBRATION_H1, h1[:])
+	err = legacy.ReadRegister(d.bus, uint8(d.Address), REG_CALIBRATION_H1, h1[:])
 	if err != nil {
 		return
 	}
 
 	var h2lsb [7]byte
-	err = d.bus.ReadRegister(uint8(d.Address), REG_CALIBRATION_H2LSB, h2lsb[:])
+	err = legacy.ReadRegister(d.bus, uint8(d.Address), REG_CALIBRATION_H2LSB, h2lsb[:])
 	if err != nil {
 		return
 	}
@@ -94,23 +136,45 @@ func (d *Device) Configure() {
 	d.calibrationCoefficients.h4 = 0 + (int16(h2lsb[3]) << 4) | (int16(h2lsb[4] & 0x0F))
 	d.calibrationCoefficients.h5 = 0 + (int16(h2lsb[5]) << 4) | (int16(h2lsb[4]) >> 4)
 
-	d.bus.WriteRegister(uint8(d.Address), CTRL_HUMIDITY_ADDR, []byte{0x3f})
-	d.bus.WriteRegister(uint8(d.Address), CTRL_MEAS_ADDR, []byte{0xB7})
-	d.bus.WriteRegister(uint8(d.Address), CTRL_CONFIG, []byte{0x00})
+	d.Reset()
 
+	legacy.WriteRegister(d.bus, uint8(d.Address), CTRL_CONFIG, []byte{byte(d.Config.Period<<5) | byte(d.Config.IIR<<2)})
+	legacy.WriteRegister(d.bus, uint8(d.Address), CTRL_HUMIDITY_ADDR, []byte{byte(d.Config.Humidity)})
+
+	// Normal mode, start measuring now
+	if d.Config.Mode == ModeNormal {
+		legacy.WriteRegister(d.bus, uint8(d.Address), CTRL_MEAS_ADDR, []byte{
+			byte(d.Config.Temperature<<5) |
+				byte(d.Config.Pressure<<2) |
+				byte(d.Config.Mode)})
+	}
 }
 
 // Connected returns whether a BME280 has been found.
 // It does a "who am I" request and checks the response.
 func (d *Device) Connected() bool {
 	data := []byte{0}
-	d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
+	legacy.ReadRegister(d.bus, uint8(d.Address), WHO_AM_I, data)
 	return data[0] == CHIP_ID
 }
 
 // Reset the device
 func (d *Device) Reset() {
-	d.bus.WriteRegister(uint8(d.Address), CMD_RESET, []byte{0xB6})
+	legacy.WriteRegister(d.bus, uint8(d.Address), CMD_RESET, []byte{0xB6})
+}
+
+// SetMode can set the device to Sleep, Normal or Forced mode
+//
+// Calling this method is optional, Configure can be used to set the
+// initial mode if no mode change is desired.  This method is most
+// useful to switch between Sleep and Normal modes.
+func (d *Device) SetMode(mode Mode) {
+	d.Config.Mode = mode
+
+	legacy.WriteRegister(d.bus, uint8(d.Address), CTRL_MEAS_ADDR, []byte{
+		byte(d.Config.Temperature<<5) |
+			byte(d.Config.Pressure<<2) |
+			byte(d.Config.Mode)})
 }
 
 // ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
@@ -149,7 +213,8 @@ func (d *Device) ReadHumidity() (int32, error) {
 // ReadAltitude returns the current altitude in meters based on the
 // current barometric pressure and estimated pressure at sea level.
 // Calculation is based on code from Adafruit BME280 library
-// 	https://github.com/adafruit/Adafruit_BME280_Library
+//
+//	https://github.com/adafruit/Adafruit_BME280_Library
 func (d *Device) ReadAltitude() (alt int32, err error) {
 	mPa, _ := d.ReadPressure()
 	atmP := float32(mPa) / 100000
@@ -186,7 +251,17 @@ func readIntLE(msb byte, lsb byte) int16 {
 // readData does a burst read from 0xF7 to 0xF0 according to the datasheet
 // resulting in an slice with 8 bytes 0-2 = pressure / 3-5 = temperature / 6-7 = humidity
 func (d *Device) readData() (data [8]byte, err error) {
-	err = d.bus.ReadRegister(uint8(d.Address), REG_PRESSURE, data[:])
+	if d.Config.Mode == ModeForced {
+		// Write the CTRL_MEAS register to trigger a measurement
+		legacy.WriteRegister(d.bus, uint8(d.Address), CTRL_MEAS_ADDR, []byte{
+			byte(d.Config.Temperature<<5) |
+				byte(d.Config.Pressure<<2) |
+				byte(d.Config.Mode)})
+
+		time.Sleep(d.measurementDelay())
+	}
+
+	err = legacy.ReadRegister(d.bus, uint8(d.Address), REG_PRESSURE, data[:])
 	if err != nil {
 		println(err)
 		return
@@ -256,3 +331,39 @@ func (d *Device) calculateHumidity(data [8]byte, tFine int32) int32 {
 	return int32(100 * h)
 
 }
+
+// measurementDelay returns how much time each measurement will take
+// on the device.
+//
+// This is used in forced mode to wait until a measurement is complete.
+func (d *Device) measurementDelay() time.Duration {
+	const MeasOffset = 1250
+	const MeasDur = 2300
+	const HumMeasOffset = 575
+	const MeasScalingFactor = 1000
+
+	// delay is based on over-sampling rate - this table converts from
+	// setting to number samples
+	sampleRateConv := []int{0, 1, 2, 4, 8, 16}
+
+	tempOsr := 16
+	if d.Config.Temperature <= Sampling16X {
+		tempOsr = sampleRateConv[d.Config.Temperature]
+	}
+
+	presOsr := 16
+	if d.Config.Temperature <= Sampling16X {
+		presOsr = sampleRateConv[d.Config.Pressure]
+	}
+
+	humOsr := 16
+	if d.Config.Temperature <= Sampling16X {
+		humOsr = sampleRateConv[d.Config.Humidity]
+	}
+
+	max_delay := ((MeasOffset + (MeasDur * tempOsr) +
+		((MeasDur * presOsr) + HumMeasOffset) +
+		((MeasDur * humOsr) + HumMeasOffset)) / MeasScalingFactor)
+
+	return time.Duration(max_delay) * time.Millisecond
+}

bme280/registers.go

@@ -20,6 +20,50 @@ const (
 	CHIP_ID  = 0x60
 )
 
+// Increasing sampling rate increases precision but also the wait time for measurements. The datasheet has a table of
+// suggested values for oversampling, output data rates, and iir filter coefficients by use case.
+const (
+	SamplingOff Oversampling = iota
+	Sampling1X
+	Sampling2X
+	Sampling4X
+	Sampling8X
+	Sampling16X
+)
+
+// In normal mode (the default) the sensor takes masurements periodically.  In forced
+// mode, the sensor takes a measurement only when requested.
+//
+// For use-cases with infrequent sampling, forced mode is more power efficient.
+const (
+	ModeNormal Mode = 0x03
+	ModeForced Mode = 0x01
+	ModeSleep  Mode = 0x00
+)
+
+// IIR filter coefficients, higher values means steadier measurements but slower reaction times
+const (
+	Coeff0 FilterCoefficient = iota
+	Coeff2
+	Coeff4
+	Coeff8
+	Coeff16
+)
+
+// Period of standby in normal mode which controls how often measurements are taken
+//
+// Note Period10ms and Period20ms are out of sequence, but are per the datasheet
+const (
+	Period0_5ms  Period = 0b000
+	Period62_5ms        = 0b001
+	Period125ms         = 0b010
+	Period250ms         = 0b011
+	Period500ms         = 0b100
+	Period1000ms        = 0b101
+	Period10ms          = 0b110
+	Period20ms          = 0b111
+)
+
 const (
 	SEALEVEL_PRESSURE float32 = 1013.25 // in hPa
 )

bmi160/bmi160.go

@@ -13,6 +13,8 @@ type DeviceSPI struct {
 	// Chip select pin
 	CSB machine.Pin
 
+	buf [7]byte
+
 	// SPI bus (requires chip select to be usable).
 	Bus drivers.SPI
 }
@@ -80,7 +82,10 @@ func (d *DeviceSPI) Reset() error {
 
 // 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}
+	data := d.buf[:3]
+	data[0] = 0x80 | reg_TEMPERATURE_0
+	data[1] = 0
+	data[2] = 0
 	d.CSB.Low()
 	err = d.Bus.Tx(data, data)
 	d.CSB.High()
@@ -113,7 +118,11 @@ func (d *DeviceSPI) ReadTemperature() (temperature int32, err error) {
 // 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}
+	data := d.buf[:7]
+	data[0] = 0x80 | reg_ACC_XL
+	for i := 1; i < len(data); i++ {
+		data[i] = 0
+	}
 	d.CSB.Low()
 	err = d.Bus.Tx(data, data)
 	d.CSB.High()
@@ -139,7 +148,11 @@ func (d *DeviceSPI) ReadAcceleration() (x int32, y int32, z int32, err error) {
 // 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}
+	data := d.buf[:7]
+	data[0] = 0x80 | reg_GYR_XL
+	for i := 1; i < len(data); i++ {
+		data[i] = 0
+	}
 	d.CSB.Low()
 	err = d.Bus.Tx(data, data)
 	d.CSB.High()
@@ -185,7 +198,9 @@ 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}
+	data := d.buf[:2]
+	data[0] = 0x80 | address
+	data[1] = 0
 	d.CSB.Low()
 	d.Bus.Tx(data, data)
 	d.CSB.High()
@@ -198,7 +213,11 @@ 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)
 
+	buf := d.buf[:2]
+	buf[0] = address
+	buf[1] = data
+
 	d.CSB.Low()
-	d.Bus.Tx([]byte{address, data}, []byte{0, 0})
+	d.Bus.Tx(buf, buf)
 	d.CSB.High()
 }

bmp180/bmp180.go

@@ -3,13 +3,14 @@
 //
 // Datasheet:
 // https://cdn-shop.adafruit.com/datasheets/BST-BMP180-DS000-09.pdf
-//
 package bmp180 // import "tinygo.org/x/drivers/bmp180"
 
 import (
+	"math"
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
 )
 
 // OversamplingMode is the oversampling ratio of the pressure measurement.
@@ -55,7 +56,7 @@ func New(bus drivers.I2C) Device {
 // It does a "who am I" request and checks the response.
 func (d *Device) Connected() bool {
 	data := []byte{0}
-	d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
+	legacy.ReadRegister(d.bus, uint8(d.Address), WHO_AM_I, data)
 	return data[0] == CHIP_ID
 }
 
@@ -63,7 +64,7 @@ func (d *Device) Connected() bool {
 // read the calibration coefficients.
 func (d *Device) Configure() {
 	data := make([]byte, 22)
-	err := d.bus.ReadRegister(uint8(d.Address), AC1_MSB, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), AC1_MSB, data)
 	if err != nil {
 		return
 	}
@@ -124,12 +125,27 @@ func (d *Device) ReadPressure() (pressure int32, err error) {
 	return 1000 * (p + ((x1 + x2 + 3791) >> 4)), nil
 }
 
+// ReadAltitude returns the current altitude in meters based on the
+// current barometric pressure and estimated pressure at sea level.
+// Calculation is based on code from Adafruit BME280 library
+//
+// https://github.com/adafruit/Adafruit_BME280_Library
+func (d *Device) ReadAltitude() (int32, error) {
+	mPa, err := d.ReadPressure()
+	if err != nil {
+		return 0, err
+	}
+	atmP := float32(mPa) / 100000
+
+	return int32(44330.0 * (1.0 - math.Pow(float64(atmP/SEALEVEL_PRESSURE), 0.1903))), nil
+}
+
 // rawTemp returns the sensor's raw values of the temperature
 func (d *Device) rawTemp() (int32, error) {
-	d.bus.WriteRegister(uint8(d.Address), REG_CTRL, []byte{CMD_TEMP})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_CTRL, []byte{CMD_TEMP})
 	time.Sleep(5 * time.Millisecond)
 	data := make([]byte, 2)
-	err := d.bus.ReadRegister(uint8(d.Address), REG_TEMP_MSB, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_TEMP_MSB, data)
 	if err != nil {
 		return 0, err
 	}
@@ -145,10 +161,10 @@ func (d *Device) calculateB5(rawTemp int32) int32 {
 
 // rawPressure returns the sensor's raw values of the pressure
 func (d *Device) rawPressure(mode OversamplingMode) (int32, error) {
-	d.bus.WriteRegister(uint8(d.Address), REG_CTRL, []byte{CMD_PRESSURE + byte(mode<<6)})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_CTRL, []byte{CMD_PRESSURE + byte(mode<<6)})
 	time.Sleep(pauseForReading(mode))
 	data := make([]byte, 3)
-	err := d.bus.ReadRegister(uint8(d.Address), REG_PRESSURE_MSB, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_PRESSURE_MSB, data)
 	if err != nil {
 		return 0, err
 	}

bmp180/registers.go

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

bmp280/bmp280.go

@@ -4,6 +4,7 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
 )
 
