Release 0.35.0

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

.github/FUNDING.yml

@@ -0,0 +1,3 @@
+# These are supported funding model platforms
+
+open_collective: tinygo

.github/workflows/build.yml

@@ -11,13 +11,12 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: ghcr.io/tinygo-org/tinygo-dev:latest
+    container:
+      image: ghcr.io/tinygo-org/tinygo:latest
+      options: --user root
     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
+        uses: actions/checkout@v6
       - name: TinyGo version check
         run: tinygo version
       - name: Enforce Go Formatted Code
@@ -25,4 +24,6 @@ jobs:
       - name: Run unit tests
         run: make unit-test
       - name: Run build and smoke tests
-        run: make smoke-test
+        run: |
+          go env -w GOFLAGS=-buildvcs=false
+          make smoke-test

CHANGELOG.md

@@ -1,3 +1,253 @@
+0.35.0
+---
+- **new devices**
+    - **unoqmatrix**
+        - LED matrix on the Arduino Uno Q
+    - **waveshare-epd (ssd1680)**
+        - Add driver for Waveshare 2.9 inch v2 e-paper display
+
+- **enhancements**
+    - **gps**
+        - add UBX config command support (#831)
+        - improve implementation for UBX config commands
+        - revamp validSentence() to avoid heap allocation for errors
+        - export some errors for checking/suppression from client
+        - improvements and corrections for config commands
+    - **lora**
+        - fill out more constants for lora device
+    - **mcp2515**
+        - add support for extended CAN IDs (#857)
+    - **si5351**
+        - complete refactor for more complete interface
+    - **st7735**
+        - remove dependency on the machine package
+    - **sx127x**
+        - add functions used for FSK radio communication
+    - **ws2812**
+        - add brightness control
+        - add PIO support for RP2040/RP2350
+
+- **bugfixes**
+    - **st7789**
+        - fix scroll on rotated displays
+        - fix driver when rotated 90º
+    - **ws2812**
+        - fix brightness control issues (#858)
+
+
+0.34.0
+---
+- **core**
+    - add regmap package to facilitate heapless driver development
+    - PinInput+PinOutput HAL (#753, reloaded) (#795)
+    - Add Device8I2C/SPI types and their logic (#801)
+
+- **new devices**
+    - **bno8x**
+        - Add support for CEVA BNO08x 9DoF sensor (#809)
+    - **hineyhsc**
+        - Add Honeywell HSC TruStability SPI+I2C pressure sensor driver (#799)
+    - **p25q16h**
+        - added support for P25Q16H flash chip for xiao-ble target
+    - **si5351**
+        - add support for si5351 (#810)
+    - **w25q80dv**
+        - added support for W25Q80DV flash chip for xiao-ble target
+    - **w5500**
+        - initial version the driver (#788)
+
+- **enhancements**
+    - **ds3231**
+        - DS3231 Alarm features (#805)
+    - **general**
+        - add simplest driver ports
+    - **lis3dh**
+        - add Update and Acceleration calls
+        - use correct error handling and make configurable
+    - **lsm9ds1**
+        - avoid unnecessary heap allocations
+    - **pixel**
+        - add Grayscale2bit color (#817)
+    - **scd4x**
+        - add support for SCD41 single-shot measurements
+        - remove dead code
+        - update package to use standard methods
+    - **si5351**
+        - add many missing functions needed for convenient use.
+    - **ssd1xxx**
+        - break dependency from machine package (#812)
+    - **test**
+        - Add TestImageRGB888 and TestImageRGB555
+
+- **bugfixes**
+    - **quadrature**
+        - add RP2350 to quadrature_interrupt.go
+    - **pixel**
+        - correct logic error in image size checks in pixel's tests
+        - correct logic error in image size checks in pixel's tests (Monochrome)
+        - correct RGB555 to RGBA conversion logic
+
+
+0.33.0
+---
+- **new devices**
+    - **ens160**
+        - Add ens160 i2c driver
+    - **lsm303dlhc**
+        - added support for LSM303DLHC e-Compass; (#783)
+    - **seesaw**
+        - add support for Adafruit Seesaw encoders
+
+- **enhancements**
+    - **ws2812**
+        - add RP2350 support
+    - **ssd1306**
+        - avoid unnecessary heap allocations (#767)
+    - **gps**
+        - allow gps init with address
+    - **lsm6ds3tr**
+        - avoid unnecessary heap allocations (#766)
+
+- **bugfixes**
+    - **gps**
+        - Fix gps time calculation (#785)
+
+
+0.32.0
+---
+- **enhancements**
+    - **bmp280**
+        - remove alloc on read sensor data
+    - **ws2812**
+        - add 200MHz support for the Cortex-M0/rp2040
+
+- **bugfixes**
+    - **ssd1306**
+        - remove time.Sleep from SSD1306 SPI transfer code
+    - **tmc2209**
+        - tmc2209 bug fixes (#755)
+
+- **docs**
+    - **contributing**
+        - add driver design pointer to CONTRIBUTING.md
+
+
+0.31.0
+---
+---
+- **enhancements**
+    - **spi**
+        - update all SPI usage to use either *machine.SPI or drivers.SPI
+
+
+0.30.0
+---
+- **new devices**
+    - **comboat**
+        - Add wifi driver comboat for Elecrow W5 rp2040 and rp2350 devices (#741)
+    - **max6675**
+        - Add MAX6675 device
+    - **TMC2209**
+        - Added TMC2209 support (#727)
+    - **TMC5160**
+        - Added TMC5160 support (#725)
+    - **sharpmem**
+        - Add sharpmem (#724)
+
+- **enhancements**
+    - **net**
+        - move to latest golang.org/x/net v0.33.0 (#732)
+    - **microphone**
+        - update microphone driver to use latest i2s interface
+
+- **bugfixes**
+    - **net**
+        - fix typo in DHCP error message
+    - **aht20**
+        - Fixed bug in aht20 driver
+    - **hub75**
+        - fix data buffering
+
+
+0.29.0
+---
+- **new devices**
+    - **epd1in54**
+        - Waveshare 1.54inch B/W e-Paper display (#704)
+    - **touch**
+        - add capacitive touch sensing on normal GPIO pins
+    - **INA219**
+        - I2C INA219 driver (#705)
+    - **pcf8591**
+        - add ADC only implementation for I2C ADC/DAC (#690)
+
+- **enhancements**
+    - **pixel**
+        - add NewImageFromBytes() function to allow creating image from existing slice
+    - **servo**
+        - Add function `SetAngleWithMicroseconds` (#695)
+    - **onewire**
+        - onewire improvements
+    - **ssd1306**
+        - Add function `SetFlip` and `GetFlip` (#702)
+    - **uc8151**
+        - add FillRectangle() and SetScroll() functions to satisfy tinyterm.Displayer interface
+    - **ssd1306**
+        - add FillRectangle() and SetScroll() functions to satisfy tinyterm.Displayer interface
+
+- **bugfixes**
+    - **pixel**
+        - fix Monochrome setPixel
+
+- **docs**
+    - **readme**
+        - discuss need to change variables in examples
+    - **sponsor**
+        - Add sponsor button to key repositories
+
+
+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**

