WIP: net/http RoundTripper

fixes: #475

Makefile

@@ -103,6 +103,8 @@ smoke-test:
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/microbitmatrix/main.go
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit-v2 ./examples/microbitmatrix/main.go
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mma8653/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mpu6050/main.go
@@ -209,6 +211,8 @@ endif
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/timer/
 	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=pico ./examples/qmi8658c/main.go
+	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/ina260/main.go
 	@md5sum ./build/test.hex
 	tinygo build -size short -o ./build/test.hex -target=nucleo-l432kc ./examples/aht20/main.go

README.md

@@ -52,7 +52,7 @@ func main() {
 
 ## Currently supported devices
 
-The following 83 devices are supported.
+The following 90 devices are supported.
 
 | Device Name                                                                                                                                                                                         | Interface Type |
 |-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------|
@@ -112,6 +112,7 @@ The following 83 devices are supported.
 | [P1AM-100 Base Controller](https://facts-engineering.github.io/modules/P1AM-100/P1AM-100.html)                                                                                                      | SPI |
 | [PCD8544 display](http://eia.udg.edu/~forest/PCD8544_1.pdf)                                                                                                                                         | SPI |
 | [PCF8563 real time clock](https://www.nxp.com/docs/en/data-sheet/PCF8563.pdf)                                                                                                                       | I2C |
+| [QMI8658C accelerometer/gyroscope](https://www.qstcorp.com/upload/pdf/202202/%EF%BC%88%E5%B7%B2%E4%BC%A0%EF%BC%89QMI8658C%20datasheet%20rev%200.9.pdf)                                                                                                                       | I2C |
 | [Resistive Touchscreen (4-wire)](http://ww1.microchip.com/downloads/en/Appnotes/doc8091.pdf)                                                                                                        | GPIO |
 | [RTL8720DN 2.4G/5G Dual Bands Wireless and BLE5.0](https://www.seeedstudio.com/Realtek8720DN-2-4G-5G-Dual-Bands-Wireless-and-BLE5-0-Combo-Module-p-4442.html)                                       | UART |
 | [SCD4x CO2 Sensor](https://sensirion.com/media/documents/C4B87CE6/627C2DCD/CD_DS_SCD40_SCD41_Datasheet_D1.pdf)                                                                                      | I2C |

apds9960/apds9960_generic.go

@@ -3,8 +3,6 @@
 
 package apds9960
 
-import "tinygo.org/x/drivers"
-
 // Configure sets up the APDS-9960 device.
 func (d *Device) Configure(cfg Configuration) {
 	// configure device

examples/qmi8658c/main.go

@@ -0,0 +1,66 @@
+// Connects to an QMI8658C I2C accelerometer/gyroscope and print the read data.
+// This example was made with the "WaveShare RP2040 Round LCD 1.28in" in mind.
+// For more infor about this development board:
+// https://www.waveshare.com/wiki/RP2040-LCD-1.28
+package main
+
+import (
+	"machine"
+	"time"
+
+	imu "tinygo.org/x/drivers/qmi8658c"
+)
+
+func main() {
+	i2c := machine.I2C1
+	// This is the default pinout for the "WaveShare RP2040 Round LCD 1.28in"
+	err := i2c.Configure(machine.I2CConfig{
+		SDA:       machine.GP6,
+		SCL:       machine.GP7,
+		Frequency: 100000,
+	})
+	if err != nil {
+		println("unable to configure I2C:", err)
+		return
+	}
+	// Create a new device
+	d := imu.New(i2c)
+
+	// Check if the device is connected
+	if !d.Connected() {
+		println("unable to connect to sensor")
+		return
+	}
+
+	// This IMU has multiple configurations like output data rate, multiple
+	// measurements scales, low pass filters, low power modes, all the vailable
+	// values can be found in the datasheet and were defined at registers file.
+	// This is the default configuration which will be used if the `nil` value
+	// is passed do the `Configure` method.
+	config := imu.Config{
+		SPIMode:     imu.SPI_4_WIRE,
+		SPIEndian:   imu.SPI_BIG_ENDIAN,
+		SPIAutoInc:  imu.SPI_AUTO_INC,
+		AccEnable:   imu.ACC_ENABLE,
+		AccScale:    imu.ACC_8G,
+		AccRate:     imu.ACC_NORMAL_1000HZ,
+		AccLowPass:  imu.ACC_LOW_PASS_2_62,
+		GyroEnable:  imu.GYRO_FULL_ENABLE,
+		GyroScale:   imu.GYRO_512DPS,
+		GyroRate:    imu.GYRO_1000HZ,
+		GyroLowPass: imu.GYRO_LOW_PASS_2_62,
+	}
+	d.Configure(config)
+
+	// Read the accelation, rotation and temperature data and print them.
+	for {
+		acc_x, acc_y, acc_z := d.ReadAcceleration()
+		gyro_x, gyro_y, gyro_z := d.ReadRotation()
+		temp, _ := d.ReadTemperature()
+		println("-------------------------------")
+		println("acc:", acc_x, acc_y, acc_z)
+		println("gyro:", gyro_x, gyro_y, gyro_z)
+		println("temp:", temp)
+		time.Sleep(time.Millisecond * 100)
+	}
+}

lsm303agr/lsm303agr.go

@@ -137,7 +137,7 @@ func (d *Device) Configure(cfg Configuration) (err error) {
 // -1000000.
 func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
 	data := d.buf[:6]
-	err = d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_X_L_A, data)
+	err = d.bus.ReadRegister(uint8(d.AccelAddress), ACCEL_OUT_AUTO_INC, data)
 	if err != nil {
 		return
 	}
@@ -190,7 +190,7 @@ func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
 	}
 
 	data := d.buf[0:6]
-	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_X_L_M, data)
+	d.bus.ReadRegister(uint8(d.MagAddress), MAG_OUT_AUTO_INC, data)
 
 	x = int32(int16((uint16(data[1])<<8 | uint16(data[0]))))
 	y = int32(int16((uint16(data[3])<<8 | uint16(data[2]))))
@@ -219,7 +219,7 @@ func (d *Device) ReadCompass() (h int32, err error) {
 func (d *Device) ReadTemperature() (t int32, err error) {
 