 // OversamplingMode is the oversampling ratio of the temperature or pressure measurement.
@@ -64,14 +65,14 @@ func New(bus drivers.I2C) Device {
 // 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)
+	legacy.ReadRegister(d.bus, 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})
+	legacy.WriteRegister(d.bus, uint8(d.Address), REG_RESET, []byte{CMD_RESET})
 }
 
 // Configure sets up the device for communication and
@@ -85,15 +86,15 @@ func (d *Device) Configure(standby Standby, filter Filter, temp Oversampling, pr
 
 	//  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)})
+	legacy.WriteRegister(d.bus, 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)})
+	legacy.WriteRegister(d.bus, 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)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CALI, data)
 	if err != nil {
 		return
 	}
@@ -207,18 +208,18 @@ func (d *Device) readData(register int, n int) ([]byte, error) {
 	// 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)})
+		legacy.WriteRegister(d.bus, 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:]) {
+	for legacy.ReadRegister(d.bus, uint8(d.Address), uint8(REG_STATUS), status[0:]); status[0] != 4 && status[0] != 0; legacy.ReadRegister(d.bus, 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[:])
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), uint8(register), data[:])
 	return data, err
 }
 

bmp388/bmp388.go

@@ -4,6 +4,7 @@ import (
 	"errors"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
 )
 
 var (
@@ -240,10 +241,10 @@ func (d *Device) configurationError() bool {
 
 func (d *Device) readRegister(register byte, len int) (data []byte, err error) {
 	data = make([]byte, len)
-	err = d.bus.ReadRegister(d.Address, register, data)
+	err = legacy.ReadRegister(d.bus, d.Address, register, data)
 	return
 }
 
 func (d *Device) writeRegister(register byte, data byte) error {
-	return d.bus.WriteRegister(d.Address, register, []byte{data})
+	return legacy.WriteRegister(d.bus, d.Address, register, []byte{data})
 }

buzzer/buzzer.go

@@ -1,5 +1,4 @@
 // Package buzzer provides a very simplistic driver for a connected buzzer or low-fidelity speaker.
-//
 package buzzer // import "tinygo.org/x/drivers/buzzer"
 
 import (
@@ -55,6 +54,12 @@ func (l *Device) Tone(hz, duration float64) (err error) {
 
 	tempo := ((60 / l.BPM) * (duration * 1000))
 
+	// no tone during rest, just let the duration pass.
+	if hz == Rest {
+		time.Sleep(time.Duration(tempo) * time.Millisecond)
+		return
+	}
+
 	for i := 0.0; i < tempo*1000; i += tone * 2.0 {
 		if err = l.On(); err != nil {
 			return

buzzer/notes.go

@@ -1,9 +1,9 @@
 package buzzer
 
 const (
-	Whole   = 4
-	Half    = 2
-	Quarter = 1
+	Whole   = 4.0
+	Half    = 2.0
+	Quarter = 1.0
 	Eighth  = 0.500
 )
 

cmd/convert2bin/convert2bin.go

@@ -0,0 +1,49 @@
+package main
+
+import (
+	"fmt"
+	"io/ioutil"
+	"log"
+	"os"
+	"strings"
+)
+
+// See ../../image/README.md for the usage.
+
+func main() {
+	err := run(os.Args)
+	if err != nil {
+		log.Fatal(err)
+	}
+}
+
+func run(args []string) error {
+	if len(args) < 2 {
+		return fmt.Errorf("usage: %s FILE")
+	}
+
+	b, err := ioutil.ReadFile(args[1])
+	if err != nil {
+		return err
+	}
+
+	fmt.Printf("const %s = \"\" +\n", strings.Replace(args[1], ".", "_", -1))
+
+	i := 0
+	max := 32
+	for i = 0; i < len(b); i++ {
+		bb := b[i]
+		if (i % max) == 0 {
+			fmt.Printf("	\"")
+		}
+		fmt.Printf("\\x%02X", bb)
+		if (i%max) == max-1 && i != len(b)-1 {
+			fmt.Printf("\" + \n")
+		}
+	}
+	if (i % max) < max-1 {
+		fmt.Printf("\"\n")
+	}
+
+	return nil
+}

delay/sleep.c

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

delay/sleep.go

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

dht/constants.go

@@ -1,3 +1,5 @@
+//go:build tinygo
+
 // Package dht provides a driver for DHTXX family temperature and humidity sensors.
 //
 // [1] Datasheet DHT11: https://www.mouser.com/datasheet/2/758/DHT11-Technical-Data-Sheet-Translated-Version-1143054.pdf
@@ -7,34 +9,10 @@
 package dht // import "tinygo.org/x/drivers/dht"
 
 import (
-	"encoding/binary"
 	"machine"
 	"time"
 )
 
-// enum type for device type
-type DeviceType uint8
-
-// DeviceType specific parsing of information received from the sensor
-func (d DeviceType) extractData(buf []byte) (temp int16, hum uint16) {
-	if d == DHT11 {
-		temp = int16(buf[2])
-		if buf[3]&0x80 > 0 {
-			temp = -1 - temp
-		}
-		temp *= 10
-		temp += int16(buf[3] & 0x0f)
-		hum = 10*uint16(buf[0]) + uint16(buf[1])
-	} else {
-		hum = binary.LittleEndian.Uint16(buf[0:2])
-		temp = int16(buf[3])<<8 + int16(buf[2]&0x7f)
-		if buf[2]&0x80 > 0 {
-			temp = -temp
-		}
-	}
-	return
-}
-
 // Celsius and Fahrenheit temperature scales
 type TemperatureScale uint8
 
@@ -54,9 +32,6 @@ const (
 	startTimeout = time.Millisecond * 200
 	startingLow  = time.Millisecond * 20
 
-	DHT11 DeviceType = iota
-	DHT22
-
 	C TemperatureScale = iota
 	F
 

dht/device.go

@@ -0,0 +1,44 @@
+package dht
+
+import (
+	"encoding/binary"
+)
+
+// DeviceType is the enum type for device type
+type DeviceType uint8
+
+const (
+	DHT11 DeviceType = iota
+	DHT22
+)
+
+// extractData parses information received from the sensor.
+// The 2 first buffers are for the humidity and
+// the 2 following corresponds to the temperature.
+func (d DeviceType) extractData(buf []byte) (temp int16, hum uint16) {
+	switch d {
+	case DHT11:
+		hum = 10*uint16(buf[0]) + uint16(buf[1])
+		temp = int16(buf[2])
+		if buf[3]&0x80 > 0 {
+			temp = -1 - temp
+		}
+		temp *= 10
+		temp += int16(buf[3] & 0x0f)
+	case DHT22:
+		hum = binary.BigEndian.Uint16(buf[0:2])
+		temp = int16(buf[2]&0x7f)<<8 + int16(buf[3])
+		// the first bit corresponds to the sign bit
+		if buf[2]&0x80 > 0 {
+			temp = -temp
+		}
+	default:
+		// keeping this for retro-compatibility but not tested
+		hum = binary.LittleEndian.Uint16(buf[0:2])
+		temp = int16(buf[3])<<8 + int16(buf[2]&0x7f)
+		if buf[2]&0x80 > 0 {
+			temp = -temp
+		}
+	}
+	return
+}

dht/device_internal_test.go

@@ -0,0 +1,46 @@
+package dht
+
+import (
+	"testing"
+)
+
+func TestDeviceType_extractData(t *testing.T) {
+	bitStr := "0000001010001100000000010101111111101110"
+	buf := bitStringToBytes(bitStr)
+
+	tt := []struct {
+		name     string
+		d        DeviceType
+		buf      []byte
+		wantTemp int16
+		wantHum  uint16
+	}{
+		{
+			// temp = 35.1C hum = 65.2%
+			name: "DHT22", d: DHT22, buf: buf, wantTemp: 351, wantHum: 652,
+		},
+	}
+
+	for _, tc := range tt {
+		t.Run(tc.name, func(t *testing.T) {
+			gotTemp, gotHum := tc.d.extractData(tc.buf)
+			if gotTemp != tc.wantTemp {
+				t.Errorf("extractData() gotTemp = %v, want %v", gotTemp, tc.wantTemp)
+			}
+			if gotHum != tc.wantHum {
+				t.Errorf("extractData() gotHum = %v, want %v", gotHum, tc.wantHum)
+			}
+		})
+	}
+}
+
+func bitStringToBytes(s string) []byte {
+	b := make([]byte, (len(s)+(8-1))/8)
+	for i, r := range s {
+		if r < '0' || r > '1' {
+			panic("not in range")
+		}
+		b[i>>3] |= byte(r-'0') << uint(7-i&7)
+	}
+	return b
+}

dht/highfreq.go

@@ -1,4 +1,4 @@
-// +build mimxrt1062  stm32f405  atsamd51  stm32f103xx  k210  stm32f407
+//go:build mimxrt1062 || stm32f405 || atsamd51 || stm32f103xx || k210 || stm32f407
 
 package dht // import "tinygo.org/x/drivers/dht"
 

dht/lowfreq.go

@@ -1,4 +1,4 @@
-// +build arduino atmega1284p nrf52840 digispark nrf52 arduino_nano nrf51 atsamd21 fe310 arduino_nano33 circuitplay_express arduino_mega2560
+//go:build !mimxrt1062 && !stm32f405 && !atsamd51 && !stm32f103xx && !k210 && !stm32f407
 
 package dht // import "tinygo.org/x/drivers/dht"
 

dht/thermometer.go

@@ -1,3 +1,5 @@
+//go:build tinygo
+
 // Package dht provides a driver for DHTXX family temperature and humidity sensors.
 //
 // [1] Datasheet DHT11: https://www.mouser.com/datasheet/2/758/DHT11-Technical-Data-Sheet-Translated-Version-1143054.pdf
@@ -8,6 +10,7 @@ package dht // import "tinygo.org/x/drivers/dht"
 
 import (
 	"machine"
+	"runtime/interrupt"
 	"time"
 )
 
@@ -157,8 +160,8 @@ func (t *device) read() error {
 // interrupts
 func receiveSignals(pin machine.Pin, result []counter) {
 	i := uint8(0)
-	machine.UART1.Interrupt.Disable()
-	defer machine.UART1.Interrupt.Enable()
+	mask := interrupt.Disable()
+	defer interrupt.Restore(mask)
 	for ; i < 40; i++ {
 		result[i*2] = expectChange(pin, false)
 		result[i*2+1] = expectChange(pin, true)

dht/timesafethermometer.go

@@ -1,3 +1,5 @@
+//go:build tinygo
+
 // Package dht provides a driver for DHTXX family temperature and humidity sensors.
 //
 // [1] Datasheet DHT11: https://www.mouser.com/datasheet/2/758/DHT11-Technical-Data-Sheet-Translated-Version-1143054.pdf

dht/util.go

@@ -1,3 +1,5 @@
+//go:build tinygo
+
 package dht // import "tinygo.org/x/drivers/dht"
 
 import (

dht20/dht20.go

@@ -0,0 +1,144 @@
+// Package dht20 implements a driver for the DHT20 temperature and humidity sensor.
+//
+// Datasheet: https://cdn-shop.adafruit.com/product-files/5183/5193_DHT20.pdf
+
+package dht20
+
+import (
+	"errors"
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+var (
+	errUpdateCalledTooSoon = errors.New("Update() called within 80ms is invalid")
+)
+
+// Device wraps an I2C connection to a DHT20 device.
+type Device struct {
+	bus            drivers.I2C
+	Address        uint16
+	data           [8]uint8
+	temperature    float32
+	humidity       float32
+	prevAccessTime time.Time
+}
+
+// New creates a new DHT20 connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C) Device {
+	return Device{
+		bus:     bus,
+		Address: defaultAddress, // Using the address defined in registers.go
+	}
+}
+
+// Configure sets up the device for communication and initializes the registers if needed.
+func (d *Device) Configure() error {
+	// Get the status word
+	d.data[0] = 0x71
+	err := d.bus.Tx(d.Address, d.data[:1], d.data[:1])
+	if err != nil {
+		return err
+	}
+
+	if d.data[0] != 0x18 {
+		// Initialize registers
+		err := d.initRegisters()
+		if err != nil {
+			return err
+		}
+	}
+	// Set the previous access time to the current time
+	d.prevAccessTime = time.Now()
+	return nil
+}
+
+// initRegisters initializes the registers 0x1B, 0x1C, and 0x1E to 0x00.
+func (d *Device) initRegisters() error {
+	// Initialize register 0x1B
+	d.data[0] = 0x1B
+	d.data[1] = 0x00
+	err := d.bus.Tx(d.Address, d.data[:2], nil)
+	if err != nil {
+		return err
+	}
+
+	// Initialize register 0x1C
+	d.data[0] = 0x1C
+	d.data[1] = 0x00
+	err = d.bus.Tx(d.Address, d.data[:2], nil)
+	if err != nil {
+		return err
+	}
+
+	// Initialize register 0x1E
+	d.data[0] = 0x1E
+	d.data[1] = 0x00
+	err = d.bus.Tx(d.Address, d.data[:2], nil)
+	if err != nil {
+		return err
+	}
+
+	return nil
+}
+
+// Update reads data from the sensor and updates the temperature and humidity values.
+// Note that the values obtained by this function are from the previous call to Update.
+// If you want to use the most recent values, shorten the interval at which Update is called.
+func (d *Device) Update(which drivers.Measurement) error {
+	if which&drivers.Temperature == 0 && which&drivers.Humidity == 0 {
+		return nil
+	}
+
+	// Check if 80ms have passed since the last access
+	if time.Since(d.prevAccessTime) < 80*time.Millisecond {
+		return errUpdateCalledTooSoon
+	}
+
+	// Check the status word Bit[7]
+	d.data[0] = 0x71
+	err := d.bus.Tx(d.Address, d.data[:1], d.data[:1])
+	if err != nil {
+		return err
+	}
+	if (d.data[0] & 0x80) == 0 {
+		// Read 7 bytes of data from the sensor
+		err := d.bus.Tx(d.Address, nil, d.data[:7])
+		if err != nil {
+			return err
+		}
+		rawHumidity := uint32(d.data[1])<<12 | uint32(d.data[2])<<4 | uint32(d.data[3])>>4
+		rawTemperature := uint32(d.data[3]&0x0F)<<16 | uint32(d.data[4])<<8 | uint32(d.data[5])
+
+		// Convert raw values to human-readable values
+		d.humidity = float32(rawHumidity) / 1048576.0 * 100
+		d.temperature = float32(rawTemperature)/1048576.0*200 - 50
+
+		// Trigger the next measurement
+		d.data[0] = 0xAC
+		d.data[1] = 0x33
+		d.data[2] = 0x00
+		err = d.bus.Tx(d.Address, d.data[:3], nil)
+		if err != nil {
+			return err
+		}
+
+		// Update the previous access time to the current time
+		d.prevAccessTime = time.Now()
+	}
+	return nil
+}
+
+// Temperature returns the last measured temperature.
+func (d *Device) Temperature() float32 {
+	return d.temperature
+}
+
+// Humidity returns the last measured humidity.
+func (d *Device) Humidity() float32 {
+	return d.humidity
+}