CONTRIBUTING.md

@@ -8,6 +8,9 @@ We would like your help to make this project better, so we appreciate any contri
 
 We'd love to get your feedback on getting started with TinyGo. Run into any difficulty, confusion, or anything else? You are not alone. We want to know about your experience, so we can help the next people. Please open a Github issue with your questions, or you can also get in touch directly with us on our Slack channel at [https://gophers.slack.com/messages/CDJD3SUP6](https://gophers.slack.com/messages/CDJD3SUP6).
 
+### Driver design
+Before porting or writing a driver from scratch please read **[Driver Design for TinyGo](https://tinygo.org/docs/guides/driver-design)**.
+
 ### One of the TinyGo drivers is not working as you expect
 
 Please open a Github issue with your problem, and we will be happy to assist.

LICENSE

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

@@ -19,10 +19,24 @@ rwildcard=$(foreach d,$(wildcard $1*),$(call rwildcard,$d/,$2) $(filter $(subst
 # 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
+EXCLUDE_TESTS = image waveshare-epd/epd2in66b
 TESTS = $(filter-out $(addsuffix /%,$(EXCLUDE_TESTS)),$(HAS_TESTS))
 
 unit-test:
 	@go test -v $(addprefix ./,$(TESTS))
 
 test: clean fmt-check unit-test smoke-test
+
+EXCLUDE_DIRS = build cmd examples internal lora ndir netdev netlink tester
+
+drivers-count:
+	@root_count=$$(find . -mindepth 1 -maxdepth 1 -type d | grep -vE '^\./($(subst $(space),|,$(EXCLUDE_DIRS)))$$' | wc -l); \
+	epd_count=$$(find ./waveshare-epd -mindepth 1 -maxdepth 1 -type d 2>/dev/null | wc -l); \
+	total=$$((root_count + epd_count)); \
+	echo "Total drivers: $$total (root: $$root_count, waveshare-epd: $$epd_count)"
+
+drivers-list:
+	@{ \
+		find . -mindepth 1 -maxdepth 1 -type d | grep -vE '^\./($(subst $(space),|,$(EXCLUDE_DIRS)))$$'; \
+		if [ -d ./waveshare-epd ]; then find ./waveshare-epd -mindepth 1 -maxdepth 1 -type d; fi; \
+	} | sed 's|^\./||' | sort

README.md

@@ -3,11 +3,14 @@
 [![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 102 different 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 140 different hardware drivers for devices such as sensors, displays, wireless adaptors, and actuators, that can be used together with [TinyGo](https://tinygo.org).
 
 For the complete list, please see:
 https://tinygo.org/docs/reference/devices/
 
+> [!IMPORTANT]
+> You can help TinyGo with a financial contribution using OpenCollective. Please see https://opencollective.com/tinygo for more information. Thank you!
+
 ## Installing
 
 ```shell
@@ -16,7 +19,7 @@ go get tinygo.org/x/drivers
 
 ## How to use
 
-Here is an example in TinyGo that uses the BMP180 digital barometer:
+Here is an example in TinyGo that uses the BMP180 digital barometer.  This example should work on any board that supports I2C:
 