 	data := d.buf[:2]
-	err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_L_A, data)
+	err = d.bus.ReadRegister(uint8(d.AccelAddress), OUT_TEMP_AUTO_INC, data)
 	if err != nil {
 		return
 	}

lsm303agr/registers.go

@@ -6,31 +6,40 @@ const (
 	ACCEL_ADDRESS = 0x19
 	MAG_ADDRESS   = 0x1E
 
+	// i2C 8-bit subaddress (SUB): the 7 LSb represent the actual register address
+	// while the MSB enables address auto increment.
+	// If the MSb of the SUB field is 1, the SUB (register address) is
+	// automatically increased to allow multiple data read/writes.
+	ADDR_AUTO_INC_MASK = 0x80
+
 	// accelerometer registers.
-	ACCEL_WHO_AM_I    = 0x0F
+	ACCEL_WHO_AM_I     = 0x0F
-	ACCEL_CTRL_REG1_A = 0x20
+	ACCEL_CTRL_REG1_A  = 0x20
-	ACCEL_CTRL_REG4_A = 0x23
+	ACCEL_CTRL_REG4_A  = 0x23
-	ACCEL_OUT_X_L_A   = 0x28
+	ACCEL_OUT_X_L_A    = 0x28
-	ACCEL_OUT_X_H_A   = 0x29
+	ACCEL_OUT_X_H_A    = 0x29
-	ACCEL_OUT_Y_L_A   = 0x2A
+	ACCEL_OUT_Y_L_A    = 0x2A
-	ACCEL_OUT_Y_H_A   = 0x2B
+	ACCEL_OUT_Y_H_A    = 0x2B
-	ACCEL_OUT_Z_L_A   = 0x2C
+	ACCEL_OUT_Z_L_A    = 0x2C
-	ACCEL_OUT_Z_H_A   = 0x2D
+	ACCEL_OUT_Z_H_A    = 0x2D
+	ACCEL_OUT_AUTO_INC = ACCEL_OUT_X_L_A | ADDR_AUTO_INC_MASK
 
 	// magnetic sensor registers.
-	MAG_WHO_AM_I  = 0x4F
+	MAG_WHO_AM_I     = 0x4F
-	MAG_MR_REG_M  = 0x60
+	MAG_MR_REG_M     = 0x60
-	MAG_OUT_X_L_M = 0x68
+	MAG_OUT_X_L_M    = 0x68
-	MAG_OUT_X_H_M = 0x69
+	MAG_OUT_X_H_M    = 0x69
-	MAG_OUT_Y_L_M = 0x6A
+	MAG_OUT_Y_L_M    = 0x6A
-	MAG_OUT_Y_H_M = 0x6B
+	MAG_OUT_Y_H_M    = 0x6B
-	MAG_OUT_Z_L_M = 0x6C
+	MAG_OUT_Z_L_M    = 0x6C
-	MAG_OUT_Z_H_M = 0x6D
+	MAG_OUT_Z_H_M    = 0x6D
+	MAG_OUT_AUTO_INC = MAG_OUT_X_L_M | ADDR_AUTO_INC_MASK
 
 	// temperature sensor registers.
-	TEMP_CFG_REG_A = 0x1F
+	TEMP_CFG_REG_A    = 0x1F
-	OUT_TEMP_L_A   = 0x0C
+	OUT_TEMP_L_A      = 0x0C
-	OUT_TEMP_H_A   = 0x0D
+	OUT_TEMP_H_A      = 0x0D
+	OUT_TEMP_AUTO_INC = OUT_TEMP_L_A | ADDR_AUTO_INC_MASK
 
 	// accelerometer power mode.
 	ACCEL_POWER_NORMAL = 0x00 // default

microbitmatrix/microbitmatrix-v1.go

@@ -8,9 +8,12 @@ package microbitmatrix // import "tinygo.org/x/drivers/microbitmatrix"
 
 import (
 	"machine"
-	"time"
 )
 
+// 4 rotation orientations (0, 90, 180, 270), CW (clock wise)
+// 5 rows
+// 5 cols
+// target coordinates in machine rows (y) and cols (x)
 var matrixRotations = [4][5][5][2]uint8{
 	{ // 0
 		{{0, 0}, {1, 3}, {0, 1}, {1, 4}, {0, 2}},
@@ -19,7 +22,7 @@ var matrixRotations = [4][5][5][2]uint8{
 		{{0, 7}, {0, 6}, {0, 5}, {0, 4}, {0, 3}},
 		{{2, 2}, {1, 6}, {2, 0}, {1, 5}, {2, 1}},
 	},
-	{ // 90 CCW
+	{ // 90 CW
 		{{0, 2}, {2, 7}, {1, 0}, {0, 3}, {2, 1}},
 		{{1, 4}, {2, 6}, {2, 8}, {0, 4}, {1, 5}},
 		{{0, 1}, {2, 5}, {1, 2}, {0, 5}, {2, 0}},
@@ -42,71 +45,33 @@ var matrixRotations = [4][5][5][2]uint8{
 	},
 }
 
+const (
+	ledRows = 3
+	ledCols = 9
+)
+
 type Device struct {
-	pin      [12]machine.Pin
+	pin      [ledCols + ledRows]machine.Pin
-	buffer   [3][9]bool
+	buffer   [ledRows][ledCols]int8
 	rotation uint8
 }
 
-// Configure sets up the device.
+func (d *Device) assignPins() {
-func (d *Device) Configure(cfg Config) {
+	d.pin[0] = machine.LED_COL_1
-	d.SetRotation(cfg.Rotation)
+	d.pin[1] = machine.LED_COL_2
+	d.pin[2] = machine.LED_COL_3
+	d.pin[3] = machine.LED_COL_4
+	d.pin[4] = machine.LED_COL_5
+	d.pin[5] = machine.LED_COL_6
+	d.pin[6] = machine.LED_COL_7
+	d.pin[7] = machine.LED_COL_8
+	d.pin[8] = machine.LED_COL_9
 
-	for i := machine.LED_COL_1; i <= machine.LED_ROW_3; i++ {
+	d.pin[9] = machine.LED_ROW_1
-		d.pin[i-machine.LED_COL_1] = i
+	d.pin[10] = machine.LED_ROW_2
-		d.pin[i-machine.LED_COL_1].Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.pin[11] = machine.LED_ROW_3
-	}
-	d.ClearDisplay()
-	d.DisableAll()
-}
 