dht20/registers.go

@@ -0,0 +1,6 @@
+package dht20
+
+// Constants/addresses used for I2C.
+
+// The I2C address which this device listens to.
+const defaultAddress = 0x38

displayer.go

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

drivers.go

@@ -3,22 +3,22 @@
 //
 // Here is an example in TinyGo that uses the BMP180 digital barometer:
 //
-// 	package main
+//	package main
 //
-// 	import (
+//	import (
 //		"time"
 //		"machine"
 //
-// 		"tinygo.org/x/drivers/bmp180"
-// 	)
+//		"tinygo.org/x/drivers/bmp180"
+//	)
 //
-// 	func main() {
+//	func main() {
 //		machine.I2C0.Configure(machine.I2CConfig{})
 //		sensor := bmp180.New(machine.I2C0)
 //		sensor.Configure()
 //
-// 		connected := sensor.Connected()
-// 		if !connected {
+//		connected := sensor.Connected()
+//		if !connected {
 //			println("BMP180 not detected")
 //			return
 //		}
@@ -38,5 +38,4 @@
 // Each individual driver is contained within its own sub-package within this package and
 // there are no interdependencies in order to minimize the final size of compiled code that
 // uses any of these drivers.
-//
 package drivers // import "tinygo.org/x/drivers"

ds1307/ds1307.go

@@ -2,7 +2,6 @@
 //
 // Datasheet:
 // https://datasheets.maximintegrated.com/en/ds/DS1307.pdf
-//
 package ds1307 // import "tinygo.org/x/drivers/ds1307"
 
 import (
@@ -10,6 +9,7 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
 )
 
 // Device wraps an I2C connection to a DS1307 device.
@@ -45,7 +45,7 @@ func (d *Device) SetTime(t time.Time) error {
 // ReadTime returns the date and time
 func (d *Device) ReadTime() (time.Time, error) {
 	data := make([]byte, 8)
-	err := d.bus.ReadRegister(d.Address, uint8(TimeDate), data)
+	err := legacy.ReadRegister(d.bus, d.Address, uint8(TimeDate), data)
 	if err != nil {
 		return time.Time{}, err
 	}
@@ -106,7 +106,7 @@ func (d *Device) Read(data []uint8) (n int, err error) {
 	if int(d.AddressSRAM)+len(data)-1 > SRAMEndAddress {
 		return 0, errors.New("EOF")
 	}
-	err = d.bus.ReadRegister(d.Address, d.AddressSRAM, data)
+	err = legacy.ReadRegister(d.bus, d.Address, d.AddressSRAM, data)
 	if err != nil {
 		return 0, err
 	}
@@ -125,7 +125,7 @@ func (d *Device) SetOscillatorFrequency(sqw uint8) error {
 // IsOscillatorRunning returns if the oscillator is running
 func (d *Device) IsOscillatorRunning() bool {
 	data := []byte{0}
-	err := d.bus.ReadRegister(d.Address, uint8(TimeDate), data)
+	err := legacy.ReadRegister(d.bus, d.Address, uint8(TimeDate), data)
 	if err != nil {
 		return false
 	}
@@ -135,7 +135,7 @@ func (d *Device) IsOscillatorRunning() bool {
 // SetOscillatorRunning starts/stops internal oscillator by toggling halt bit
 func (d *Device) SetOscillatorRunning(running bool) error {
 	data := make([]byte, 3)
-	err := d.bus.ReadRegister(d.Address, uint8(TimeDate), data)
+	err := legacy.ReadRegister(d.bus, d.Address, uint8(TimeDate), data)
 	if err != nil {
 		return err
 	}

ds18b20/ds18b20.go

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

ds3231/ds3231.go

@@ -8,6 +8,7 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
 )
 
 type Mode uint8
@@ -37,7 +38,7 @@ func (d *Device) Configure() bool {
 // IsTimeValid return true/false is the time in the device is valid
 func (d *Device) IsTimeValid() bool {
 	data := []byte{0}
-	err := d.bus.ReadRegister(uint8(d.Address), REG_STATUS, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_STATUS, data)
 	if err != nil {
 		return false
 	}
@@ -47,7 +48,7 @@ func (d *Device) IsTimeValid() bool {
 // IsRunning returns if the oscillator is running
 func (d *Device) IsRunning() bool {
 	data := []uint8{0}
-	err := d.bus.ReadRegister(uint8(d.Address), REG_CONTROL, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CONTROL, data)
 	if err != nil {
 		return false
 	}
@@ -57,7 +58,7 @@ func (d *Device) IsRunning() bool {
 // SetRunning starts the internal oscillator
 func (d *Device) SetRunning(isRunning bool) error {
 	data := []uint8{0}
-	err := d.bus.ReadRegister(uint8(d.Address), REG_CONTROL, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CONTROL, data)
 	if err != nil {
 		return err
 	}
@@ -66,22 +67,32 @@ func (d *Device) SetRunning(isRunning bool) error {
 	} else {
 		data[0] |= 1 << EOSC
 	}
-	err = d.bus.WriteRegister(uint8(d.Address), REG_CONTROL, data)
+	err = legacy.WriteRegister(d.bus, uint8(d.Address), REG_CONTROL, data)
 	if err != nil {
 		return err
 	}
 	return nil
 }
 
-// SetTime sets the date and time in the DS3231
+// SetTime sets the date and time in the DS3231. The DS3231 hardware supports
+// only a 2-digit year field, so the current year will be stored as an offset
+// from the year 2000, which supports the year 2000 until 2100.
+//
+// The DS3231 also supports a one-bit 'century' flag which is set by the chip
+// when the year field rolls over from 99 to 00. The current code interprets
+// this flag to be the year 2100, which appears to extend the range of years
+// until the year 2200. However the DS3231 does not incorporate the 'century'
+// flag in its leap year calculation, so it will incorrectly identify the year
+// 2100 as a leap year, causing it to increment from 2100-02-28 to 2100-02-29
+// instead of 2100-03-01.
 func (d *Device) SetTime(dt time.Time) error {
 	data := []byte{0}
-	err := d.bus.ReadRegister(uint8(d.Address), REG_STATUS, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_STATUS, data)
 	if err != nil {
 		return err
 	}
 	data[0] &^= 1 << OSF
-	err = d.bus.WriteRegister(uint8(d.Address), REG_STATUS, data)
+	err = legacy.WriteRegister(d.bus, uint8(d.Address), REG_STATUS, data)
 	if err != nil {
 		return err
 	}
@@ -92,6 +103,10 @@ func (d *Device) SetTime(dt time.Time) error {
 	data[2] = uint8ToBCD(uint8(dt.Hour()))
 
 	year := uint8(dt.Year() - 2000)
+	// This code interprets the centuryFlag to be the year 2100. Warning: The
+	// DS3231 does not incorporate the centuryFlag in its leap year calculation.
+	// It will increment from 2100-02-28 to 2100-02-29, which is incorrect because
+	// the year 2100 is not a leap year in the Gregorian calendar.
 	centuryFlag := uint8(0)
 	if year >= 100 {
 		year -= 100
@@ -103,7 +118,7 @@ func (d *Device) SetTime(dt time.Time) error {
 	data[5] = uint8ToBCD(uint8(dt.Month()) | centuryFlag)
 	data[6] = uint8ToBCD(year)
 
-	err = d.bus.WriteRegister(uint8(d.Address), REG_TIMEDATE, data)
+	err = legacy.WriteRegister(d.bus, uint8(d.Address), REG_TIMEDATE, data)
 	if err != nil {
 		return err
 	}
@@ -114,7 +129,7 @@ func (d *Device) SetTime(dt time.Time) error {
 // ReadTime returns the date and time
 func (d *Device) ReadTime() (dt time.Time, err error) {
 	data := make([]uint8, 7)
-	err = d.bus.ReadRegister(uint8(d.Address), REG_TIMEDATE, data)
+	err = legacy.ReadRegister(d.bus, uint8(d.Address), REG_TIMEDATE, data)
 	if err != nil {
 		return
 	}
@@ -136,11 +151,31 @@ func (d *Device) ReadTime() (dt time.Time, err error) {
 // ReadTemperature returns the temperature in millicelsius (mC)
 func (d *Device) ReadTemperature() (int32, error) {
 	data := make([]uint8, 2)
-	err := d.bus.ReadRegister(uint8(d.Address), REG_TEMP, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_TEMP, data)
 	if err != nil {
 		return 0, err
 	}
-	return int32(data[0])*1000 + int32((data[1]>>6)*25)*10, nil
+	return milliCelsius(data[0], data[1]), nil
+}
+
+// milliCelsius converts the raw temperature bytes (msb and lsb) from the DS3231
+// into a 32-bit signed integer in units of milli Celsius (1/1000 deg C).
+//
+// According to the DS3231 datasheet: "Temperature is represented as a 10-bit
+// code with a resolution of 0.25 deg C and is accessible at location 11h and
+// 12h. The temperature is encoded in two's complement format. The upper 8 bits,
+// the integer portion, are at location 11h and the lower 2 bits, the fractional
+// portion, are in the upper nibble at location 12h."
+//
+// In other words, the msb and lsb bytes should be treated as a signed 16-bit
+// integer in units of (1/256 deg C). It is possible to convert this into a
+// 16-bit signed integer in units of centi Celsius (1/100 deg C) with no loss of
+// precision or dynamic range. But for backwards compatibility, let's instead
+// convert this into a 32-bit signed integer in units of milli Celsius.
+func milliCelsius(msb uint8, lsb uint8) int32 {
+	t256 := int16(uint16(msb)<<8 | uint16(lsb))
+	t1000 := int32(t256) / 64 * 250
+	return t1000
 }
 
 // uint8ToBCD converts a byte to BCD for the DS3231

ds3231/ds3231_test.go

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

easystepper/easystepper.go

@@ -2,28 +2,76 @@
 package easystepper // import "tinygo.org/x/drivers/easystepper"
 
 import (
+	"errors"
 	"machine"
 	"time"
 )
 
+// StepMode determines the coil sequence used to perform a single step
+type StepMode uint8
+
+// Valid values for StepMode
+const (
+	// ModeFour uses a 'four step' coil sequence (12-23-34-41). This is the default (zero-value) mode
+	ModeFour StepMode = iota
+	// ModeEight uses an 'eight step' coil sequence (1-12-2-23-3-34-4-41)
+	ModeEight
+)
+
+// stepCount is a helper function to return the number of steps in a StepMode sequence
+func (sm StepMode) stepCount() uint {
+	switch sm {
+	default:
+		fallthrough
+	case ModeFour:
+		return 4
+	case ModeEight:
+		return 8
+	}
+}
+
+// DeviceConfig contains the configuration data for a single easystepper driver
+type DeviceConfig struct {
+	// Pin1 ... Pin4 determines the pins to configure and use for the device
+	Pin1, Pin2, Pin3, Pin4 machine.Pin
+	// StepCount is the number of steps required to perform a full revolution of the stepper motor
+	StepCount uint
+	// RPM determines the speed of the stepper motor in 'Revolutions per Minute'
+	RPM uint
+	// Mode determines the coil sequence used to perform a single step
+	Mode StepMode
+}
+
+// DualDeviceConfig contains the configuration data for a dual easystepper driver
+type DualDeviceConfig struct {
+	DeviceConfig
+	// Pin5 ... Pin8 determines the pins to configure and use for the second device
+	Pin5, Pin6, Pin7, Pin8 machine.Pin
+}
+
 // Device holds the pins and the delay between steps
 type Device struct {
 	pins       [4]machine.Pin
-	stepDelay  int32
+	stepDelay  time.Duration
 	stepNumber uint8
+	stepMode   StepMode
 }
 