 ```go
 package main
@@ -53,6 +56,28 @@ func main() {
 }
 ```
 
+## Examples Using GPIO or SPI 
+
+If compiling these examples directly you are likely to need to make minor changes to the defined variables to map the pins for the board you are using.  For example, this block in main.go:
+
+```golang
+var (
+        spi   = machine.SPI0
+        csPin = machine.D5
+)
+```
+
+It might not be obvious, but you need to change these to match how you wired your specific board.  Constants are [defined for each supported microcontroller](https://tinygo.org/docs/reference/microcontrollers/).  
+
+For example, to change the definitions for use on a Raspberry Pi Pico using typical wiring, you might need to do this:
+
+```golang
+var (
+        spi   = machine.SPI0
+        csPin = machine.GP17
+)
+```
+
 ## Contributing
 
 Your contributions are welcome!

aht20/aht20.go

@@ -29,7 +29,7 @@ func New(bus drivers.I2C) Device {
 func (d *Device) Configure() {
 	// Check initialization state
 	status := d.Status()
-	if status&0x08 == 1 {
+	if status&STATUS_CALIBRATED == 1 {
 		// Device is initialized
 		return
 	}
@@ -69,7 +69,7 @@ func (d *Device) Read() error {
 		}
 
 		// If measurement complete, store values
-		if data[0]&0x04 != 0 && data[0]&0x80 == 0 {
+		if data[0]&STATUS_CALIBRATED != 0 && data[0]&STATUS_BUSY == 0 {
 			d.humidity = uint32(data[1])<<12 | uint32(data[2])<<4 | uint32(data[3])>>4
 			d.temp = (uint32(data[3])&0xF)<<16 | uint32(data[4])<<8 | uint32(data[5])
 			return nil

apa102/apa102.go

@@ -5,9 +5,10 @@ package apa102 // import "tinygo.org/x/drivers/apa102"
 
 import (
 	"image/color"
-	"machine"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 const (
@@ -37,8 +38,11 @@ func New(b drivers.SPI) *Device {
 
 // 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 {
-	return New(&bbSPI{SCK: sckPin, SDO: sdoPin, Delay: delay})
+func NewSoftwareSPI(sckPin, sdoPin pin.Output, delay uint32) *Device {
+	return New(&bbSPI{SCK: sckPin.Set, SDO: sdoPin.Set, Delay: delay, configurePins: func() {
+		legacy.ConfigurePinOut(sckPin)
+		legacy.ConfigurePinOut(sdoPin)
+	}})
 }
 
 // WriteColors writes the given RGBA color slice out using the APA102 protocol.

apa102/softspi.go

@@ -1,6 +1,9 @@
 package apa102
 
-import "machine"
+import (
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
+)
 
 // bbSPI is a dumb bit-bang implementation of SPI protocol that is hardcoded
 // to mode 0 and ignores trying to receive data. Just enough for the APA102.
@@ -8,15 +11,18 @@ import "machine"
 // most purposes other than the APA102 package. It might be desirable to make
 // this more generic and include it in the TinyGo "machine" package instead.
 type bbSPI struct {
-	SCK   machine.Pin
-	SDO   machine.Pin
-	Delay uint32
+	SCK           pin.OutputFunc
+	SDO           pin.OutputFunc
+	Delay         uint32
+	configurePins func()
 }
 
 // Configure sets up the SCK and SDO pins as outputs and sets them low
 func (s *bbSPI) Configure() {
-	s.SCK.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	s.SDO.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	if s.configurePins == nil {
+		panic(legacy.ErrConfigBeforeInstantiated)
+	}
+	s.configurePins()
 	s.SCK.Low()
 	s.SDO.Low()
 	if s.Delay == 0 {

bmi160/bmi160.go

@@ -1,31 +1,36 @@
 package bmi160
 
 import (
-	"machine"
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 // DeviceSPI is the SPI interface to a BMI160 accelerometer/gyroscope. There is
 // also an I2C interface, but it is not yet supported.
 type DeviceSPI struct {
 	// Chip select pin
-	CSB machine.Pin
+	csb pin.OutputFunc
 
 	buf [7]byte
 
 	// SPI bus (requires chip select to be usable).
-	Bus drivers.SPI
+	bus           drivers.SPI
+	configurePins func()
 }
 
 // NewSPI returns a new device driver. The pin and SPI interface are not
 // touched, provide a fully configured SPI object and call Configure to start
 // using this device.
-func NewSPI(csb machine.Pin, spi drivers.SPI) *DeviceSPI {
+func NewSPI(csb pin.Output, spi drivers.SPI) *DeviceSPI {
 	return &DeviceSPI{
-		CSB: csb, // chip select
-		Bus: spi,
+		csb: csb.Set, // chip select
+		bus: spi,
+		configurePins: func() {
+			legacy.ConfigurePinOut(csb)
+		},
 	}
 }
 
@@ -33,9 +38,11 @@ func NewSPI(csb machine.Pin, spi drivers.SPI) *DeviceSPI {
 // configures the BMI160, but it does not configure the SPI interface (it is
 // assumed to be up and running).
 func (d *DeviceSPI) Configure() error {
-	d.CSB.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	d.CSB.High()
-
+	if d.configurePins == nil {
+		return legacy.ErrConfigBeforeInstantiated
+	}
+	d.configurePins()
+	d.csb.High()
 	// The datasheet recommends doing a register read from address 0x7F to get
 	// SPI communication going:
 	// > If CSB sees a rising edge after power-up, the BMI160 interface switches
@@ -86,9 +93,9 @@ func (d *DeviceSPI) ReadTemperature() (temperature int32, err error) {
 	data[0] = 0x80 | reg_TEMPERATURE_0
 	data[1] = 0
 	data[2] = 0
-	d.CSB.Low()