-// Display sends the buffer (if any) to the screen.
+	for i := 0; i < len(d.pin); i++ {
-func (d *Device) Display() error {
+		d.pin[i].Configure(machine.PinConfig{Mode: machine.PinOutput})
-	for row := 0; row < 3; row++ {
-		d.DisableAll()
-		d.pin[9+row].High()
-
-		for col := 0; col < 9; col++ {
-			if d.buffer[row][col] {
-				d.pin[col].Low()
-			}
-
-		}
-		time.Sleep(time.Millisecond * 2)
-	}
-	return nil
-}
-
-// ClearDisplay erases the internal buffer
-func (d *Device) ClearDisplay() {
-	for row := 0; row < 3; row++ {
-		for col := 0; col < 9; col++ {
-			d.buffer[row][col] = false
-		}
 	}
 }
-
-// DisableAll disables all the LEDs without modifying the buffer
-func (d *Device) DisableAll() {
-	for i := machine.LED_COL_1; i <= machine.LED_COL_9; i++ {
-		d.pin[i-machine.LED_COL_1].High()
-	}
-	for i := machine.LED_ROW_1; i <= machine.LED_ROW_3; i++ {
-		d.pin[i-machine.LED_COL_1].Low()
-	}
-}
-
-// EnableAll enables all the LEDs without modifying the buffer
-func (d *Device) EnableAll() {
-	for i := machine.LED_COL_1; i <= machine.LED_COL_9; i++ {
-		d.pin[i-machine.LED_COL_1].Low()
-	}
-	for i := machine.LED_ROW_1; i <= machine.LED_ROW_3; i++ {
-		d.pin[i-machine.LED_COL_1].High()
-	}
-}
-
-// Size returns the current size of the display.
-func (d *Device) Size() (w, h int16) {
-	return 5, 5
-}

microbitmatrix/microbitmatrix-v2.go

@@ -3,55 +3,60 @@
 
 // Package microbitmatrix implements a driver for the BBC micro:bit version 2 LED matrix.
 //
-// Schematic:
+// Schematic: https://github.com/microbit-foundation/microbit-v2-hardware/blob/main/V2.00/MicroBit_V2.0.0_S_schematic.PDF
 package microbitmatrix // import "tinygo.org/x/drivers/microbitmatrix"
 
 import (
 	"machine"
-	"time"
 )
 
+// 4 rotation orientations (0, 90, 180, 270), CW (clock wise)
+// 5 rows
+// 5 cols
+// target coordinates in machine rows (y) and cols (x)
 var matrixRotations = [4][5][5][2]uint8{
 	{ // 0
-		{{0, 0}, {1, 0}, {2, 0}, {3, 0}, {4, 0}},
-		{{0, 1}, {1, 1}, {2, 1}, {3, 1}, {4, 1}},
-		{{0, 2}, {1, 2}, {2, 2}, {3, 2}, {4, 2}},
-		{{0, 3}, {1, 3}, {2, 3}, {3, 3}, {4, 3}},
-		{{0, 4}, {1, 4}, {2, 4}, {3, 4}, {4, 4}},
-	},
-	{ // 90 CCW
-		{{4, 0}, {4, 1}, {4, 2}, {4, 3}, {4, 4}},
-		{{3, 0}, {3, 1}, {3, 2}, {3, 3}, {3, 4}},
-		{{2, 0}, {2, 1}, {2, 2}, {2, 3}, {2, 4}},
-		{{1, 0}, {1, 1}, {1, 2}, {1, 3}, {1, 4}},
 		{{0, 0}, {0, 1}, {0, 2}, {0, 3}, {0, 4}},
+		{{1, 0}, {1, 1}, {1, 2}, {1, 3}, {1, 4}},
+		{{2, 0}, {2, 1}, {2, 2}, {2, 3}, {2, 4}},
+		{{3, 0}, {3, 1}, {3, 2}, {3, 3}, {3, 4}},
+		{{4, 0}, {4, 1}, {4, 2}, {4, 3}, {4, 4}},
+	},
+	{ // 90 CW
+		{{0, 4}, {1, 4}, {2, 4}, {3, 4}, {4, 4}},
+		{{0, 3}, {1, 3}, {2, 3}, {3, 3}, {4, 3}},
+		{{0, 2}, {1, 2}, {2, 2}, {3, 2}, {4, 2}},
+		{{0, 1}, {1, 1}, {2, 1}, {3, 1}, {4, 1}},
+		{{0, 0}, {1, 0}, {2, 0}, {3, 0}, {4, 0}},
 	},
 	{ // 180
-		{{4, 4}, {3, 4}, {2, 4}, {1, 4}, {0, 4}},
+		{{4, 4}, {4, 3}, {4, 2}, {4, 1}, {4, 0}},
-		{{4, 3}, {3, 3}, {2, 3}, {1, 3}, {0, 3}},
+		{{3, 4}, {3, 3}, {3, 2}, {3, 1}, {3, 0}},
-		{{4, 2}, {3, 2}, {2, 2}, {1, 2}, {0, 2}},
+		{{2, 4}, {2, 3}, {2, 2}, {2, 1}, {2, 0}},
-		{{4, 1}, {3, 1}, {2, 1}, {1, 1}, {0, 1}},
+		{{1, 4}, {1, 3}, {1, 2}, {1, 1}, {1, 0}},
-		{{4, 0}, {3, 0}, {2, 0}, {1, 0}, {0, 0}},
+		{{0, 4}, {0, 3}, {0, 2}, {0, 1}, {0, 0}},
 	},
 	{ // 270
-		{{0, 4}, {0, 3}, {0, 2}, {0, 1}, {0, 0}},
+		{{4, 0}, {3, 0}, {2, 0}, {1, 0}, {0, 0}},
-		{{1, 4}, {1, 3}, {1, 2}, {1, 1}, {1, 0}},
+		{{4, 1}, {3, 1}, {2, 1}, {1, 1}, {0, 1}},
-		{{2, 4}, {2, 3}, {2, 2}, {2, 1}, {2, 0}},
+		{{4, 2}, {3, 2}, {2, 2}, {1, 2}, {0, 2}},
-		{{3, 4}, {3, 3}, {3, 2}, {3, 1}, {3, 0}},
+		{{4, 3}, {3, 3}, {2, 3}, {1, 3}, {0, 3}},
-		{{4, 4}, {4, 3}, {4, 2}, {4, 1}, {4, 0}},
+		{{4, 4}, {3, 4}, {2, 4}, {1, 4}, {0, 4}},
 	},
 }
 