 // DualDevice holds information for controlling 2 motors
 type DualDevice struct {
-	devices [2]Device
+	devices [2]*Device
 }
 
-// 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},
-		stepDelay: 60000000 / (steps * rpm),
+// New returns a new single easystepper driver given a DeviceConfig
+func New(config DeviceConfig) (*Device, error) {
+	if config.StepCount == 0 || config.RPM == 0 {
+		return nil, errors.New("config.StepCount and config.RPM must be > 0")
 	}
+	return &Device{
+		pins:      [4]machine.Pin{config.Pin1, config.Pin2, config.Pin3, config.Pin4},
+		stepDelay: time.Second * 60 / time.Duration((config.StepCount * config.RPM)),
+		stepMode:  config.Mode,
+	}, nil
 }
 
 // Configure configures the pins of the Device
@@ -34,17 +82,23 @@ func (d *Device) Configure() {
 }
 
 // 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{
-		pins:      [4]machine.Pin{pin1, pin2, pin3, pin4},
-		stepDelay: 60000000 / (steps * rpm),
+func NewDual(config DualDeviceConfig) (*DualDevice, error) {
+	// Create the first device
+	dev1, err := New(config.DeviceConfig)
+	if err != nil {
+		return nil, err
 	}
-	dual.devices[1] = Device{
-		pins:      [4]machine.Pin{pin5, pin6, pin7, pin8},
-		stepDelay: 60000000 / (steps * rpm),
+	// Create the second device
+	config.DeviceConfig.Pin1 = config.Pin5
+	config.DeviceConfig.Pin2 = config.Pin6
+	config.DeviceConfig.Pin3 = config.Pin7
+	config.DeviceConfig.Pin4 = config.Pin8
+	dev2, err := New(config.DeviceConfig)
+	if err != nil {
+		return nil, err
 	}
-	return dual
+	// Return composite dual device
+	return &DualDevice{devices: [2]*Device{dev1, dev2}}, nil
 }
 
 // Configure configures the pins of the DualDevice
@@ -64,7 +118,7 @@ func (d *Device) Move(steps int32) {
 	var s int32
 	d.stepMotor(d.stepNumber)
 	for s = int32(d.stepNumber); s < steps; s++ {
-		time.Sleep(time.Duration(d.stepDelay) * time.Microsecond)
+		time.Sleep(d.stepDelay)
 		d.moveDirectionSteps(direction, s)
 	}
 }
@@ -101,7 +155,7 @@ func (d *DualDevice) Move(stepsA, stepsB int32) {
 	stepsA += int32(d.devices[max].stepNumber)
 	minStep = int32(d.devices[min].stepNumber)
 	for s := int32(d.devices[max].stepNumber); s < stepsA; s++ {
-		time.Sleep(time.Duration(d.devices[0].stepDelay) * time.Microsecond)
+		time.Sleep(d.devices[0].stepDelay)
 		d.devices[max].moveDirectionSteps(directions[max], s)
 
 		if ((s * stepsB) / stepsA) > minStep {
@@ -119,6 +173,18 @@ func (d *DualDevice) Off() {
 
 // stepMotor changes the pins' state to the correct step
 func (d *Device) stepMotor(step uint8) {
+	switch d.stepMode {
+	default:
+		fallthrough
+	case ModeFour:
+		d.stepMotor4(step)
+	case ModeEight:
+		d.stepMotor8(step)
+	}
+}
+
+// stepMotor4 changes the pins' state to the correct step in 4-step mode
+func (d *Device) stepMotor4(step uint8) {
 	switch step {
 	case 0:
 		d.pins[0].High()
@@ -148,13 +214,63 @@ func (d *Device) stepMotor(step uint8) {
 	d.stepNumber = step
 }
 
+// stepMotor8 changes the pins' state to the correct step in 8-step mode
+func (d *Device) stepMotor8(step uint8) {
+	switch step {
+	case 0:
+		d.pins[0].High()
+		d.pins[2].Low()
+		d.pins[1].Low()
+		d.pins[3].Low()
+	case 1:
+		d.pins[0].High()
+		d.pins[2].High()
+		d.pins[1].Low()
+		d.pins[3].Low()
+	case 2:
+		d.pins[0].Low()
+		d.pins[2].High()
+		d.pins[1].Low()
+		d.pins[3].Low()
+	case 3:
+		d.pins[0].Low()
+		d.pins[2].High()
+		d.pins[1].High()
+		d.pins[3].Low()
+	case 4:
+		d.pins[0].Low()
+		d.pins[2].Low()
+		d.pins[1].High()
+		d.pins[3].Low()
+	case 5:
+		d.pins[0].Low()
+		d.pins[2].Low()
+		d.pins[1].High()
+		d.pins[3].High()
+	case 6:
+		d.pins[0].Low()
+		d.pins[2].Low()
+		d.pins[1].Low()
+		d.pins[3].High()
+	case 7:
+		d.pins[0].High()
+		d.pins[2].Low()
+		d.pins[1].Low()
+		d.pins[3].High()
+	}
+	d.stepNumber = step
+}
+
 // moveDirectionSteps uses the direction to calculate the correct step and change the motor to it.
-// Direction true: 0, 1, 2, 3, 0, 1, 2, ...
-// Direction false: 0, 3, 2, 1, 0, 3, 2, ...
+// Direction true:  (4-step mode) 0, 1, 2, 3, 0, 1, 2, ...
+// Direction false: (4-step mode) 0, 3, 2, 1, 0, 3, 2, ...
+// Direction true:  (8-step mode) 0, 1, 2, 3, 4, 5, 6, 7, 0, 1, 2, ...
+// Direction false: (8-step mode) 0, 7, 6, 5, 4, 3, 2, 1, 0, 7, 6, ...
 func (d *Device) moveDirectionSteps(direction bool, step int32) {
+	modulus := int32(d.stepMode.stepCount())
 	if direction {
-		d.stepMotor(uint8(step % 4))
+		d.stepMotor(uint8(step % modulus))
 	} else {
-		d.stepMotor(uint8((step + 2*(step%2)) % 4))
+		d.stepMotor(uint8(((-step % modulus) + modulus) % modulus))
 	}
 }

encoders/quadrature_device.go

@@ -0,0 +1,34 @@
+package encoders
+
+type QuadratureDevice struct {
+	cfg  QuadratureConfig
+	impl quadratureImpl
+}
+
+type QuadratureConfig struct {
+	Precision int
+}
+
+type quadratureImpl interface {
+	configure(cfg QuadratureConfig) error
+	readValue() int
+	writeValue(int)
+}
+
+func (enc *QuadratureDevice) Configure(cfg QuadratureConfig) error {
+	if cfg.Precision < 1 {
+		cfg.Precision = 4
+	}
+	enc.cfg = cfg
+	return enc.impl.configure(cfg)
+}
+
+// Position returns the stored int value for the encoder
+func (enc *QuadratureDevice) Position() int {
+	return enc.impl.readValue() / enc.cfg.Precision
+}
+
+// SetPosition overwrites the currently stored value with the specified int value
+func (enc *QuadratureDevice) SetPosition(v int) {
+	enc.impl.writeValue(v * enc.cfg.Precision)
+}

encoders/quadrature_interrupt.go

@@ -0,0 +1,69 @@
+//go:build tinygo && (rp2040 || stm32 || k210 || esp32c3 || nrf || sam || (avr && (atmega328p || atmega328pb)))
+
+// Implementation based on:
+// https://gist.github.com/aykevl/3fc1683ed77bb0a9c07559dfe857304a
+
+// Note: build constraints in this file list targets that define machine.PinToggle.
+// If this is supported for additional targets in the future, they can be added above.
+
+package encoders
+
+import (
+	"machine"
+	"runtime/volatile"
+)
+
+var (
+	states = []int8{0, -1, 1, 0, 1, 0, 0, -1, -1, 0, 0, 1, 0, 1, -1, 0}
+)
+
+// NewQuadratureViaInterrupt returns a rotary encoder device that uses GPIO
+// interrupts and a lookup table to keep track of quadrature state changes.
+//
+// This constructur is only available for TinyGo targets for which machine.PinToggle
+// is defined as a valid interrupt type.
+func NewQuadratureViaInterrupt(pinA, pinB machine.Pin) *QuadratureDevice {
+	return &QuadratureDevice{impl: &quadInterruptImpl{pinA: pinA, pinB: pinB, oldAB: 0b00000011}}
+}
+
+type quadInterruptImpl struct {
+	pinA machine.Pin
+	pinB machine.Pin
+
+	// precision int
+
+	oldAB int
+	value volatile.Register32
+}
+
+func (enc *quadInterruptImpl) configure(cfg QuadratureConfig) error {
+	enc.pinA.Configure(machine.PinConfig{Mode: machine.PinInputPullup})
+	enc.pinA.SetInterrupt(machine.PinToggle, enc.interrupt)
+
+	enc.pinB.Configure(machine.PinConfig{Mode: machine.PinInputPullup})
+	enc.pinB.SetInterrupt(machine.PinToggle, enc.interrupt)
+
+	return nil
+}
+
+func (enc *quadInterruptImpl) interrupt(pin machine.Pin) {
+	aHigh, bHigh := enc.pinA.Get(), enc.pinB.Get()
+	enc.oldAB <<= 2
+	if aHigh {
+		enc.oldAB |= 1 << 1
+	}
+	if bHigh {
+		enc.oldAB |= 1
+	}
+	enc.writeValue(enc.readValue() + int(states[enc.oldAB&0x0f]))
+}
+
+// readValue gets the value using volatile operations and returns it as an int
+func (enc *quadInterruptImpl) readValue() int {
+	return int(enc.value.Get())
+}
+
+// writeValue set the value to the specified int using volatile operations
+func (enc *quadInterruptImpl) writeValue(v int) {
+	enc.value.Set(uint32(v))
+}

espat/espat.go

@@ -16,41 +16,301 @@
 // AT command set:
 // https://www.espressif.com/sites/default/files/documentation/4a-esp8266_at_instruction_set_en.pdf
 //
+// 02/2023    sfeldma@gmail.com    Heavily modified to use netdev interface
+
 package espat // import "tinygo.org/x/drivers/espat"
 
 import (
 	"errors"
+	"fmt"
+	"machine"
+	"net"
+	"net/netip"
 	"strconv"
 	"strings"
+	"sync"
 	"time"
 
-	"tinygo.org/x/drivers"
-	"tinygo.org/x/drivers/net"
+	"tinygo.org/x/drivers/netdev"
+	"tinygo.org/x/drivers/netlink"
 )
 
-// Device wraps UART connection to the ESP8266/ESP32.
-type Device struct {
-	bus drivers.UART
+type Config struct {
+	// UART config
+	Uart *machine.UART
+	Tx   machine.Pin
+	Rx   machine.Pin
+}
 
+type socket struct {
+	inUse    bool
+	protocol int
+	laddr    netip.AddrPort
+}
+
+type Device struct {
+	cfg  *Config
+	uart *machine.UART
 	// command responses that come back from the ESP8266/ESP32
 	response []byte
-
 	// data received from a TCP/UDP connection forwarded by the ESP8266/ESP32
-	socketdata []byte
+	data   []byte
+	socket socket
+	mu     sync.Mutex
 }
 
-// ActiveDevice is the currently configured Device in use. There can only be one.
-var ActiveDevice *Device
-
-// New returns a new espat driver. Pass in a fully configured UART bus.
-func New(b drivers.UART) *Device {
-	return &Device{bus: b, response: make([]byte, 512), socketdata: make([]byte, 0, 1024)}
+func NewDevice(cfg *Config) *Device {
+	return &Device{
+		cfg:      cfg,
+		response: make([]byte, 1500),
+		data:     make([]byte, 0, 1500),
+	}
 }
 