-	err = d.Bus.Tx(data, data)
-	d.CSB.High()
+	d.csb.Low()
+	err = d.bus.Tx(data, data)
+	d.csb.High()
 	if err != nil {
 		return
 	}
@@ -123,9 +130,9 @@ func (d *DeviceSPI) ReadAcceleration() (x int32, y int32, z int32, err error) {
 	for i := 1; i < len(data); i++ {
 		data[i] = 0
 	}
-	d.CSB.Low()
-	err = d.Bus.Tx(data, data)
-	d.CSB.High()
+	d.csb.Low()
+	err = d.bus.Tx(data, data)
+	d.csb.High()
 	if err != nil {
 		return
 	}
@@ -153,9 +160,9 @@ func (d *DeviceSPI) ReadRotation() (x int32, y int32, z int32, err error) {
 	for i := 1; i < len(data); i++ {
 		data[i] = 0
 	}
-	d.CSB.Low()
-	err = d.Bus.Tx(data, data)
-	d.CSB.High()
+	d.csb.Low()
+	err = d.bus.Tx(data, data)
+	d.csb.High()
 	if err != nil {
 		return
 	}
@@ -201,9 +208,9 @@ func (d *DeviceSPI) readRegister(address uint8) uint8 {
 	data := d.buf[:2]
 	data[0] = 0x80 | address
 	data[1] = 0
-	d.CSB.Low()
-	d.Bus.Tx(data, data)
-	d.CSB.High()
+	d.csb.Low()
+	d.bus.Tx(data, data)
+	d.csb.High()
 	return data[1]
 }
 
@@ -217,7 +224,7 @@ func (d *DeviceSPI) writeRegister(address, data uint8) {
 	buf[0] = address
 	buf[1] = data
 
-	d.CSB.Low()
-	d.Bus.Tx(buf, buf)
-	d.CSB.High()
+	d.csb.Low()
+	d.bus.Tx(buf, buf)
+	d.csb.High()
 }

bmp280/bmp280.go

@@ -23,6 +23,7 @@ type Filter uint
 type Device struct {
 	bus         drivers.I2C
 	Address     uint16
+	buf         [6]byte
 	cali        calibrationCoefficients
 	Temperature Oversampling
 	Pressure    Oversampling
@@ -134,8 +135,8 @@ func (d *Device) PrintCali() {
 
 // ReadTemperature returns the temperature in celsius milli degrees (°C/1000).
 func (d *Device) ReadTemperature() (temperature int32, err error) {
-	data, err := d.readData(REG_TEMP, 3)
-	if err != nil {
+	data := d.buf[:3]
+	if err = d.readData(REG_TEMP, data); err != nil {
 		return
 	}
 
@@ -158,8 +159,8 @@ func (d *Device) ReadTemperature() (temperature int32, err error) {
 // ReadPressure returns the pressure in milli pascals (mPa).
 func (d *Device) ReadPressure() (pressure int32, err error) {
 	// First 3 bytes are Pressure, last 3 bytes are Temperature
-	data, err := d.readData(REG_PRES, 6)
-	if err != nil {
+	data := d.buf[:6]
+	if err = d.readData(REG_PRES, data); err != nil {
 		return
 	}
 
@@ -203,7 +204,7 @@ func (d *Device) ReadPressure() (pressure int32, err error) {
 }
 
 // readData reads n number of bytes of the specified register
-func (d *Device) readData(register int, n int) ([]byte, error) {
+func (d *Device) readData(register int, data []byte) error {
 	// If not in normal mode, set the mode to FORCED mode, to prevent incorrect measurements
 	// After the measurement in FORCED mode, the sensor will return to SLEEP mode
 	if d.Mode != MODE_NORMAL {
@@ -218,9 +219,7 @@ func (d *Device) readData(register int, n int) ([]byte, error) {
 	}
 
 	// Read the requested register
-	data := make([]byte, n)
-	err := legacy.ReadRegister(d.bus, uint8(d.Address), uint8(register), data[:])
-	return data, err
+	return legacy.ReadRegister(d.bus, uint8(d.Address), uint8(register), data[:])
 }
 
 // convert3Bytes converts three bytes to int32

bno08x/bno08x.go

@@ -0,0 +1,256 @@
+// Package bno08x provides a TinyGo driver for the Adafruit BNO08x 9-DOF IMU sensors.
+//
+// This driver implements the CEVA SH-2 protocol over the SHTP transport layer,
+// providing access to orientation, motion, and environmental sensors.
+//
+// Datasheet: https://www.ceva-ip.com/wp-content/uploads/BNO080_085-Datasheet.pdf
+package bno08x
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers/internal/pin"
+)
+
+// Buser is the interface that wraps I2C or SPI bus operations.
+type Buser interface {
+	configure(address uint16, readChunk int) error
+	read(target []byte) (int, uint32, error)
+	write(data []byte) error
+	softReset() error
+}
+
+// Device represents a BNO08x sensor device.
+type Device struct {
+	bus      Buser
+	resetPin pin.OutputFunc
+
+	hal  *hal
+	shtp *shtp
+	sh2  *sh2Protocol
+
+	queue      [8]SensorValue
+	queueHead  int
+	queueTail  int
+	queueCount int
+
+	productIDs ProductIDs
+	lastReset  bool
+}
+
+// Config holds configuration options for the device.
+type Config struct {
+	// Address is the I2C address (used only for I2C bus).
+	Address uint16
+
+	// ResetPin is the optional hardware reset pin.
+	ResetPin pin.OutputFunc
+
+	// ReadChunk is the I2C read chunk size (used only for I2C bus).
+	ReadChunk int
+
+	// StartupDelay is the delay after reset (default: 100ms).
+	StartupDelay time.Duration
+}
+
+// Configure initializes the sensor and prepares it for use.
+func (d *Device) Configure(cfg Config) error {
+	// Configure bus-specific settings
+	if err := d.bus.configure(cfg.Address, cfg.ReadChunk); err != nil {
+		return err
+	}
+
+	if cfg.ResetPin != nil {
+		d.resetPin = cfg.ResetPin
+	}
+	if cfg.StartupDelay <= 0 {
+		cfg.StartupDelay = 100 * time.Millisecond
+	}
+
+	d.hal = newHAL(d)
+	d.shtp = newSHTP(d.hal)
+	d.sh2 = newSH2Protocol(d)
+
+	d.queueHead = 0
+	d.queueTail = 0
+	d.queueCount = 0
+	d.productIDs = ProductIDs{}