+const (
+	ledRows = 5
+	ledCols = 5
+)
+
 type Device struct {
-	pin      [10]machine.Pin
+	pin      [ledCols + ledRows]machine.Pin
-	buffer   [5][5]bool
+	buffer   [ledRows][ledCols]int8
 	rotation uint8
 }
 
-// Configure sets up the device.
+func (d *Device) assignPins() {
-func (d *Device) Configure(cfg Config) {
-	d.SetRotation(cfg.Rotation)
-
 	d.pin[0] = machine.LED_COL_1
 	d.pin[1] = machine.LED_COL_2
 	d.pin[2] = machine.LED_COL_3
@@ -64,59 +69,7 @@ func (d *Device) Configure(cfg Config) {
 	d.pin[8] = machine.LED_ROW_4
 	d.pin[9] = machine.LED_ROW_5
 
-	for i := 0; i < 10; i++ {
+	for i := 0; i < len(d.pin); i++ {
 		d.pin[i].Configure(machine.PinConfig{Mode: machine.PinOutput})
 	}
-
-	d.ClearDisplay()
-	d.DisableAll()
-}
-
-// Display sends the buffer (if any) to the screen.
-func (d *Device) Display() error {
-	for x := 0; x < 5; x++ {
-		d.DisableAll()
-		d.pin[x].Low()
-
-		for y := 0; y < 5; y++ {
-			if d.buffer[x][y] {
-				d.pin[5+y].High()
-			} else {
-				d.pin[5+y].Low()
-			}
-
-		}
-		time.Sleep(time.Millisecond * 4)
-	}
-	return nil
-}
-
-// ClearDisplay erases the internal buffer
-func (d *Device) ClearDisplay() {
-	for row := 0; row < 5; row++ {
-		for col := 0; col < 5; col++ {
-			d.buffer[row][col] = false
-		}
-	}
-}
-
-// DisableAll disables all the LEDs without modifying the buffer
-func (d *Device) DisableAll() {
-	for i := 0; i < 5; i++ {
-		d.pin[i].High()
-		d.pin[5+i].Low()
-	}
-}
-
-// EnableAll enables all the LEDs without modifying the buffer
-func (d *Device) EnableAll() {
-	for i := 0; i < 5; i++ {
-		d.pin[i].Low()
-		d.pin[5+i].High()
-	}
-}
-
-// Size returns the current size of the display.
-func (d *Device) Size() (w, h int16) {
-	return 5, 5
 }

microbitmatrix/microbitmatrix.go

@@ -1,42 +1,213 @@
-// Package microbitmatrix implements a driver for the BBC micro:bit's LED matrix.
-//
-// Schematic: https://github.com/bbcmicrobit/hardware/blob/master/SCH_BBC-Microbit_V1.3B.pdf
 package microbitmatrix // import "tinygo.org/x/drivers/microbitmatrix"
 
 import (
 	"image/color"
+	"time"
 )
 
 type Config struct {
+	// Rotation of the LED matrix.
+	//
+	// Valid values:
+	//
+	//     0: regular orientation, (0 degree rotation)
+	//     1: 90 degree rotation clock wise
+	//     2: 180 degree rotation clock wise
+	//     3: 270 degree rotation clock wise
 	Rotation uint8
 }
 
+const (
+	RotationNormal = 0
+	Rotation90     = 1
+	Rotation180    = 2
+	Rotation270    = 3
+)
+
 // New returns a new microbitmatrix driver.
 func New() Device {
 	return Device{}
 }
 
-// SetRotation changes the rotation of the LED matrix
+// Configure sets up the device.
+func (d *Device) Configure(cfg Config) {
+	d.SetRotation(cfg.Rotation)
+
+	d.assignPins()
+
+	d.ClearDisplay()
+	d.DisableAll()
+}
+
+// SetRotation changes the rotation of the LED matrix.
+//
+// Valid values for rotation:
+//
+//	0: regular orientation, (0 degree rotation)
+//	1: 90 degree rotation clock wise
+//	2: 180 degree rotation clock wise
+//	3: 270 degree rotation clock wise
 func (d *Device) SetRotation(rotation uint8) {
 	d.rotation = rotation % 4
 }
 
+// Source:
+// https://github.com/bbcmicrobit/micropython/blob/1252f887ddc790676bf9314a136bd17650b9c36c/source/microbit/microbitdisplay.cpp#L282
+var renderTimings = []time.Duration{
+	0,  // Bright, Ticks Duration, Relative power
+	2,  //   1,   2,     32µs,     inf
+	2,  //   2,   4,     64µs,     200%
+	4,  //   3,   8,     128µs,    200%
+	7,  //   4,   15,    240µs,    187%
+	13, //   5,   28,    448µs,    187%
+	25, //   6,   53,    848µs,    189%
+	49, //   7,   102,   1632µs,   192%
+	97, //   8,   199,   3184µs,   195%
+}
+
+// Source:
+// https://github.com/bbcmicrobit/micropython/blob/1252f887ddc790676bf9314a136bd17650b9c36c/source/microbit/microbitdisplay.cpp#L368
+const tickDuration = 16 * time.Microsecond
+
+const (
+	rowIdx = 0
+	colIdx = 1
+)
+
 // SetPixel modifies the internal buffer in a single pixel.
+//
+// The alpha channel of the RGBA is used to control the brightness of the LED
+// in 9 different levels.
+//
+//	alpha channel, brightness level
+//	  0 -  27, 9 (no transparency = highest brightness)
+//	 28 -  55, 8
+//	 56 -  83, 7
+//	 84 - 111, 6
+//	112 - 139, 5
+//	140 - 167, 4
+//	168 - 195, 3
+//	196 - 223, 2
+//	224 - 251, 1 (very high transparency = lowest brightness)
+//	252 - 255, 0 (full transparency = off)
 func (d *Device) SetPixel(x int16, y int16, c color.RGBA) {
 	if x < 0 || x >= 5 || y < 0 || y >= 5 {
 		return
 	}
+	col := x
+	row := y
 	if c.R != 0 || c.G != 0 || c.B != 0 {
-		d.buffer[matrixRotations[d.rotation][y][x][0]][matrixRotations[d.rotation][y][x][1]] = true
+		d.buffer[matrixRotations[d.rotation][row][col][rowIdx]][matrixRotations[d.rotation][row][col][colIdx]] = brightness(c.A)
 	} else {
-		d.buffer[matrixRotations[d.rotation][y][x][0]][matrixRotations[d.rotation][y][x][1]] = false
+		d.buffer[matrixRotations[d.rotation][row][col][rowIdx]][matrixRotations[d.rotation][row][col][colIdx]] = 0
 	}
 }
 