-// Configure sets up the device for communication.
-func (d Device) Configure() {
-	ActiveDevice = &d
-	net.ActiveDevice = ActiveDevice
+func (d *Device) NetConnect(params *netlink.ConnectParams) error {
+
+	if len(params.Ssid) == 0 {
+		return netlink.ErrMissingSSID
+	}
+
+	d.uart = d.cfg.Uart
+	d.uart.Configure(machine.UARTConfig{TX: d.cfg.Tx, RX: d.cfg.Rx})
+
+	// Connect to ESP8266/ESP32
+	fmt.Printf("Connecting to device...")
+
+	for i := 0; i < 5; i++ {
+		if d.Connected() {
+			break
+		}
+		time.Sleep(1 * time.Second)
+	}
+
+	if !d.Connected() {
+		fmt.Printf("FAILED\r\n")
+		return netlink.ErrConnectFailed
+	}
+
+	fmt.Printf("CONNECTED\r\n")
+
+	// Connect to Wifi AP
+	fmt.Printf("Connecting to Wifi SSID '%s'...", params.Ssid)
+
+	d.SetWifiMode(WifiModeClient)
+
+	err := d.ConnectToAP(params.Ssid, params.Passphrase, 10 /* secs */)
+	if err != nil {
+		fmt.Printf("FAILED\r\n")
+		return err
+	}
+
+	fmt.Printf("CONNECTED\r\n")
+
+	ip, err := d.Addr()
+	if err != nil {
+		return err
+	}
+	fmt.Printf("DHCP-assigned IP: %s\r\n", ip)
+	fmt.Printf("\r\n")
+
+	return nil
+}
+
+func (d *Device) NetDisconnect() {
+	d.DisconnectFromAP()
+	fmt.Printf("\r\nDisconnected from Wifi\r\n\r\n")
+}
+
+func (d *Device) NetNotify(cb func(netlink.Event)) {
+	fmt.Printf("\r\n%s\r\n", netlink.ErrNotSupported)
+}
+
+func (d *Device) GetHostByName(name string) (netip.Addr, error) {
+	ip, err := d.GetDNS(name)
+	if err != nil {
+		return netip.Addr{}, err
+	}
+	return netip.ParseAddr(ip)
+}
+
+func (d *Device) GetHardwareAddr() (net.HardwareAddr, error) {
+	return net.HardwareAddr{}, netlink.ErrNotSupported
+}
+
+func (d *Device) Addr() (netip.Addr, error) {
+	resp, err := d.GetClientIP()
+	if err != nil {
+		return netip.Addr{}, err
+	}
+	prefix := "+CIPSTA:ip:"
+	for _, line := range strings.Split(resp, "\n") {
+		if ok := strings.HasPrefix(line, prefix); ok {
+			ip := line[len(prefix)+1 : len(line)-2]
+			return netip.ParseAddr(ip)
+		}
+	}
+	return netip.Addr{}, fmt.Errorf("Error getting IP address")
+}
+
+func (d *Device) Socket(domain int, stype int, protocol int) (int, error) {
+
+	switch domain {
+	case netdev.AF_INET:
+	default:
+		return -1, netdev.ErrFamilyNotSupported
+	}
+
+	switch {
+	case protocol == netdev.IPPROTO_TCP && stype == netdev.SOCK_STREAM:
+	case protocol == netdev.IPPROTO_TLS && stype == netdev.SOCK_STREAM:
+	case protocol == netdev.IPPROTO_UDP && stype == netdev.SOCK_DGRAM:
+	default:
+		return -1, netdev.ErrProtocolNotSupported
+	}
+
+	// Only supporting single connection mode, so only one socket at a time
+	if d.socket.inUse {
+		return -1, netdev.ErrNoMoreSockets
+	}
+	d.socket.inUse = true
+	d.socket.protocol = protocol
+
+	return 0, nil
+}
+
+func (d *Device) Bind(sockfd int, ip netip.AddrPort) error {
+	d.socket.laddr = ip
+	return nil
+}
+
+func (d *Device) Connect(sockfd int, host string, ip netip.AddrPort) error {
+	var err error
+	var addr = ip.Addr().String()
+	var rport = strconv.Itoa(int(ip.Port()))
+	var lport = strconv.Itoa(int(d.socket.laddr.Port()))
+
+	switch d.socket.protocol {
+	case netdev.IPPROTO_TCP:
+		err = d.ConnectTCPSocket(addr, rport)
+	case netdev.IPPROTO_UDP:
+		err = d.ConnectUDPSocket(addr, rport, lport)
+	case netdev.IPPROTO_TLS:
+		err = d.ConnectSSLSocket(host, rport)
+	}
+
+	if err != nil {
+		if host == "" {
+			return fmt.Errorf("Connect to %s timed out", ip)
+		} else {
+			return fmt.Errorf("Connect to %s:%d timed out", host, ip.Port())
+		}
+	}
+
+	return nil
+}
+
+func (d *Device) Listen(sockfd int, backlog int) error {
+	switch d.socket.protocol {
+	case netdev.IPPROTO_UDP:
+	default:
+		return netdev.ErrProtocolNotSupported
+	}
+	return nil
+}
+
+func (d *Device) Accept(sockfd int) (int, netip.AddrPort, error) {
+	return -1, netip.AddrPort{}, netdev.ErrNotSupported
+}
+
+func (d *Device) sendChunk(sockfd int, buf []byte, deadline time.Time) (int, error) {
+	// Check if we've timed out
+	if !deadline.IsZero() {
+		if time.Now().After(deadline) {
+			return -1, netdev.ErrTimeout
+		}
+	}
+	err := d.StartSocketSend(len(buf))
+	if err != nil {
+		return -1, err
+	}
+	n, err := d.Write(buf)
+	if err != nil {
+		return -1, err
+	}
+	_, err = d.Response(1000)
+	if err != nil {
+		return -1, err
+	}
+	return n, err
+}
+
+func (d *Device) Send(sockfd int, buf []byte, flags int, deadline time.Time) (int, error) {
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	// Break large bufs into chunks so we don't overrun the hw queue
+
+	chunkSize := 1436
+	for i := 0; i < len(buf); i += chunkSize {
+		end := i + chunkSize
+		if end > len(buf) {
+			end = len(buf)
+		}
+		_, err := d.sendChunk(sockfd, buf[i:end], deadline)
+		if err != nil {
+			return -1, err
+		}
+	}
+
+	return len(buf), nil
+}
+
+func (d *Device) Recv(sockfd int, buf []byte, flags int, deadline time.Time) (int, error) {
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	var length = len(buf)
+
+	// Limit length read size to chunk large read requests
+	if length > 1436 {
+		length = 1436
+	}
+
+	for {
+		// Check if we've timed out
+		if !deadline.IsZero() {
+			if time.Now().After(deadline) {
+				return -1, netdev.ErrTimeout
+			}
+		}
+
+		n, err := d.ReadSocket(buf[:length])
+		if err != nil {
+			return -1, err
+		}
+		if n == 0 {
+			d.mu.Unlock()
+			time.Sleep(100 * time.Millisecond)
+			d.mu.Lock()
+			continue
+		}
+
+		return n, nil
+	}
+}
+
+func (d *Device) Close(sockfd int) error {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	d.socket.inUse = false
+	return d.DisconnectSocket()
+}
+
+func (d *Device) SetSockOpt(sockfd int, level int, opt int, value interface{}) error {
+	return netdev.ErrNotSupported
 }
 
 // Connected checks if there is communication with the ESP8266/ESP32.
@@ -58,7 +318,7 @@ func (d *Device) Connected() bool {
 	d.Execute(Test)
 
 	// handle response here, should include "OK"
-	_, err := d.Response(100)
+	_, err := d.Response(1000)
 	if err != nil {
 		return false
 	}
@@ -67,12 +327,12 @@ func (d *Device) Connected() bool {
 
 // Write raw bytes to the UART.
 func (d *Device) Write(b []byte) (n int, err error) {
-	return d.bus.Write(b)
+	return d.uart.Write(b)
 }
 
 // Read raw bytes from the UART.
 func (d *Device) Read(b []byte) (n int, err error) {
-	return d.bus.Read(b)
+	return d.uart.Read(b)
 }
 
 // how long in milliseconds to pause after sending AT commands
@@ -101,9 +361,10 @@ func (d Device) Set(cmd, params string) error {
 // Version returns the ESP8266/ESP32 firmware version info.
 func (d Device) Version() []byte {
 	d.Execute(Version)
-	r, err := d.Response(100)
+	r, err := d.Response(2000)
 	if err != nil {
-		return []byte("unknown")
+		//return []byte("unknown")
+		return []byte(err.Error())
 	}
 	return r
 }
@@ -133,16 +394,16 @@ func (d *Device) ReadSocket(b []byte) (n int, err error) {
 	d.Response(300)
 
 	count := len(b)
-	if len(b) >= len(d.socketdata) {
+	if len(b) >= len(d.data) {
 		// copy it all, then clear socket data
-		count = len(d.socketdata)
-		copy(b, d.socketdata[:count])
-		d.socketdata = d.socketdata[:0]
+		count = len(d.data)
+		copy(b, d.data[:count])
+		d.data = d.data[:0]
 	} else {
 		// copy all we can, then keep the remaining socket data around
-		copy(b, d.socketdata[:count])
-		copy(d.socketdata, d.socketdata[count:])
-		d.socketdata = d.socketdata[:len(d.socketdata)-count]
+		copy(b, d.data[:count])
+		copy(d.data, d.data[count:])
+		d.data = d.data[:len(d.data)-count]
 	}
 
 	return count, nil
@@ -158,11 +419,11 @@ func (d *Device) Response(timeout int) ([]byte, error) {
 	retries := timeout / pause
 
 	for {
-		size = d.bus.Buffered()
+		size = d.uart.Buffered()
 
 		if size > 0 {
 			end += size
-			d.bus.Read(d.response[start:end])
+			d.uart.Read(d.response[start:end])
 
 			// if "+IPD" then read socket data
 			if strings.Contains(string(d.response[:end]), "+IPD") {
@@ -205,18 +466,18 @@ func (d *Device) parseIPD(end int) error {
 	val := string(d.response[s+5 : e])
 
 	// TODO: verify count
-	_, err := strconv.Atoi(val)
+	v, err := strconv.Atoi(val)
 	if err != nil {
 		// not expected data here. what to do?
 		return err
 	}
 
 	// load up the socket data
-	d.socketdata = append(d.socketdata, d.response[e+1:end]...)
+	d.data = append(d.data, d.response[e+1:e+1+v]...)
 	return nil
 }
 
 // IsSocketDataAvailable returns of there is socket data available
 func (d *Device) IsSocketDataAvailable() bool {
-	return len(d.socketdata) > 0 || d.bus.Buffered() > 0
+	return len(d.data) > 0 || d.uart.Buffered() > 0
 }

espat/tcp.go

@@ -29,7 +29,7 @@ func (d *Device) GetDNS(domain string) (string, error) {
 		return "", errors.New("Invalid domain lookup result")
 	}
 	res := strings.Split(r[1], "\r\n")
-	return res[0], nil
+	return strings.Trim(res[0], `"`), nil
 }
 
 // ConnectTCPSocket creates a new TCP socket connection for the ESP8266/ESP32.
@@ -51,7 +51,7 @@ func (d *Device) ConnectTCPSocket(addr, port string) error {
 // ConnectUDPSocket creates a new UDP connection for the ESP8266/ESP32.
 func (d *Device) ConnectUDPSocket(addr, sendport, listenport string) error {
 	protocol := "UDP"
-	val := "\"" + protocol + "\",\"" + addr + "\"," + sendport + "," + listenport + ",2"
+	val := "\"" + protocol + "\",\"" + addr + "\"," + sendport + "," + listenport + ",0"
 	err := d.Set(TCPConnect, val)
 	if err != nil {
 		return err

espat/wifi.go

@@ -44,10 +44,7 @@ func (d *Device) ConnectToAP(ssid, pwd string, ws int) error {
 	d.Set(ConnectAP, val)
 
 	_, err := d.Response(ws * 1000)
-	if err != nil {
-		return err
-	}
-	return nil
+	return err
 }
 
 // DisconnectFromAP disconnects the ESP8266/ESP32 from the current access point.