+	d.lastReset = false
+
+	if err := d.hal.open(); err != nil {
+		return err
+	}
+
+	// Now that handlers are registered, perform reset
+	// Try hardware reset first if available
+	if d.resetPin != nil {
+		d.hardwareReset()
+		time.Sleep(cfg.StartupDelay)
+	} else {
+		// No hardware reset pin - try soft reset via bus
+		if err := d.bus.softReset(); err != nil {
+			// If that fails, try soft reset via SHTP protocol
+			_ = d.sh2.softReset()
+			time.Sleep(50 * time.Millisecond)
+		}
+	}
+
+	// Wait for reset notification by actively polling
+	// The sensor should send reset complete message shortly after reset
+	deadline := time.Now().Add(1000 * time.Millisecond)
+	pollCount := 0
+	for time.Now().Before(deadline) {
+		pollCount++
+		if err := d.service(); err != nil {
+			// Ignore errors during initial polling - sensor might not be ready
+			time.Sleep(1 * time.Millisecond)
+			continue
+		}
+		if d.lastReset {
+			break
+		}
+		time.Sleep(1 * time.Millisecond)
+	}
+
+	if !d.lastReset {
+		return errTimeout
+	}
+
+	// NOTE: We intentionally skip the Initialize command (sh2_initialize)
+	// Testing revealed that sending the Initialize command (0xF2 0x00 0x04 0x01...)
+	// prevents the BNO08x from sending sensor reports on channel 3.
+	// The sensor works correctly without this command after a soft reset.
+	// The Arduino library likely works because it does a hardware reset which
+	// may put the sensor in a different state, or their initialization sequence
+	// differs in a way that doesn't trigger this issue.
+
+	// Request product IDs
+	if err := d.sh2.requestProductIDs(); err != nil {
+		return err
+	}
+
+	// Wait for product IDs with polling delay
+	deadline = time.Now().Add(500 * time.Millisecond)
+	for time.Now().Before(deadline) {
+		if err := d.service(); err != nil {
+			time.Sleep(10 * time.Millisecond)
+			continue
+		}
+		if d.productIDs.NumEntries > 0 {
+			break
+		}
+		time.Sleep(10 * time.Millisecond)
+	}
+
+	if d.productIDs.NumEntries == 0 {
+		return errTimeout
+	}
+
+	return nil
+}
+
+// EnableReport enables a specific sensor report at the given interval.
+func (d *Device) EnableReport(id SensorID, intervalUs uint32) error {
+	err := d.sh2.enableReport(id, intervalUs)
+	if err != nil {
+		return err
+	}
+
+	// Poll a few times to let the sensor process the command
+	// and potentially send acknowledgment
+	for i := 0; i < 10; i++ {
+		_ = d.service()
+		time.Sleep(10 * time.Millisecond)
+	}
+
+	return nil
+}
+
+// GetSensorConfig retrieves the current configuration for a sensor.
+func (d *Device) GetSensorConfig(id SensorID) (SensorConfig, error) {
+	return d.sh2.getSensorConfig(id)
+}
+
+// SetSensorConfig sets the configuration for a sensor.
+func (d *Device) SetSensorConfig(id SensorID, config SensorConfig) error {
+	return d.sh2.setSensorConfig(id, config)
+}
+
+// WasReset returns true if the sensor signaled a reset since the last call.
+func (d *Device) WasReset() bool {
+	if d.lastReset {
+		d.lastReset = false
+		return true
+	}
+	return false
+}
+
+// GetSensorEvent retrieves the next available sensor event if present.
+func (d *Device) GetSensorEvent() (SensorValue, bool) {
+	if d.queueCount == 0 {
+		if err := d.service(); err != nil {
+			return SensorValue{}, false
+		}
+		if d.queueCount == 0 {
+			return SensorValue{}, false
+		}
+	}
+
+	value := d.queue[d.queueHead]
+	d.queueHead = (d.queueHead + 1) % len(d.queue)
+	d.queueCount--
+
+	return value, true
+}
+
+// ProductIDs returns the cached product identification information.
+func (d *Device) ProductIDs() ProductIDs {
+	return d.productIDs
+}
+
+// Service processes pending sensor data.
+// This is called automatically by GetSensorEvent but can be called manually
+// for more control over timing.
+func (d *Device) Service() error {
+	return d.service()
+}
+
+func (d *Device) enqueue(value SensorValue) {
+	next := (d.queueTail + 1) % len(d.queue)
+	if d.queueCount == len(d.queue) {
+		// Queue full, drop oldest
+		d.queueHead = (d.queueHead + 1) % len(d.queue)
+		d.queueCount--
+	}
+	d.queue[d.queueTail] = value
+	d.queueTail = next
+	d.queueCount++
+}
+
+func (d *Device) service() error {
+	if d.shtp == nil {
+		return nil
+	}
+	for {
+		processed, err := d.shtp.poll()
+		if err != nil {
+			return err
+		}
+		if !processed {
+			break
+		}
+	}
+	return nil
+}
+
+func (d *Device) hardwareReset() {
+	if d.resetPin == nil {
+		return
+	}
+	d.resetPin.High()
+	time.Sleep(10 * time.Millisecond)
+	d.resetPin.Low()
+	time.Sleep(10 * time.Millisecond)
+	d.resetPin.High()
+	time.Sleep(10 * time.Millisecond)
+}

bno08x/bno08x_i2c.go

@@ -0,0 +1,173 @@
+package bno08x
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/pin"
+)
+
+// I2CConfig holds I2C-specific configuration options.
+type I2CConfig struct {
+	// Address is the I2C address (default: 0x4A).
+	Address uint16
+
+	// ResetPin is the optional hardware reset pin.
+	ResetPin pin.OutputFunc
+
+	// ReadChunk is the I2C read chunk size (default: 32 bytes).
+	ReadChunk int