-// GetPixel returns if the specific pixels is enabled
+const (
+	brightnessLevels  = 9
+	brightnessDivider = int8(255 / brightnessLevels)
+)
+
+var (
+	Brightness0 = color.RGBA{R: 0, G: 0, B: 0, A: 0}
+	Brightness1 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*1}
+	Brightness2 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*2}
+	Brightness3 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*3}
+	Brightness4 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*4}
+	Brightness5 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*5}
+	Brightness6 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*6}
+	Brightness7 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*7}
+	Brightness8 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*8}
+	Brightness9 = color.RGBA{R: 255, G: 255, B: 255, A: 255 - uint8(brightnessDivider)*9}
+
+	BrightnessOff  = Brightness0
+	BrightnessFull = Brightness9
+)
+
+func brightness(alpha uint8) int8 {
+	return brightnessLevels - int8(alpha/uint8(brightnessDivider))
+}
+
+// GetPixel returns if the specific pixels is enabled.
 func (d *Device) GetPixel(x int16, y int16) bool {
 	if x < 0 || x >= 5 || y < 0 || y >= 5 {
 		return false
 	}
-	return d.buffer[matrixRotations[d.rotation][y][x][0]][matrixRotations[d.rotation][y][x][1]]
+	col := x
+	row := y
+	return d.buffer[matrixRotations[d.rotation][row][col][rowIdx]][matrixRotations[d.rotation][row][col][colIdx]] > 0
+}
+
+const displayRefreshDelay = 8 * time.Millisecond
+
+// Display sends the buffer (if any) to the screen.
+func (d *Device) Display() error {
+	var displayBuffer [ledRows][ledCols]int8
+	for row := 0; row < ledRows; row++ {
+		for col := 0; col < ledCols; col++ {
+			displayBuffer[row][col] = d.buffer[row][col]
+		}
+	}
+
+	for row := 0; row < ledRows; row++ {
+		d.DisableAll()
+		d.pin[ledCols+row].High()
+
+		for col := 0; col < ledCols; col++ {
+			if displayBuffer[row][col] > 0 {
+				d.pin[col].Low()
+			}
+		}
+
+		then := time.Now()
+		var offset time.Duration = 0
+		for _, ticks := range renderTimings {
+			for time.Since(then).Nanoseconds() < int64(ticks*tickDuration+offset) {
+				time.Sleep(offset / 10)
+			}
+			offset += ticks + tickDuration
+			for col := 0; col < ledCols; col++ {
+				displayBuffer[row][col]--
+				if displayBuffer[row][col] <= 0 {
+					d.pin[col].High()
+				}
+			}
+		}
+	}
+	time.Sleep(displayRefreshDelay)
+	return nil
+}
+
+// ClearDisplay erases the internal buffer.
+func (d *Device) ClearDisplay() {
+	for row := 0; row < ledRows; row++ {
+		for col := 0; col < ledCols; col++ {
+			d.buffer[row][col] = 0
+		}
+	}
+}
+
+// DisableAll disables all the LEDs without modifying the buffer.
+func (d *Device) DisableAll() {
+	for i := 0; i < ledCols; i++ {
+		d.pin[i].High()
+	}
+	for i := 0; i < ledRows; i++ {
+		d.pin[ledCols+i].Low()
+	}
+}
+
+// EnableAll enables all the LEDs without modifying the buffer.
+func (d *Device) EnableAll() {
+	for i := 0; i < ledCols; i++ {
+		d.pin[i].Low()
+	}
+	for i := 0; i < ledRows; i++ {
+		d.pin[ledCols+i].High()
+	}
+}
+
+// Size returns the current size of the display.
+func (d *Device) Size() (w, h int16) {
+	return 5, 5
 }

mpu6050/mpu6050.go

@@ -31,8 +31,8 @@ func (d Device) Connected() bool {
 }
 
 // Configure sets up the device for communication.
-func (d Device) Configure() {
+func (d Device) Configure() error {
-	d.bus.WriteRegister(uint8(d.Address), PWR_MGMT_1, []uint8{0})
+	return d.bus.WriteRegister(uint8(d.Address), PWR_MGMT_1, []uint8{0})
 }
 
 // ReadAcceleration reads the current acceleration from the device and returns

net/http/client.go

@@ -2,6 +2,8 @@ package http
 
 import (
 	"io"
+	"net/url"
+	"strings"
 	"time"
 )
 
@@ -85,7 +87,9 @@ type Client struct {
 }
 
 // DefaultClient is the default Client and is used by Get, Head, and Post.
-var DefaultClient = &Client{}
+var DefaultClient = &Client{
+	Transport: DefaultTransport,
+}
 