examples/adafruit4650/main.go

@@ -0,0 +1,42 @@
+package main
+
+import (
+	"image/color"
+	"machine"
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/adafruit4650"
+	"tinygo.org/x/tinyfont"
+	"tinygo.org/x/tinyfont/freemono"
+)
+
+func main() {
+	machine.I2C0.Configure(machine.I2CConfig{})
+
+	dev := adafruit4650.New(machine.I2C0)
+
+	err := dev.Configure()
+	if err != nil {
+		panic(err)
+	}
+
+	drawPlus(&dev)
+	drawHelloWorld(&dev)
+
+	err = dev.Display()
+	if err != nil {
+		panic(err)
+	}
+}
+
+func drawPlus(d drivers.Displayer) {
+	for i := int16(0); i < 128; i++ {
+		d.SetPixel(i, 32, color.RGBA{R: 1})
+	}
+	for i := int16(0); i < 64; i++ {
+		d.SetPixel(64, i, color.RGBA{R: 1})
+	}
+}
+
+func drawHelloWorld(d drivers.Displayer) {
+	tinyfont.WriteLine(d, &freemono.Regular9pt7b, 0, 32, "Hello World!", color.RGBA{R: 0xff, G: 0xff, B: 0xff, A: 0xff})
+}

examples/apa102/itsybitsy-m0/main.go

@@ -13,7 +13,7 @@ import (
 )
 
 var (
-	apa apa102.Device
+	apa *apa102.Device
 
 	pwm   = machine.TCC0
 	leds  = make([]color.RGBA, 1)

examples/apds9960/color/main.go

@@ -0,0 +1,39 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/apds9960"
+)
+
+func main() {
+
+	// use Nano 33 BLE Sense's internal I2C bus
+	machine.I2C1.Configure(machine.I2CConfig{
+		SCL:       machine.SCL1_PIN,
+		SDA:       machine.SDA1_PIN,
+		Frequency: machine.TWI_FREQ_400KHZ,
+	})
+
+	sensor := apds9960.New(machine.I2C1)
+
+	sensor.Configure(apds9960.Configuration{}) // use default settings
+
+	if !sensor.Connected() {
+		println("APDS-9960 not connected!")
+		return
+	}
+
+	sensor.EnableColor() // enable color engine
+
+	for {
+
+		if sensor.ColorAvailable() {
+			r, g, b, c := sensor.ReadColor()
+			println("Red =", r, "\tGreen =", g, "\tBlue =", b, "\tClear =", c)
+		}
+		time.Sleep(time.Millisecond * 100)
+	}
+
+}

examples/apds9960/gesture/main.go

@@ -0,0 +1,52 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/apds9960"
+)
+
+func main() {
+
+	// use Nano 33 BLE Sense's internal I2C bus
+	machine.I2C1.Configure(machine.I2CConfig{
+		SCL:       machine.SCL1_PIN,
+		SDA:       machine.SDA1_PIN,
+		Frequency: machine.TWI_FREQ_400KHZ,
+	})
+
+	sensor := apds9960.New(machine.I2C1)
+
+	sensor.Configure(apds9960.Configuration{}) // use default settings
+
+	if !sensor.Connected() {
+		println("APDS-9960 not connected!")
+		return
+	}
+
+	sensor.EnableGesture() // enable gesture engine
+
+	for {
+
+		// wave your hand (not too slow) about 10 cm above the sensor
+		if sensor.GestureAvailable() {
+
+			gesture := sensor.ReadGesture()
+			print("Detected gesture: ")
+			switch gesture {
+			case apds9960.GESTURE_UP: // the nRF52 chip is "up"
+				println("Up")
+			case apds9960.GESTURE_DOWN:
+				println("Down")
+			case apds9960.GESTURE_LEFT:
+				println("Left")
+			case apds9960.GESTURE_RIGHT:
+				println("Right")
+			}
+		}
+		// note: the delay shouldn't be too long, otherwise new gesture data might be lost
+		time.Sleep(time.Millisecond * 250)
+	}
+
+}

examples/apds9960/proximity/main.go

@@ -0,0 +1,40 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/apds9960"
+)
+
+func main() {
+
+	// use Nano 33 BLE Sense's internal I2C bus
+	machine.I2C1.Configure(machine.I2CConfig{
+		SCL:       machine.SCL1_PIN,
+		SDA:       machine.SDA1_PIN,
+		Frequency: machine.TWI_FREQ_400KHZ,
+	})
+
+	sensor := apds9960.New(machine.I2C1)
+
+	// use default settings
+	sensor.Configure(apds9960.Configuration{})
+
+	if !sensor.Connected() {
+		println("APDS-9960 not connected!")
+		return
+	}
+
+	sensor.EnableProximity() // enable proximity engine
+
+	for {
+
+		if sensor.ProximityAvailable() {
+			p := sensor.ReadProximity()
+			println("Proximity:", p)
+		}
+		time.Sleep(time.Millisecond * 100)
+	}
+
+}

examples/as560x/main.go

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

examples/axp192/m5stack-core2-blinky/main.go

@@ -0,0 +1,25 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	axp192 "tinygo.org/x/drivers/axp192/m5stack-core2-axp192"
+	"tinygo.org/x/drivers/i2csoft"
+)
+
+func main() {
+	i2c := i2csoft.New(machine.SCL0_PIN, machine.SDA0_PIN)
+	i2c.Configure(i2csoft.I2CConfig{Frequency: 100e3})
+
+	axp := axp192.New(i2c)
+	led := axp.LED
+
+	for {
+		led.Low()
+		time.Sleep(time.Millisecond * 500)
+
+		led.High()
+		time.Sleep(time.Millisecond * 500)
+	}
+}

examples/bma42x/main.go

@@ -0,0 +1,54 @@
+package main
+
+// Smoke test for the BMA421/BMA425 sensors.
+// Warning: this code has _not been tested_. It's only here as a smoke test.
+
+import (
+	"fmt"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/bma42x"
+)
+
+func main() {
+	time.Sleep(5 * time.Second)
+
+	i2cBus := machine.I2C1
+	i2cBus.Configure(machine.I2CConfig{
+		Frequency: 400 * machine.KHz,
+		SDA:       machine.SDA_PIN,
+		SCL:       machine.SCL_PIN,
+	})
+
+	sensor := bma42x.NewI2C(i2cBus, bma42x.Address)
+	err := sensor.Configure(bma42x.Config{
+		Device:   bma42x.DeviceBMA421 | bma42x.DeviceBMA425,
+		Features: bma42x.FeatureStepCounting,
+	})
+	if err != nil {
+		println("could not configure BMA421/BMA425:", err)
+		return
+	}
+
+	if !sensor.Connected() {
+		println("BMA42x not connected")
+		return
+	}
+
+	for {
+		time.Sleep(time.Second)
+
+		err := sensor.Update(drivers.Acceleration | drivers.Temperature)
+		if err != nil {
+			println("Error reading sensor", err)
+			continue
+		}
+
+		fmt.Printf("Temperature: %.2f °C\n", float32(sensor.Temperature())/1000)
+
+		accelX, accelY, accelZ := sensor.Acceleration()
+		fmt.Printf("Acceleration: %.2fg %.2fg %.2fg\n", float32(accelX)/1e6, float32(accelY)/1e6, float32(accelZ)/1e6)
+	}
+}

examples/bmp180/main.go

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

examples/delay/delay.go

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

examples/dht/main.go

@@ -12,7 +12,7 @@ func main() {
 	dhtSensor := dht.New(pin, dht.DHT11)
 	for {
 		temp, hum, err := dhtSensor.Measurements()
-		if err != nil {
+		if err == nil {
 			fmt.Printf("Temperature: %02d.%d°C, Humidity: %02d.%d%%\n", temp/10, temp%10, hum/10, hum%10)
 		} else {
 			fmt.Printf("Could not take measurements from the sensor: %s\n", err.Error())

examples/dht20/main.go

@@ -0,0 +1,36 @@
+package main
+
+import (
+	"machine"
+	"strconv"
+	"time"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/dht20"
+)
+
+var (
+	i2c = machine.I2C0
+)
+
+func main() {
+	i2c.Configure(machine.I2CConfig{})
+	sensor := dht20.New(i2c)
+	sensor.Configure()
+
+	// Trigger the first measurement
+	sensor.Update(drivers.AllMeasurements)
+
+	for {
+		time.Sleep(1 * time.Second)
+
+		// Update sensor dasta
+		sensor.Update(drivers.AllMeasurements)
+		temp := sensor.Temperature()
+		hum := sensor.Humidity()
+
+		// Note: The sensor values are from the previous measurement (1 second ago)
+		println("Temperature:", strconv.FormatFloat(float64(temp), 'f', 2, 64), "°C")
+		println("Humidity:", strconv.FormatFloat(float64(hum), 'f', 2, 64), "%")
+	}
+}

examples/ds18b20/main.go

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

examples/ds3231/main.go

@@ -1,4 +1,4 @@
-// Connects to an MAG3110 I2C magnetometer.
+// Connects to an DS3231 I2C Real Time Clock (RTC).
 package main
 
 import (

examples/easystepper/main.go

@@ -8,7 +8,11 @@ import (
 )
 
 func main() {
-	motor := easystepper.New(machine.P13, machine.P15, machine.P14, machine.P16, 200, 75)
+	config := easystepper.DeviceConfig{
+		Pin1: machine.P13, Pin2: machine.P15, Pin3: machine.P14, Pin4: machine.P16,
+		StepCount: 200, RPM: 75, Mode: easystepper.ModeFour,
+	}
+	motor, _ := easystepper.New(config)
 	motor.Configure()
 
 	for {

examples/encoders/quadrature-interrupt/main.go

@@ -0,0 +1,28 @@
+//go:build macropad_rp2040
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/encoders"
+)
+
+var (
+	enc = encoders.NewQuadratureViaInterrupt(machine.ROT_A, machine.ROT_B)
+)
+
+func main() {
+
+	enc.Configure(encoders.QuadratureConfig{
+		Precision: 4,
+	})
+
+	for oldValue := 0; ; {
+		if newValue := enc.Position(); newValue != oldValue {
+			println("value: ", newValue)
+			oldValue = newValue
+		}
+	}
+
+}

examples/espat/espconsole/main.go

@@ -1,143 +0,0 @@
-// This is a console to a ESP8266/ESP32 running on the device UART1.
-// Allows you to type AT commands from your computer via the microcontroller.
-//
-// In other words:
-// Your computer <--> UART0 <--> MCU <--> UART1 <--> ESP8266 <--> INTERNET
-//
-// More information on the Espressif AT command set at:
-// https://www.espressif.com/sites/default/files/documentation/4a-esp8266_at_instruction_set_en.pdf
-//
-package main
-
-import (
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers/espat"
-)
-
-// change actAsAP to true to act as an access point instead of connecting to one.
-const actAsAP = false
-
-// access point info
-const ssid = "YOURSSID"
-const pass = "YOURPASS"
-
-// 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 (
-	uart = machine.UART1
-	tx   = machine.PA22
-	rx   = machine.PA23
-
-	console = machine.UART0
-
-	adaptor *espat.Device
-)
-
-func main() {
-	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
-
-	// Init esp8266
-	adaptor = espat.New(uart)
-	adaptor.Configure()
-
-	// first check if connected
-	if connectToESP() {
-		println("Connected to wifi adaptor.")
-		adaptor.Echo(false)
-
-		connectToAP()
-	} else {
-		println("")
-		failMessage("Unable to connect to wifi adaptor.")
-		return
-	}
-
-	println("Type an AT command then press enter:")
-	prompt()
-
-	input := make([]byte, 64)
-	i := 0
-	for {
-		if console.Buffered() > 0 {
-			data, _ := console.ReadByte()
-
-			switch data {
-			case 13:
-				// return key
-				console.Write([]byte("\r\n"))
-
-				// send command to ESP8266
-				input[i] = byte('\r')
-				input[i+1] = byte('\n')
-				adaptor.Write(input[:i+2])
-
-				// display response
-				r, _ := adaptor.Response(500)
-				console.Write(r)
-
-				// prompt
-				prompt()
-
-				i = 0
-				continue
-			default:
-				// just echo the character
-				console.WriteByte(data)
-				input[i] = data
-				i++
-			}
-		}
-		time.Sleep(10 * time.Millisecond)
-	}
-}
-
-func prompt() {
-	print("ESPAT>")
-}
-
-// connect to ESP8266/ESP32
-func connectToESP() bool {
-	for i := 0; i < 5; i++ {
-		println("Connecting to wifi adaptor...")
-		if adaptor.Connected() {
-			return true
-		}
-		time.Sleep(1 * time.Second)
-	}
-	return false
-}
-
-// connect to access point
-func connectToAP() {
-	println("Connecting to wifi network '" + ssid + "'")
-
-	adaptor.SetWifiMode(espat.WifiModeClient)
-	adaptor.ConnectToAP(ssid, pass, 10)
-
-	println("Connected.")
-	ip, err := adaptor.GetClientIP()
-	if err != nil {
-		failMessage(err.Error())
-	}
-
-	println(ip)
-}
-
-// provide access point
-func provideAP() {
-	println("Starting wifi network as access point '" + ssid + "'...")
-	adaptor.SetWifiMode(espat.WifiModeAP)
-	adaptor.SetAPConfig(ssid, pass, 7, espat.WifiAPSecurityWPA2_PSK)
-	println("Ready.")
-	ip, _ := adaptor.GetAPIP()
-	println(ip)
-}
-
-func failMessage(msg string) {
-	for {
-		println(msg)
-		time.Sleep(1 * time.Second)
-	}
-}