+}
+
+const (
+	// DefaultAddress is the default I2C address.
+	DefaultAddress = 0x4A
+)
+
+// NewI2C creates a new BNO08x device using I2C communication.
+func NewI2C(bus drivers.I2C) *Device {
+	return &Device{
+		bus: &I2CBus{
+			wire:      bus,
+			address:   DefaultAddress,
+			readChunk: i2cDefaultChunk,
+		},
+	}
+}
+
+// I2CBus implements the Buser interface for I2C communication.
+type I2CBus struct {
+	wire      drivers.I2C
+	address   uint16
+	readChunk int
+	scratch   []byte
+	header    [shtpHeaderLength]byte
+}
+
+// configure sets up the I2C bus with the specified address and chunk size.
+func (b *I2CBus) configure(address uint16, readChunk int) error {
+	if address != 0 {
+		b.address = address
+	}
+	if readChunk > 0 {
+		b.readChunk = readChunk
+	}
+
+	chunk := b.readChunk
+	if chunk < shtpHeaderLength {
+		chunk = shtpHeaderLength
+	}
+	b.scratch = make([]byte, chunk)
+
+	return nil
+}
+
+// read reads data from the I2C bus.
+func (b *I2CBus) read(target []byte) (int, uint32, error) {
+	// Read SHTP header (4 bytes) to get packet length
+	// Use pre-allocated header buffer to avoid allocations
+	err := b.wire.Tx(b.address, nil, b.header[:])
+	if err != nil {
+		return 0, 0, err
+	}
+
+	// Parse packet length from header
+	packetLen := uint16(b.header[0]) | (uint16(b.header[1]) << 8)
+
+	// Check if continuation bit is set (0x8000)
+	// This means no data is available yet
+	if packetLen&continueMask != 0 {
+		return 0, 0, nil
+	}
+
+	// No continuation bit, check for actual data
+	if packetLen == 0 {
+		return 0, 0, nil
+	}
+
+	if int(packetLen) > len(target) {
+		return 0, 0, errBufferTooSmall
+	}
+
+	// Now read the full packet in chunks, re-reading the header in first chunk
+	// This follows Arduino's approach: initial header read is just to get size,
+	// actual packet data (including header) is read in the loop
+	cargoRemaining := int(packetLen)
+	offset := 0
+	firstRead := true
+
+	for cargoRemaining > 0 {
+		var request int
+		if firstRead {
+			// First read: get the full packet including header (up to chunkSize)
+			request = b.readChunk
+			if request > cargoRemaining {
+				request = cargoRemaining
+			}
+		} else {
+			// Subsequent reads: each chunk has a 4-byte header we need to skip
+			request = b.readChunk
+			if request > cargoRemaining+shtpHeaderLength {
+				request = cargoRemaining + shtpHeaderLength
+			}
+		}
+
+		// Ensure scratch buffer is large enough
+		if request > len(b.scratch) {
+			b.scratch = make([]byte, request)
+		}
+		buf := b.scratch[:request]
+
+		// Read chunk
+		err = b.wire.Tx(b.address, nil, buf)
+		if err != nil {
+			return 0, 0, err
+		}
+
+		var cargoRead int
+		if firstRead {
+			// First read: copy everything including header
+			cargoRead = request
+			copy(target[offset:], buf[:cargoRead])
+			firstRead = false
+		} else {
+			// Subsequent reads: skip the 4-byte header
+			cargoRead = request - shtpHeaderLength
+			copy(target[offset:], buf[shtpHeaderLength:shtpHeaderLength+cargoRead])
+		}
+
+		offset += cargoRead
+		cargoRemaining -= cargoRead
+	}
+
+	// Extract timestamp from the header in the target buffer
+	timestamp := uint32(target[2]) | (uint32(target[3]) << 8)
+
+	return int(packetLen), timestamp, nil
+}
+
+// write sends data over the I2C bus.
+func (b *I2CBus) write(data []byte) error {
+	return b.wire.Tx(b.address, data, nil)
+}
+
+// softReset sends a soft reset command via I2C.
+func (b *I2CBus) softReset() error {
+	// Send soft reset packet via I2C as per Adafruit implementation
+	// Format: [length_low, length_high, channel, sequence, command]
+	// This is: 5 bytes total, channel 1 (executable), command 1 (reset)
+	softResetPacket := []byte{5, 0, 1, 0, 1}
+
+	// Try up to 5 times
+	var err error
+	for i := 0; i < 5; i++ {
+		err = b.wire.Tx(b.address, softResetPacket, nil)
+		if err == nil {
+			// Success - wait for sensor to process reset
+			time.Sleep(300 * time.Millisecond)
+			return nil
+		}
+		time.Sleep(30 * time.Millisecond)
+	}
+	return err
+}

bno08x/constants.go

@@ -0,0 +1,179 @@
+package bno08x
+
+// I2C and protocol constants
+const (
+	shtpHeaderLength = 4
+	maxTransferOut   = 256
+	maxTransferIn    = 384
+
+	i2cDefaultChunk = 32
+	continueMask    = 0x8000
+)
+
+// SHTP channel numbers
+const (
+	channelCommand      = 0
+	channelExecutable   = 1
+	channelControl      = 2
+	channelSensorReport = 3
+	channelWakeReport   = 4
+	channelGyroRV       = 5
+)
+
+// SH-2 report IDs
+const (
+	reportProdIDReq      = 0xF9
+	reportProdIDResp     = 0xF8
+	reportSetFeature     = 0xFD
+	reportGetFeature     = 0xFE
+	reportGetFeatureResp = 0xFC
+	reportCommandReq     = 0xF2
+	reportCommandResp    = 0xF1
+	reportFRSWriteReq    = 0xF7
+	reportFRSWriteData   = 0xF6
+	reportFRSReadReq     = 0xF4
+	reportFRSReadResp    = 0xF3
+	reportBaseTimestamp  = 0xFB
+	reportTimestampReuse = 0xFA
+	reportForceFlush     = 0xF0
+	reportFlushCompleted = 0xEF
+	reportResetReq       = 0xF1
+	reportResetResp      = 0xF0
+)
+
+// SH-2 commands