 // RoundTripper is an interface representing the ability to execute a
 // single HTTP transaction, obtaining the Response for a given Request.
@@ -211,3 +215,41 @@ func (c *Client) Post(url, contentType string, body io.Reader) (resp *Response,
 	req.Header.Set("Content-Type", contentType)
 	return c.Do(req)
 }
+
+// PostForm issues a POST to the specified URL, with data's keys and
+// values URL-encoded as the request body.
+//
+// The Content-Type header is set to application/x-www-form-urlencoded.
+// To set other headers, use NewRequest and DefaultClient.Do.
+//
+// When err is nil, resp always contains a non-nil resp.Body.
+// Caller should close resp.Body when done reading from it.
+//
+// PostForm is a wrapper around DefaultClient.PostForm.
+//
+// See the Client.Do method documentation for details on how redirects
+// are handled.
+//
+// To make a request with a specified context.Context, use NewRequestWithContext
+// and DefaultClient.Do.
+func PostForm(url string, data url.Values) (resp *Response, err error) {
+	return DefaultClient.PostForm(url, data)
+}
+
+// PostForm issues a POST to the specified URL,
+// with data's keys and values URL-encoded as the request body.
+//
+// The Content-Type header is set to application/x-www-form-urlencoded.
+// To set other headers, use NewRequest and Client.Do.
+//
+// When err is nil, resp always contains a non-nil resp.Body.
+// Caller should close resp.Body when done reading from it.
+//
+// See the Client.Do method documentation for details on how redirects
+// are handled.
+//
+// To make a request with a specified context.Context, use NewRequestWithContext
+// and Client.Do.
+func (c *Client) PostForm(url string, data url.Values) (resp *Response, err error) {
+	return c.Post(url, "application/x-www-form-urlencoded", strings.NewReader(data.Encode()))
+}

net/http/tinygo.go

@@ -25,17 +25,39 @@ func (c *Client) Do(req *Request) (*Response, error) {
 			req.AddCookie(cookie)
 		}
 	}
+
+	res, err := c.Transport.RoundTrip(req)
+
+	if c.Jar != nil {
+		if rc := res.Cookies(); len(rc) > 0 {
+			c.Jar.SetCookies(req.URL, rc)
+		}
+	}
+
+	return res, err
+}
+
+type Transport struct {
+}
+
+var DefaultTransport RoundTripper
+
+func init() {
+	DefaultTransport = &Transport{}
+}
+
+func (t *Transport) RoundTrip(req *Request) (*Response, error) {
 	switch req.URL.Scheme {
 	case "http":
-		return c.doHTTP(req)
+		return t.doHTTP(req)
 	case "https":
-		return c.doHTTPS(req)
+		return t.doHTTPS(req)
 	default:
 		return nil, fmt.Errorf("invalid schemer : %s", req.URL.Scheme)
 	}
 }
 
-func (c *Client) doHTTP(req *Request) (*Response, error) {
+func (t *Transport) doHTTP(req *Request) (*Response, error) {
 	// make TCP connection
 	ip := net.ParseIP(req.URL.Hostname())
 	port := 80
@@ -106,10 +128,10 @@ func (c *Client) doHTTP(req *Request) (*Response, error) {
 
 	}
 
-	return c.doResp(conn, req)
+	return t.doResp(conn, req)
 }
 
-func (c *Client) doHTTPS(req *Request) (*Response, error) {
+func (t *Transport) doHTTPS(req *Request) (*Response, error) {
 	conn, err := tls.Dial("tcp", req.URL.Host, nil)
 	retry := 0
 	for ; err != nil; conn, err = tls.Dial("tcp", req.URL.Host, nil) {
@@ -167,10 +189,10 @@ func (c *Client) doHTTPS(req *Request) (*Response, error) {
 
 	}
 
-	return c.doResp(conn, req)
+	return t.doResp(conn, req)
 }
 
-func (c *Client) doResp(conn net.Conn, req *Request) (*Response, error) {
+func (t *Transport) doResp(conn net.Conn, req *Request) (*Response, error) {
 	resp := &Response{
 		Header: map[string][]string{},
 	}
@@ -256,11 +278,6 @@ func (c *Client) doResp(conn net.Conn, req *Request) (*Response, error) {
 	remain -= int64(ofs)
 	if remain <= 0 {
 		resp.Body = io.NopCloser(bytes.NewReader(buf[:ofs]))
-		if c.Jar != nil {
-			if rc := resp.Cookies(); len(rc) > 0 {
-				c.Jar.SetCookies(req.URL, rc)
-			}
-		}
 		return resp, conn.Close()
 	}
 
@@ -298,11 +315,5 @@ func (c *Client) doResp(conn net.Conn, req *Request) (*Response, error) {
 		}
 	}
 
-	if c.Jar != nil {
-		if rc := resp.Cookies(); len(rc) > 0 {
-			c.Jar.SetCookies(req.URL, rc)
-		}
-	}
-
 	return resp, conn.Close()
 }