examples/espat/esphub/main.go

@@ -1,129 +0,0 @@
-// This is a sensor hub that uses a ESP8266/ESP32 running on the device UART1.
-// It creates a UDP "server" you can use to get info to/from your computer via the microcontroller.
-//
-// In other words:
-// Your computer <--> UART0 <--> MCU <--> UART1 <--> ESP8266 <--> INTERNET
-//
-package main
-
-import (
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/net"
-)
-
-// change actAsAP to true to act as an access point instead of connecting to one.
-const actAsAP = false
-
-// access point info
-const ssid = "YOURSSID"
-const pass = "YOURPASS"
-
-// 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 (
-	uart = machine.UART1
-	tx   = machine.PA22
-	rx   = machine.PA23
-
-	adaptor *espat.Device
-)
-
-func main() {
-	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
-
-	// Init esp8266
-	adaptor = espat.New(uart)
-	adaptor.Configure()
-
-	readyled := machine.LED
-	readyled.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	readyled.High()
-
-	// first check if connected
-	if connectToESP() {
-		println("Connected to wifi adaptor.")
-		adaptor.Echo(false)
-
-		connectToAP()
-	} else {
-		println("")
-		failMessage("Unable to connect to wifi adaptor.")
-		return
-	}
-
-	// now make UDP connection
-	laddr := &net.UDPAddr{Port: 2222}
-	println("Loading UDP listener...")
-	conn, _ := net.ListenUDP("UDP", laddr)
-
-	println("Waiting for data...")
-	data := make([]byte, 50)
-	blink := true
-	for {
-		n, _ := conn.Read(data)
-		if n > 0 {
-			println(string(data[:n]))
-			conn.Write([]byte("hello back\r\n"))
-		}
-		blink = !blink
-		if blink {
-			readyled.High()
-		} else {
-			readyled.Low()
-		}
-		time.Sleep(500 * time.Millisecond)
-	}
-
-	// Right now this code is never reached. Need a way to trigger it...
-	println("Disconnecting UDP...")
-	conn.Close()
-	println("Done.")
-}
-
-// connect to ESP8266/ESP32
-func connectToESP() bool {
-	for i := 0; i < 5; i++ {
-		println("Connecting to wifi adaptor...")
-		if adaptor.Connected() {
-			return true
-		}
-		time.Sleep(1 * time.Second)
-	}
-	return false
-}
-
-// connect to access point
-func connectToAP() {
-	println("Connecting to wifi network '" + ssid + "'")
-
-	adaptor.SetWifiMode(espat.WifiModeClient)
-	adaptor.ConnectToAP(ssid, pass, 10)
-
-	println("Connected.")
-	ip, err := adaptor.GetClientIP()
-	if err != nil {
-		failMessage(err.Error())
-	}
-
-	println(ip)
-}
-
-// provide access point
-func provideAP() {
-	println("Starting wifi network as access point '" + ssid + "'...")
-	adaptor.SetWifiMode(espat.WifiModeAP)
-	adaptor.SetAPConfig(ssid, pass, 7, espat.WifiAPSecurityWPA2_PSK)
-	println("Ready.")
-	ip, _ := adaptor.GetAPIP()
-	println(ip)
-}
-
-func failMessage(msg string) {
-	for {
-		println(msg)
-		time.Sleep(1 * time.Second)
-	}
-}

examples/espat/espstation/main.go

@@ -1,108 +0,0 @@
-// This is a sensor station that uses a ESP8266 or ESP32 running on the device UART1.
-// 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 <--> UART1 <--> ESP8266
-//
-package main
-
-import (
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/net"
-)
-
-// access point info
-const ssid = "YOURSSID"
-const pass = "YOURPASS"
-
-// IP address of the listener aka "hub". Replace with your own info.
-const hubIP = "0.0.0.0"
-
-// 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 (
-	uart = machine.UART1
-	tx   = machine.PA22
-	rx   = machine.PA23
-
-	adaptor *espat.Device
-)
-
-func main() {
-	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
-
-	// Init esp8266/esp32
-	adaptor = espat.New(uart)
-	adaptor.Configure()
-
-	// first check if connected
-	if connectToESP() {
-		println("Connected to wifi adaptor.")
-		adaptor.Echo(false)
-
-		connectToAP()
-	} else {
-		println("")
-		failMessage("Unable to connect to wifi adaptor.")
-		return
-	}
-
-	// 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...")
-		conn.Write([]byte("hello\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 ESP8266/ESP32
-func connectToESP() bool {
-	for i := 0; i < 5; i++ {
-		println("Connecting to wifi adaptor...")
-		if adaptor.Connected() {
-			return true
-		}
-		time.Sleep(1 * time.Second)
-	}
-	return false
-}
-
-// connect to access point
-func connectToAP() {
-	println("Connecting to wifi network '" + ssid + "'")
-
-	adaptor.SetWifiMode(espat.WifiModeClient)
-	adaptor.ConnectToAP(ssid, pass, 10)
-
-	println("Connected.")
-	ip, err := adaptor.GetClientIP()
-	if err != nil {
-		failMessage(err.Error())
-	}
-
-	println(ip)
-}
-
-func failMessage(msg string) {
-	for {
-		println(msg)
-		time.Sleep(1 * time.Second)
-	}
-}

examples/espat/mqttclient/main.go

@@ -1,142 +0,0 @@
-// This is a sensor station that uses a ESP8266 or ESP32 running on the device UART1.
-// It creates an MQTT connection that publishes a message every second
-// to an MQTT broker.
-//
-// In other words:
-// Your computer <--> UART0 <--> MCU <--> UART1 <--> ESP8266 <--> Internet <--> MQTT broker.
-//
-// You must install the Paho MQTT package to build this program:
-//
-// 		go get -u github.com/eclipse/paho.mqtt.golang
-//
-package main
-
-import (
-	"machine"
-	"math/rand"
-	"time"
-
-	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/net/mqtt"
-)
-
-// access point info
-const ssid = "YOURSSID"
-const pass = "YOURPASS"
-
-// IP address of the MQTT broker to use. Replace with your own info.
-const server = "tcp://test.mosquitto.org:1883"
-
-//const server = "ssl://test.mosquitto.org:8883"
-
-// 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 (
-	uart = machine.UART2
-	tx   = machine.PA22
-	rx   = machine.PA23
-
-	console = machine.UART0
-
-	adaptor *espat.Device
-	topic   = "tinygo"
-)
-
-func main() {
-	time.Sleep(3000 * time.Millisecond)
-
-	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
-	rand.Seed(time.Now().UnixNano())
-
-	// Init esp8266/esp32
-	adaptor = espat.New(uart)
-	adaptor.Configure()
-
-	// first check if connected
-	if connectToESP() {
-		println("Connected to wifi adaptor.")
-		adaptor.Echo(false)
-
-		connectToAP()
-	} else {
-		println("")
-		failMessage("Unable to connect to wifi adaptor.")
-		return
-	}
-
-	opts := mqtt.NewClientOptions()
-	opts.AddBroker(server).SetClientID("tinygo-client-" + randomString(10))
-
-	println("Connecting to MQTT broker at", server)
-	cl := mqtt.NewClient(opts)
-	if token := cl.Connect(); token.Wait() && token.Error() != nil {
-		failMessage(token.Error().Error())
-	}
-
-	for {
-		println("Publishing MQTT message...")
-		data := []byte("{\"e\":[{ \"n\":\"hello\", \"v\":101 }]}")
-		token := cl.Publish(topic, 0, false, data)
-		token.Wait()
-		if token.Error() != nil {
-			println(token.Error().Error())
-		}
-
-		time.Sleep(1000 * time.Millisecond)
-	}
-
-	// Right now this code is never reached. Need a way to trigger it...
-	println("Disconnecting MQTT...")
-	cl.Disconnect(100)
-
-	println("Done.")
-}
-
-// connect to ESP8266/ESP32
-func connectToESP() bool {
-	for i := 0; i < 5; i++ {
-		println("Connecting to wifi adaptor...")
-		if adaptor.Connected() {
-			return true
-		}
-		time.Sleep(1 * time.Second)
-	}
-	return false
-}
-
-// connect to access point
-func connectToAP() {
-	println("Connecting to wifi network '" + ssid + "'")
-
-	adaptor.SetWifiMode(espat.WifiModeClient)
-	adaptor.ConnectToAP(ssid, pass, 10)
-
-	println("Connected.")
-	ip, err := adaptor.GetClientIP()
-	if err != nil {
-		failMessage(err.Error())
-	}
-
-	println(ip)
-}
-
-// Returns an int >= min, < max
-func randomInt(min, max int) int {
-	return min + rand.Intn(max-min)
-}
-
-// Generate a random string of A-Z chars with len = l
-func randomString(len int) string {
-	bytes := make([]byte, len)
-	for i := 0; i < len; i++ {
-		bytes[i] = byte(randomInt(65, 90))
-	}
-	return string(bytes)
-}
-
-func failMessage(msg string) {
-	for {
-		println(msg)
-		time.Sleep(1 * time.Second)
-	}
-}

examples/espat/mqttsub/main.go

@@ -1,163 +0,0 @@
-// This is a sensor station that uses a ESP8266 or ESP32 running on the device UART1.
-// It creates an MQTT connection that publishes a message every second
-// to an MQTT broker.
-//
-// In other words:
-// Your computer <--> UART0 <--> MCU <--> UART1 <--> ESP8266 <--> Internet <--> MQTT broker.
-//
-// You must also install the Paho MQTT package to build this program:
-//
-// 		go get -u github.com/eclipse/paho.mqtt.golang
-//
-package main
-
-import (
-	"fmt"
-	"machine"
-	"math/rand"
-	"time"
-
-	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/net/mqtt"
-)
-
-// access point info
-const ssid = "YOURSSID"
-const pass = "YOURPASS"
-
-// IP address of the MQTT broker to use. Replace with your own info.
-//const server = "tcp://test.mosquitto.org:1883"
-
-const server = "ssl://test.mosquitto.org:8883"
-
-// change these to connect to a different UART or pins for the ESP8266/ESP32
-var (
-	// these are defaults for the Arduino Nano33 IoT.
-	uart = machine.UART1
-	tx   = machine.PA22
-	rx   = machine.PA23
-
-	console = machine.UART0
-
-	adaptor *espat.Device
-	cl      mqtt.Client
-	topicTx = "tinygo/tx"
-	topicRx = "tinygo/rx"
-)
-
-func subHandler(client mqtt.Client, msg mqtt.Message) {
-	fmt.Printf("[%s]  ", msg.Topic())
-	fmt.Printf("%s\r\n", msg.Payload())
-}
-
-func main() {
-	time.Sleep(3000 * time.Millisecond)
-
-	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
-	rand.Seed(time.Now().UnixNano())
-
-	// Init esp8266/esp32
-	adaptor = espat.New(uart)
-	adaptor.Configure()
-
-	// first check if connected
-	if connectToESP() {
-		println("Connected to wifi adaptor.")
-		adaptor.Echo(false)
-
-		connectToAP()
-	} else {
-		println("")
-		failMessage("Unable to connect to wifi adaptor.")
-		return
-	}
-
-	opts := mqtt.NewClientOptions()
-	opts.AddBroker(server).SetClientID("tinygo-client-" + randomString(10))
-
-	println("Connecting to MQTT broker at", server)
-	cl = mqtt.NewClient(opts)
-	if token := cl.Connect(); token.Wait() && token.Error() != nil {
-		failMessage(token.Error().Error())
-	}
-
-	// subscribe
-	token := cl.Subscribe(topicRx, 0, subHandler)
-	token.Wait()
-	if token.Error() != nil {
-		failMessage(token.Error().Error())
-	}
-
-	go publishing()
-
-	select {}
-
-	// Right now this code is never reached. Need a way to trigger it...
-	println("Disconnecting MQTT...")
-	cl.Disconnect(100)
-
-	println("Done.")
-}
-
-func publishing() {
-	for {
-		println("Publishing MQTT message...")
-		data := []byte("{\"e\":[{ \"n\":\"hello\", \"v\":101 }]}")
-		token := cl.Publish(topicTx, 0, false, data)
-		token.Wait()
-		if token.Error() != nil {
-			println(token.Error().Error())
-		}
-
-		time.Sleep(1000 * time.Millisecond)
-	}
-}
-
-// connect to ESP8266/ESP32
-func connectToESP() bool {
-	for i := 0; i < 5; i++ {
-		println("Connecting to wifi adaptor...")
-		if adaptor.Connected() {
-			return true
-		}
-		time.Sleep(1 * time.Second)
-	}
-	return false
-}
-
-// connect to access point
-func connectToAP() {
-	println("Connecting to wifi network '" + ssid + "'")
-
-	adaptor.SetWifiMode(espat.WifiModeClient)
-	adaptor.ConnectToAP(ssid, pass, 10)
-
-	println("Connected.")
-	ip, err := adaptor.GetClientIP()
-	if err != nil {
-		failMessage(err.Error())
-	}
-
-	println(ip)
-}
-
-// Returns an int >= min, < max
-func randomInt(min, max int) int {
-	return min + rand.Intn(max-min)
-}
-
-// Generate a random string of A-Z chars with len = l
-func randomString(len int) string {
-	bytes := make([]byte, len)
-	for i := 0; i < len; i++ {
-		bytes[i] = byte(randomInt(65, 90))
-	}
-	return string(bytes)
-}
-
-func failMessage(msg string) {
-	for {
-		println(msg)
-		time.Sleep(1 * time.Second)
-	}
-}