+const (
+	cmdErrors         = 0x01
+	cmdCounts         = 0x02
+	cmdTare           = 0x03
+	cmdInitialize     = 0x04
+	cmdFRS            = 0x05
+	cmdDCD            = 0x06
+	cmdMECal          = 0x07
+	cmdProdIDReq      = 0x07
+	cmdDCDSave        = 0x09
+	cmdGetOscType     = 0x0A
+	cmdClearDCDReset  = 0x0B
+	cmdCal            = 0x0C
+	cmdBootloader     = 0x0D
+	cmdInteractiveZRO = 0x0E
+
+	// Command parameters
+	initSystem      = 0x01
+	initUnsolicited = 0x80
+
+	countsClearCounts = 0x01
+	countsGetCounts   = 0x00
+
+	tareTareNow          = 0x00
+	tarePersist          = 0x01
+	tareSetReorientation = 0x02
+
+	calStart  = 0x00
+	calFinish = 0x01
+
+	commandParamCount  = 9
+	responseValueCount = 11
+)
+
+// Feature report flags
+const (
+	featChangeSensitivityRelative = 0x01
+	featChangeSensitivityEnabled  = 0x02
+	featWakeEnabled               = 0x04
+	featAlwaysOnEnabled           = 0x08
+)
+
+// Scaling factors for sensor data
+// These are derived from the Q-point encoding in the SH-2 specification
+const (
+	scaleQuat        = 1.0 / 16384.0   // Q14
+	scaleAccel       = 1.0 / 256.0     // Q8
+	scaleGyro        = 1.0 / 512.0     // Q9
+	scaleMag         = 1.0 / 16.0      // Q4
+	scaleAccuracy    = 1.0 / 4096.0    // Q12
+	scalePressure    = 1.0 / 1048576.0 // Q20
+	scaleLight       = 1.0 / 256.0     // Q8
+	scaleHumidity    = 1.0 / 256.0     // Q8
+	scaleProximity   = 1.0 / 16.0      // Q4
+	scaleTemperature = 1.0 / 128.0     // Q7
+	scaleAngle       = 1.0 / 16.0      // Q4
+	scaleHeartRate   = 1.0 / 16.0      // Q4
+)
+
+// Activity classifier codes (extended beyond standard SH-2)
+const (
+	ActivityUnknown     = 0
+	ActivityInVehicle   = 1
+	ActivityOnBicycle   = 2
+	ActivityOnFoot      = 3
+	ActivityStill       = 4
+	ActivityTilting     = 5
+	ActivityWalking     = 6
+	ActivityRunning     = 7
+	ActivityOnStairs    = 8
+	ActivityOptionCount = 9
+)
+
+// Stability classifier values
+const (
+	StabilityUnknown    = 0
+	StabilityOnTable    = 1
+	StabilityStationary = 2
+	StabilityStable     = 3
+	StabilityMotion     = 4
+)
+
+// Tap detector flags
+const (
+	TapX      = 0x01 // 1 - X axis tapped
+	TapXPos   = 0x02 // 2 - X positive direction
+	TapY      = 0x04 // 4 - Y axis tapped
+	TapYPos   = 0x08 // 8 - Y positive direction
+	TapZ      = 0x10 // 16 - Z axis tapped
+	TapZPos   = 0x20 // 32 - Z positive direction
+	TapDouble = 0x40 // 64 - Double tap occurred
+)
+
+// GUID values for SHTP
+const (
+	guidSHTP       = 0
+	guidExecutable = 1
+	guidSensorHub  = 2
+)
+
+// Advertisement tags
+const (
+	tagNull                = 0
+	tagGUID                = 1
+	tagMaxCargoHeaderWrite = 2
+	tagMaxCargoHeaderRead  = 3
+	tagMaxTransferWrite    = 4
+	tagMaxTransferRead     = 5
+	tagNormalChannel       = 6
+	tagWakeChannel         = 7
+	tagAppName             = 8
+	tagChannelName         = 9
+	tagAdvCount            = 10
+	tagAppSpecific         = 0x80
+	tagSH2Version          = 0x80
+	tagSH2ReportLengths    = 0x81
+)
+
+// Timeouts
+const (
+	advertTimeout  = 200000 // microseconds
+	commandTimeout = 300000 // microseconds
+)
+
+// Executable device commands
+const (
+	execDeviceCmdReset = 1
+	execDeviceCmdOn    = 2
+	execDeviceCmdSleep = 3
+)
+
+// Executable device responses
+const (
+	execDeviceRespResetComplete = 1
+)

bno08x/decode.go

@@ -0,0 +1,316 @@
+package bno08x
+
+import "encoding/binary"
+
+// decodeSensor decodes a sensor report payload into a SensorValue.
+func decodeSensor(payload []byte, timestamp uint32) (SensorValue, bool) {
+	if len(payload) < 4 {
+		return SensorValue{}, false
+	}
+
+	value := SensorValue{
+		id:        SensorID(payload[0]),
+		sequence:  payload[1],
+		status:    payload[2] & 0x03,
+		delay:     payload[3],
+		timestamp: uint64(timestamp),
+	}
+
+	data := payload[4:]
+
+	switch value.id {
+	case SensorRawAccelerometer:
+		if len(data) >= 10 {
+			value.rawAccelerometer = RawVector3{
+				X:         int16(binary.LittleEndian.Uint16(data[0:])),
+				Y:         int16(binary.LittleEndian.Uint16(data[2:])),
+				Z:         int16(binary.LittleEndian.Uint16(data[4:])),
+				Timestamp: binary.LittleEndian.Uint32(data[6:]),
+			}
+		}
+
+	case SensorAccelerometer:
+		if len(data) >= 6 {
+			value.accelerometer = Vector3{
+				X: qToFloat(data[0:], scaleAccel),
+				Y: qToFloat(data[2:], scaleAccel),
+				Z: qToFloat(data[4:], scaleAccel),
+			}
+		}
+
+	case SensorLinearAcceleration:
+		if len(data) >= 6 {
+			value.linearAcceleration = Vector3{
+				X: qToFloat(data[0:], scaleAccel),
+				Y: qToFloat(data[2:], scaleAccel),
+				Z: qToFloat(data[4:], scaleAccel),
+			}
+		}
+
+	case SensorGravity:
+		if len(data) >= 6 {
+			value.gravity = Vector3{
+				X: qToFloat(data[0:], scaleAccel),
+				Y: qToFloat(data[2:], scaleAccel),
+				Z: qToFloat(data[4:], scaleAccel),
+			}
+		}
+
+	case SensorRawGyroscope:
+		if len(data) >= 12 {
+			value.rawGyroscope = RawGyroscope{
+				X:           int16(binary.LittleEndian.Uint16(data[0:])),
+				Y:           int16(binary.LittleEndian.Uint16(data[2:])),