qmi8658c/qmi8658c.go

@@ -0,0 +1,190 @@
+// Package qmi8658c provides a driver for the QMI8658C accelerometer and gyroscope
+// made by QST Solutions.
+//
+// Datasheet:
+// https://www.qstcorp.com/upload/pdf/202202/%EF%BC%88%E5%B7%B2%E4%BC%A0%EF%BC%89QMI8658C%20datasheet%20rev%200.9.pdf
+package qmi8656c
+
+import "tinygo.org/x/drivers"
+
+// Device wraps the I2C connection to the QMIC8658 sensor
+type Device struct {
+	bus        drivers.I2C
+	Address    uint16
+	AccLsbDiv  uint16
+	GyroLsbDiv uint16
+}
+
+type Config struct {
+	// SPI Config
+	SPIMode    byte // One of SPI_X_WIRE
+	SPIEndian  byte // One of SPI_XXX_ENDIAN
+	SPIAutoInc byte // One of SPI_NOT_AUTO_INC or SPI_AUTO_INC
+	// Accelerometer
+	AccEnable  byte // One of ACC_ENABLE or ACC_DISABLE
+	AccScale   byte // One of ACC_XG
+	AccRate    byte // One of ACC_XX_YYHZ
+	AccLowPass byte // One of ACC_LOW_PASS_X
+	// Gyro
+	GyroEnable  byte // One of GYRO_X_ENABLE or GYRO_DISABLE
+	GyroScale   byte // One of GYRO_XDPS
+	GyroRate    byte // One of GYRO_X_YHZ
+	GyroLowPass byte // One of GYRO_LOW_PASS_X
+}
+
+// Create a new device with the I2C passed, correct address and nil values for
+// AccLsbDiv and GyroLsbDiv, which will be corrected based on the config.
+func New(bus drivers.I2C) Device {
+	return Device{
+		bus,
+		Address,
+		1,
+		1,
+	}
+}
+
+// Check if the device is connected by calling WHO_AM_I and checking the
+// default identifier.
+func (d *Device) Connected() bool {
+	data := []byte{0}
+	d.ReadRegister(WHO_AM_I, data)
+	return data[0] == IDENTIFIER
+}
+
+// Create a basic default configuration that works with the "WaveShare RP2040
+// Round LCD 1.28in".
+func DefaultConfig() (cfg Config) {
+	return Config{
+		SPIMode:     SPI_4_WIRE,
+		SPIEndian:   SPI_BIG_ENDIAN,
+		SPIAutoInc:  SPI_AUTO_INC,
+		AccEnable:   ACC_ENABLE,
+		AccScale:    ACC_8G,
+		AccRate:     ACC_NORMAL_1000HZ,
+		AccLowPass:  ACC_LOW_PASS_2_62,
+		GyroEnable:  GYRO_FULL_ENABLE,
+		GyroScale:   GYRO_512DPS,
+		GyroRate:    GYRO_1000HZ,
+		GyroLowPass: GYRO_LOW_PASS_2_62,
+	}
+}
+
+// Check if the user has defined a desired configuration, if not uses the
+// DefaultConfig, then defines the AccLsbDiv and GyroLsbDiv based on the
+// configurations and, finally, send the commands and configure the IMU.
+func (d *Device) Configure(cfg Config) {
+	if cfg == (Config{}) {
+		cfg = DefaultConfig()
+	}
+	var val uint16
+	// Setting accelerometer LSB
+	switch cfg.AccScale {
+	case ACC_2G:
+		d.AccLsbDiv = 1 << 14
+	case ACC_4G:
+		d.AccLsbDiv = 1 << 13
+	case ACC_8G:
+		d.AccLsbDiv = 1 << 12
+	case ACC_16G:
+		d.AccLsbDiv = 1 << 11
+	default:
+		d.AccLsbDiv = 1 << 12
+	}
+	// Setting gyro LSB
+	switch cfg.GyroScale {
+	case GYRO_16DPS:
+		d.GyroLsbDiv = 2048
+	case GYRO_32DPS:
+		d.GyroLsbDiv = 1024
+	case GYRO_64DPS:
+		d.GyroLsbDiv = 512
+	case GYRO_128DPS:
+		d.GyroLsbDiv = 256
+	case GYRO_256DPS:
+		d.GyroLsbDiv = 128
+	case GYRO_512DPS:
+		d.GyroLsbDiv = 64
+	case GYRO_1024DPS:
+		d.GyroLsbDiv = 32
+	case GYRO_2048DPS:
+		d.GyroLsbDiv = 16
+	default:
+		d.GyroLsbDiv = 64
+	}
+	// SPI Modes
+	val = uint16((cfg.SPIMode | cfg.SPIEndian | cfg.SPIAutoInc))
+	d.WriteRegister(CTRL1, val)
+	// Accelerometer config
+	val = uint16(cfg.AccScale | cfg.AccRate)
+	d.WriteRegister(CTRL2, val)
+	// Gyro config
+	val = uint16(cfg.GyroScale | cfg.GyroRate)
+	d.WriteRegister(CTRL3, val)
+	// Sensor DSP config
+	val = uint16(cfg.GyroLowPass | cfg.AccLowPass)
+	d.WriteRegister(CTRL5, val)
+	// Sensors config
+	val = uint16(cfg.GyroEnable | cfg.AccEnable)
+	d.WriteRegister(CTRL7, val)
+}
+
+// Read the acceleration from the sensor, the values returned are in mg
+// (milli gravity), which means that 1000 = 1g.
+func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
+	data := make([]byte, 6)
+	raw := make([]int32, 3)
+	d.ReadRegister(ACC_XOUT_L, data)
+	for i := range raw {
+		raw[i] = int32(uint16(data[(2*i+1)])<<8 | uint16(data[i]))
+		if raw[i] >= 32767 {
+			raw[i] = raw[i] - 65535
+		}
+	}
+	x = -raw[0] * 1000 / int32(d.AccLsbDiv)
+	y = -raw[1] * 1000 / int32(d.AccLsbDiv)
+	z = -raw[2] * 1000 / int32(d.AccLsbDiv)
+	return x, y, z
+}
+
+// Read the rotation from the sensor, the values returned are in mdeg/sec
+// (milli degress/second), which means that a full rotation is 360000.
+func (d *Device) ReadRotation() (x int32, y int32, z int32) {
+	data := make([]byte, 6)
+	raw := make([]int32, 3)
+	d.ReadRegister(GYRO_XOUT_L, data)
+	for i := range raw {
+		raw[i] = int32(uint16(data[(2*i+1)])<<8 | uint16(data[i]))
+		if raw[i] >= 32767 {
+			raw[i] = raw[i] - 65535
+		}
+	}
+	x = raw[0] * 1000 / int32(d.GyroLsbDiv)
+	y = raw[1] * 1000 / int32(d.GyroLsbDiv)
+	z = raw[2] * 1000 / int32(d.GyroLsbDiv)
+	return x, y, z
+}
+
+// Read the temperature from the sensor, the values returned are in
+// millidegrees Celsius.
+func (d *Device) ReadTemperature() (int32, error) {
+	data := make([]byte, 2)
+	err := d.ReadRegister(TEMP_OUT_L, data)
+	if err != nil {
+		return 0, err
+	}
+	raw := uint16(data[1])<<8 | uint16(data[0])
+	t := int32(raw) * 1000 / 256
+	return t, err
+}
+
+// Convenience method to read the register and avoid repetition.
+func (d *Device) ReadRegister(reg uint8, buf []byte) error {
+	return d.bus.ReadRegister(uint8(d.Address), reg, buf)
+}
+
+// Convenience method to write the register and avoid repetition.
+func (d *Device) WriteRegister(reg uint8, v uint16) error {
+	data := []byte{byte(v)}
+	err := d.bus.WriteRegister(uint8(d.Address), reg, data)
+	return err
+}