examples/espat/tcpclient/main.go

@@ -1,111 +0,0 @@
-// This is a sensor station that uses a ESP8266 or ESP32 running on the device UART1.
-// 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 <--> UART1 <--> ESP8266
-//
-package main
-
-import (
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/net"
-)
-
-// access point info
-const ssid = "YOURSSID"
-const pass = "YOURPASS"
-
-// IP address of the server aka "hub". Replace with your own info.
-const serverIP = "0.0.0.0"
-
-// 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 (
-	uart = machine.UART1
-	tx   = machine.PA22
-	rx   = machine.PA23
-
-	adaptor *espat.Device
-)
-
-func main() {
-	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
-
-	// Init esp8266/esp32
-	adaptor = espat.New(uart)
-	adaptor.Configure()
-
-	// first check if connected
-	if connectToESP() {
-		println("Connected to wifi adaptor.")
-		adaptor.Echo(false)
-
-		connectToAP()
-	} else {
-		println("")
-		failMessage("Unable to connect to wifi adaptor.")
-		return
-	}
-
-	// now make TCP connection
-	ip := net.ParseIP(serverIP)
-	raddr := &net.TCPAddr{IP: ip, Port: 8080}
-	laddr := &net.TCPAddr{Port: 8080}
-
-	println("Dialing TCP connection...")
-	conn, err := net.DialTCP("tcp", laddr, raddr)
-	if err != nil {
-		failMessage(err.Error())
-	}
-
-	for {
-		// send data
-		println("Sending data...")
-		conn.Write([]byte("hello\r\n"))
-
-		time.Sleep(1000 * time.Millisecond)
-	}
-
-	// Right now this code is never reached. Need a way to trigger it...
-	println("Disconnecting TCP...")
-	conn.Close()
-	println("Done.")
-}
-
-// connect to ESP8266/ESP32
-func connectToESP() bool {
-	for i := 0; i < 5; i++ {
-		println("Connecting to wifi adaptor...")
-		if adaptor.Connected() {
-			return true
-		}
-		time.Sleep(1 * time.Second)
-	}
-	return false
-}
-
-// connect to access point
-func connectToAP() {
-	println("Connecting to wifi network '" + ssid + "'")
-
-	adaptor.SetWifiMode(espat.WifiModeClient)
-	adaptor.ConnectToAP(ssid, pass, 10)
-
-	println("Connected.")
-	ip, err := adaptor.GetClientIP()
-	if err != nil {
-		failMessage(err.Error())
-	}
-
-	println(ip)
-}
-
-func failMessage(msg string) {
-	for {
-		println(msg)
-		time.Sleep(1 * time.Second)
-	}
-}

examples/flash/console/console_example.go

@@ -20,7 +20,7 @@ var (
 	input [consoleBufLen]byte
 	store [storageBufLen]byte
 
-	console = machine.UART0
+	console = machine.Serial
 
 	dev *flash.Device
 

examples/ft6336/basic/m5stack_core2.go

@@ -0,0 +1,23 @@
+//go:build m5stack_core2
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ft6336"
+	"tinygo.org/x/drivers/i2csoft"
+	"tinygo.org/x/drivers/touch"
+)
+
+// InitDisplay initializes the display of each board.
+func initDevices() (touch.Pointer, error) {
+	i2c := i2csoft.New(machine.SCL0_PIN, machine.SDA0_PIN)
+	i2c.Configure(i2csoft.I2CConfig{Frequency: 100e3})
+
+	resistiveTouch := ft6336.New(i2c, machine.Pin(39))
+	resistiveTouch.Configure(ft6336.Config{})
+	resistiveTouch.SetPeriodActive(0x00)
+
+	return resistiveTouch, nil
+}

examples/ft6336/basic/main.go

@@ -0,0 +1,16 @@
+package main
+
+func main() {
+	touchScreen, _ := initDevices()
+
+	for {
+		touch := touchScreen.ReadTouchPoint()
+		if touch.Z > 0 {
+			//X and Y are 16 bit with 12 bit resolution and need to be scaled for the display size
+			//Z is 24 bit and is typically > 2000 for a touch
+			println("touch:", touch.X, touch.Y, touch.Z)
+			//Example of scaling for m5stack-core2's 320x240 display with 320x270 touch area
+			println("screen:", (touch.X*320)>>16, (touch.Y*270)>>16)
+		}
+	}
+}

examples/ft6336/touchpaint/m5stack_core2.go

@@ -0,0 +1,54 @@
+//go:build m5stack_core2
+
+package main
+
+import (
+	"image/color"
+	"machine"
+
+	axp192 "tinygo.org/x/drivers/axp192/m5stack-core2-axp192"
+	"tinygo.org/x/drivers/ft6336"
+	"tinygo.org/x/drivers/i2csoft"
+	"tinygo.org/x/drivers/ili9341"
+	"tinygo.org/x/drivers/touch"
+)
+
+// InitDisplay initializes the display of each board.
+func initDevices() (touchPaintDisplay, touch.Pointer, error) {
+	machine.SPI2.Configure(machine.SPIConfig{
+		SCK:       machine.LCD_SCK_PIN,
+		SDO:       machine.LCD_SDO_PIN,
+		SDI:       machine.LCD_SDI_PIN,
+		Frequency: 40e6,
+	})
+
+	i2c := i2csoft.New(machine.SCL0_PIN, machine.SDA0_PIN)
+	i2c.Configure(i2csoft.I2CConfig{Frequency: 100e3})
+
+	axp := axp192.New(i2c)
+	led := axp.LED
+	led.Low()
+
+	display := ili9341.NewSPI(
+		machine.SPI2,
+		machine.LCD_DC_PIN,
+		machine.LCD_SS_PIN,
+		machine.NoPin,
+	)
+
+	// configure display
+	display.Configure(ili9341.Config{
+		Width:            320,
+		Height:           240,
+		DisplayInversion: true,
+	})
+	display.FillScreen(color.RGBA{255, 255, 255, 255})
+
+	display.SetRotation(ili9341.Rotation0Mirror)
+
+	resistiveTouch := ft6336.New(i2c, machine.Pin(39))
+	resistiveTouch.Configure(ft6336.Config{})
+	resistiveTouch.SetPeriodActive(0x00)
+
+	return display, resistiveTouch, nil
+}

examples/ft6336/touchpaint/main.go

@@ -0,0 +1,163 @@
+package main
+
+import (
+	"image/color"
+	"math"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/touch"
+)
+
+type touchPaintDisplay interface {
+	drivers.Displayer
+	FillRectangle(x, y, width, height int16, c color.RGBA) error
+	DrawRectangle(x, y, w, h int16, c color.RGBA) error
+}
+
+var (
+	white   = color.RGBA{255, 255, 255, 255}
+	black   = color.RGBA{0, 0, 0, 255}
+	red     = color.RGBA{255, 0, 0, 255}
+	green   = color.RGBA{0, 255, 0, 255}
+	blue    = color.RGBA{0, 0, 255, 255}
+	magenta = color.RGBA{255, 0, 255, 255}
+	yellow  = color.RGBA{255, 255, 0, 255}
+	cyan    = color.RGBA{0, 255, 255, 255}
+
+	oldColor     color.RGBA
+	currentColor color.RGBA
+)
+
+const (
+	penRadius = 3
+	boxSize   = 30
+
+	Xmin = 0
+	Xmax = 0xFFFF
+	Ymin = 0
+	Ymax = 0xFFFF
+)
+
+func main() {
+	display, resistiveTouch, _ := initDevices()
+
+	// fill the background and activate the backlight
+	width, height := display.Size()
+	display.FillRectangle(0, 0, width, height, black)
+
+	// make color selection boxes
+	display.FillRectangle(0, 0, boxSize, boxSize, red)
+	display.FillRectangle(boxSize, 0, boxSize, boxSize, yellow)
+	display.FillRectangle(boxSize*2, 0, boxSize, boxSize, green)
+	display.FillRectangle(boxSize*3, 0, boxSize, boxSize, cyan)
+	display.FillRectangle(boxSize*4, 0, boxSize, boxSize, blue)
+	display.FillRectangle(boxSize*5, 0, boxSize, boxSize, magenta)
+	display.FillRectangle(boxSize*6, 0, boxSize, boxSize, black)
+	display.FillRectangle(boxSize*7, 0, boxSize, boxSize, white)
+
+	// set the initial color to red and draw a box to highlight it
+	oldColor = red
+	currentColor = red
+	display.DrawRectangle(0, 0, boxSize, boxSize, white)
+
+	last := touch.Point{}
+
+	// loop and poll for touches, including performing debouncing
+	debounce := 0
+	for {
+
+		point := resistiveTouch.ReadTouchPoint()
+		touch := touch.Point{}
+		if point.Z>>6 > 100 {
+			rawX := mapval(point.X, Xmin, Xmax, 0, int(width))
+			rawY := mapval(point.Y, Ymin, Ymax, 0, int(height))
+			touch.X = rawX
+			touch.Y = rawY
+			touch.Z = 1
+		} else {
+			touch.X = 0
+			touch.Y = 0
+			touch.Z = 0
+		}
+
+		if last.Z != touch.Z {
+			debounce = 0
+			last = touch
+		} else if math.Abs(float64(touch.X-last.X)) > 4 ||
+			math.Abs(float64(touch.Y-last.Y)) > 4 {
+			debounce = 0
+			last = touch
+		} else if debounce > 1 {
+			debounce = 0
+			HandleTouch(display, last)
+		} else if touch.Z > 0 {
+			debounce++
+		} else {
+			last = touch
+			debounce = 0
+		}
+
+	}
+}
+
+// based on Arduino's "map" function
+func mapval(x int, inMin int, inMax int, outMin int, outMax int) int {
+	return (x-inMin)*(outMax-outMin)/(inMax-inMin) + outMin
+}
+
+func HandleTouch(display touchPaintDisplay, touch touch.Point) {
+
+	if int16(touch.Y) < boxSize {
+		oldColor = currentColor
+		x := int16(touch.X)
+		switch {
+		case x < boxSize:
+			currentColor = red
+		case x < boxSize*2:
+			currentColor = yellow
+		case x < boxSize*3:
+			currentColor = green
+		case x < boxSize*4:
+			currentColor = cyan
+		case x < boxSize*5:
+			currentColor = blue
+		case x < boxSize*6:
+			currentColor = magenta
+		case x < boxSize*7:
+			currentColor = black
+		case x < boxSize*8:
+			currentColor = white
+		}
+
+		if oldColor == currentColor {
+			return
+		}
+
+		display.DrawRectangle((x/boxSize)*boxSize, 0, boxSize, boxSize, white)
+		switch oldColor {
+		case red:
+			x = 0
+		case yellow:
+			x = boxSize
+		case green:
+			x = boxSize * 2
+		case cyan:
+			x = boxSize * 3
+		case blue:
+			x = boxSize * 4
+		case magenta:
+			x = boxSize * 5
+		case black:
+			x = boxSize * 6
+		case white:
+			x = boxSize * 7
+		}
+		display.FillRectangle(int16(x), 0, boxSize, boxSize, oldColor)
+
+	}
+
+	if (int16(touch.Y) - penRadius) > boxSize {
+		display.FillRectangle(
+			int16(touch.X), int16(touch.Y), penRadius*2, penRadius*2, currentColor)
+	}
+}

examples/gc9a01/main.go

@@ -0,0 +1,39 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"image/color"
+
+	"tinygo.org/x/drivers/gc9a01"
+)
+
+func main() {
+	machine.SPI0.Configure(machine.SPIConfig{
+		Frequency: 80000000,
+	})
+	display := gc9a01.New(machine.SPI0, machine.P6, machine.P7, machine.P8, machine.P9)
+	display.Configure(gc9a01.Config{Orientation: gc9a01.HORIZONTAL, Width: 240, Height: 240})
+
+	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}
+	black := color.RGBA{0, 0, 0, 255}
+
+	display.FillScreen(black)
+
+	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 {
+		time.Sleep(time.Hour)
+	}
+
+}

examples/gps/uart/main.go

@@ -10,7 +10,7 @@ import (
 func main() {
 	println("GPS UART Example")
 	machine.UART1.Configure(machine.UARTConfig{BaudRate: 9600})
-	ublox := gps.NewUART(&machine.UART1)
+	ublox := gps.NewUART(machine.UART1)
 	parser := gps.NewParser()
 	var fix gps.Fix
 	for {

examples/hts221/main.go

@@ -0,0 +1,35 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/hts221"
+)
+
+func main() {
+
+	// use Nano 33 BLE Sense's internal I2C bus
+	machine.I2C1.Configure(machine.I2CConfig{
+		SCL:       machine.SCL1_PIN,
+		SDA:       machine.SDA1_PIN,
+		Frequency: machine.TWI_FREQ_400KHZ,
+	})
+
+	sensor := hts221.New(machine.I2C1)
+
+	sensor.Configure() // power on and calibrate
+
+	if !sensor.Connected() {
+		println("HTS221 not connected!")
+		return
+	}
+
+	for {
+		h, _ := sensor.ReadHumidity()
+		t, _ := sensor.ReadTemperature()
+		println("h =", float32(h)/100.0, "% / t =", float32(t)/1000.0, "*C")
+		time.Sleep(time.Second)
+	}
+
+}

examples/i2csoft/adt7410/main.go

@@ -0,0 +1,27 @@
+package main
+
+import (
+	"fmt"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/adt7410"
+	"tinygo.org/x/drivers/i2csoft"
+)
+
+func main() {
+	i2c := i2csoft.New(machine.SCL_PIN, machine.SDA_PIN)
+	i2c.Configure(i2csoft.I2CConfig{
+		Frequency: 400e3,
+	})
+
+	sensor := adt7410.New(i2c)
+	sensor.Configure()
+
+	for {
+		temp := sensor.ReadTempF()
+		fmt.Printf("temperature: %f\r\n", temp)
+		time.Sleep(time.Second)
+	}
+
+}

examples/ili9341/basic/atsamd21.go

@@ -1,29 +0,0 @@
-// +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,
-	})
-}