qmi8658c/registers.go

@@ -0,0 +1,143 @@
+package qmi8656c
+
+// The I2C address that the sensor listens to.
+const Address = 0x6B
+
+const (
+	// Who am I
+	WHO_AM_I   = 0x00
+	IDENTIFIER = 0x05
+
+	// Configuration registers
+	CTRL1 = 0x02 // SPI Modes
+	CTRL2 = 0x03 // Accelerometer config
+	CTRL3 = 0x04 // Gyro config
+	CTRL4 = 0x05 // Magnetometer config (ignored)
+	CTRL5 = 0x06 // Sensor DSP config
+	CTRL6 = 0x07 // Motion on Demand (ignored)
+	CTRL7 = 0x08 // Sensors config
+
+	// Interface config (CTRL1)
+	SPI_4_WIRE        = 0x00
+	SPI_3_WIRE        = 0x80
+	SPI_NOT_AUTO_INC  = 0x00
+	SPI_AUTO_INC      = 0x40
+	SPI_LITTLE_ENDIAN = 0x00
+	SPI_BIG_ENDIAN    = 0x20
+
+	// Accelerometer scale config (CTRL2-H)
+	ACC_SELF_TEST = 0x80
+
+	// Accelerometer scale config (CTRL2-H)
+	ACC_2G  = 0x00
+	ACC_4G  = 0x10
+	ACC_8G  = 0x20
+	ACC_16G = 0x30
+
+	// Accelerometer output data rate (ODR) config (CTRL2-L)
+	ACC_NORMAL_8000HZ   = 0x00
+	ACC_NORMAL_4000HZ   = 0x01
+	ACC_NORMAL_2000HZ   = 0x02
+	ACC_NORMAL_1000HZ   = 0x03
+	ACC_NORMAL_500HZ    = 0x04
+	ACC_NORMAL_250HZ    = 0x05
+	ACC_NORMAL_125HZ    = 0x06
+	ACC_NORMAL_62HZ     = 0x07
+	ACC_NORMAL_31HZ     = 0x08
+	ACC_LOW_POWER_128HZ = 0x0C
+	ACC_LOW_POWER_21HZ  = 0x0D
+	ACC_LOW_POWER_11HZ  = 0x0E
+	ACC_LOW_POWER_3HZ   = 0x0F
+
+	// Gyro scale config (CTRL3-H)
+	GYRO_SELF_TEST = 0x80
+
+	// Gyro scale config (CTRL3-H)
+	GYRO_16DPS   = 0x00
+	GYRO_32DPS   = 0x10
+	GYRO_64DPS   = 0x20
+	GYRO_128DPS  = 0x30
+	GYRO_256DPS  = 0x40
+	GYRO_512DPS  = 0x50
+	GYRO_1024DPS = 0x60
+	GYRO_2048DPS = 0x70
+
+	// Gyro output data rate (ODR) config (CTRL3-L)
+	GYRO_8000HZ = 0x00
+	GYRO_4000HZ = 0x01
+	GYRO_2000HZ = 0x02
+	GYRO_1000HZ = 0x03
+	GYRO_500HZ  = 0x04
+	GYRO_250HZ  = 0x05
+	GYRO_125HZ  = 0x06
+	GYRO_62HZ   = 0x07
+	GYRO_31HZ   = 0x08
+
+	// Gyro DSP config (CTRL4-H)
+	GYRO_LOW_PASS_OFF  = 0x00 // Disabled
+	GYRO_LOW_PASS_2_62 = 0x10 // 2.62% of output data rate (ODR)
+	GYRO_LOW_PASS_3_59 = 0x30 // 3.59% of output data rate (ODR)
+	GYRO_LOW_PASS_5_32 = 0x50 // 5.32% of output data rate (ODR)
+	GYRO_LOW_PASS_14   = 0x70 // 14% of output data rate (ODR)
+
+	// Accelerometer DSP config (CTRL4-L)
+	ACC_LOW_PASS_OFF  = 0x00 // Disabled
+	ACC_LOW_PASS_2_62 = 0x01 // 2.62% of output data rate (ODR)
+	ACC_LOW_PASS_3_59 = 0x03 // 3.59% of output data rate (ODR)
+	ACC_LOW_PASS_5_32 = 0x05 // 5.32% of output data rate (ODR)
+	ACC_LOW_PASS_14   = 0x07 // 14% of output data rate (ODR)
+
+	// Motion on demand (MOD) (CTRL6)
+	MOD_DISABLE = 0x00
+	MOD_ENABLE  = 0x80
+
+	// Enable sensors (CTRL7)
+	GYRO_DISABLE       = 0x00
+	GYRO_FULL_ENABLE   = 0x02
+	GYRO_SNOOZE_ENABLE = 0x12
+	ACC_DISABLE        = 0x00
+	ACC_ENABLE         = 0x01
+
+	// Timestamp Outputs Register Adresses
+	TIMESTAMP_OUT_L = 0x30
+	TIMESTAMP_OUT_M = 0x31
+	TIMESTAMP_OUT_H = 0x32
+
+	// Temperature Outputs Register Adresses
+	TEMP_OUT_L = 0x33
+	TEMP_OUT_H = 0x34
+
+	// Acceleration Outputs Register Adresses
+	ACC_XOUT_L = 0x35
+	ACC_XOUT_H = 0x36
+	ACC_YOUT_L = 0x37
+	ACC_YOUT_H = 0x38
+	ACC_ZOUT_L = 0x39
+	ACC_ZOUT_H = 0x3A
+
+	// Angular Rate Outputs Register Adresses
+	GYRO_XOUT_L = 0x3B
+	GYRO_XOUT_H = 0x3C
+	GYRO_YOUT_L = 0x3D
+	GYRO_YOUT_H = 0x3E
+	GYRO_ZOUT_L = 0x3F
+	GYRO_ZOUT_H = 0x40
+
+	// Quaternion Outputs Register Adresses
+	DELTA_QUAT_WOUT_L = 0x49
+	DELTA_QUAT_WOUT_H = 0x4A
+	DELTA_QUAT_XOUT_L = 0x4B
+	DELTA_QUAT_XOUT_H = 0x4C
+	DELTA_QUAT_YOUT_L = 0x4D
+	DELTA_QUAT_YOUT_H = 0x4E
+	DELTA_QUAT_ZOUT_L = 0x4F
+	DELTA_QUAT_ZOUT_H = 0x50
+
+	// Delta Velocity Outputs Register Adresses
+	DELTA_VEL_XOUT_L = 0x51
+	DELTA_VEL_XOUT_H = 0x52
+	DELTA_VEL_YOUT_L = 0x53
+	DELTA_VEL_YOUT_H = 0x54
+	DELTA_VEL_ZOUT_L = 0x55
+	DELTA_VEL_ZOUT_H = 0x56
+)