+				Z:           int16(binary.LittleEndian.Uint16(data[4:])),
+				Temperature: int16(binary.LittleEndian.Uint16(data[6:])),
+				Timestamp:   binary.LittleEndian.Uint32(data[8:]),
+			}
+		}
+
+	case SensorGyroscope:
+		if len(data) >= 6 {
+			value.gyroscope = Vector3{
+				X: qToFloat(data[0:], scaleGyro),
+				Y: qToFloat(data[2:], scaleGyro),
+				Z: qToFloat(data[4:], scaleGyro),
+			}
+		}
+
+	case SensorGyroscopeUncalibrated:
+		if len(data) >= 12 {
+			value.gyroscopeUncal = GyroscopeUncalibrated{
+				X:     qToFloat(data[0:], scaleGyro),
+				Y:     qToFloat(data[2:], scaleGyro),
+				Z:     qToFloat(data[4:], scaleGyro),
+				BiasX: qToFloat(data[6:], scaleGyro),
+				BiasY: qToFloat(data[8:], scaleGyro),
+				BiasZ: qToFloat(data[10:], scaleGyro),
+			}
+		}
+
+	case SensorRawMagnetometer:
+		if len(data) >= 10 {
+			value.rawMagnetometer = RawVector3{
+				X:         int16(binary.LittleEndian.Uint16(data[0:])),
+				Y:         int16(binary.LittleEndian.Uint16(data[2:])),
+				Z:         int16(binary.LittleEndian.Uint16(data[4:])),
+				Timestamp: binary.LittleEndian.Uint32(data[6:]),
+			}
+		}
+
+	case SensorMagneticField:
+		if len(data) >= 6 {
+			value.magneticField = Vector3{
+				X: qToFloat(data[0:], scaleMag),
+				Y: qToFloat(data[2:], scaleMag),
+				Z: qToFloat(data[4:], scaleMag),
+			}
+		}
+
+	case SensorMagneticFieldUncalibrated:
+		if len(data) >= 12 {
+			value.magneticFieldUncal = MagneticFieldUncalibrated{
+				X:     qToFloat(data[0:], scaleMag),
+				Y:     qToFloat(data[2:], scaleMag),
+				Z:     qToFloat(data[4:], scaleMag),
+				BiasX: qToFloat(data[6:], scaleMag),
+				BiasY: qToFloat(data[8:], scaleMag),
+				BiasZ: qToFloat(data[10:], scaleMag),
+			}
+		}
+
+	case SensorRotationVector:
+		if len(data) >= 10 {
+			value.quaternion = Quaternion{
+				I:    qToFloat(data[0:], scaleQuat),
+				J:    qToFloat(data[2:], scaleQuat),
+				K:    qToFloat(data[4:], scaleQuat),
+				Real: qToFloat(data[6:], scaleQuat),
+			}
+			value.quaternionAccuracy = qToFloat(data[8:], scaleAccuracy)
+		}
+
+	case SensorGameRotationVector:
+		if len(data) >= 8 {
+			value.quaternion = Quaternion{
+				I:    qToFloat(data[0:], scaleQuat),
+				J:    qToFloat(data[2:], scaleQuat),
+				K:    qToFloat(data[4:], scaleQuat),
+				Real: qToFloat(data[6:], scaleQuat),
+			}
+		}
+
+	case SensorGeomagneticRotationVector:
+		if len(data) >= 10 {
+			value.quaternion = Quaternion{
+				I:    qToFloat(data[0:], scaleQuat),
+				J:    qToFloat(data[2:], scaleQuat),
+				K:    qToFloat(data[4:], scaleQuat),
+				Real: qToFloat(data[6:], scaleQuat),
+			}
+			value.quaternionAccuracy = qToFloat(data[8:], scaleAccuracy)
+		}
+
+	case SensorARVRStabilizedRV:
+		if len(data) >= 10 {
+			value.quaternion = Quaternion{
+				I:    qToFloat(data[0:], scaleQuat),
+				J:    qToFloat(data[2:], scaleQuat),
+				K:    qToFloat(data[4:], scaleQuat),
+				Real: qToFloat(data[6:], scaleQuat),
+			}
+			value.quaternionAccuracy = qToFloat(data[8:], scaleAccuracy)
+		}
+
+	case SensorARVRStabilizedGRV:
+		if len(data) >= 8 {
+			value.quaternion = Quaternion{
+				I:    qToFloat(data[0:], scaleQuat),
+				J:    qToFloat(data[2:], scaleQuat),
+				K:    qToFloat(data[4:], scaleQuat),
+				Real: qToFloat(data[6:], scaleQuat),
+			}
+		}
+
+	case SensorGyroIntegratedRV:
+		if len(data) >= 10 {
+			value.quaternion = Quaternion{
+				I:    qToFloat(data[0:], scaleQuat),
+				J:    qToFloat(data[2:], scaleQuat),
+				K:    qToFloat(data[4:], scaleQuat),
+				Real: qToFloat(data[6:], scaleQuat),
+			}
+			// Angular velocity X at data[8:10]
+		}
+
+	case SensorPressure:
+		if len(data) >= 4 {
+			value.pressure = float32(int32(binary.LittleEndian.Uint32(data[0:]))) * scalePressure
+		}
+
+	case SensorAmbientLight:
+		if len(data) >= 4 {
+			value.ambientLight = float32(int32(binary.LittleEndian.Uint32(data[0:]))) * scaleLight
+		}
+
+	case SensorHumidity:
+		if len(data) >= 2 {
+			value.humidity = qToFloat(data[0:], scaleHumidity)
+		}
+
+	case SensorProximity:
+		if len(data) >= 2 {
+			value.proximity = qToFloat(data[0:], scaleProximity)
+		}
+
+	case SensorTemperature:
+		if len(data) >= 2 {
+			value.temperature = qToFloat(data[0:], scaleTemperature)
+		}
+
+	case SensorTapDetector:
+		if len(data) >= 1 {
+			value.tapDetector = TapDetector{
+				Flags: data[0],
+			}
+		}
+
+	case SensorStepDetector:
+		if len(data) >= 4 {
+			value.stepDetector = StepDetector{
+				Latency: binary.LittleEndian.Uint32(data[0:]),
+			}
+		}
+
+	case SensorStepCounter:
+		if len(data) >= 8 {
+			value.stepCounter = StepCounter{
+				Count:   uint16(binary.LittleEndian.Uint32(data[4:8])),
+				Latency: binary.LittleEndian.Uint32(data[0:4]),
+			}
+		}
+
+	case SensorSignificantMotion:
+		if len(data) >= 2 {
+			value.significantMotion = SignificantMotion{
+				Motion: binary.LittleEndian.Uint16(data[0:]),
+			}
+		}
+
+	case SensorStabilityClassifier:
+		if len(data) >= 1 {
+			value.stabilityClassifier = StabilityClassifier{
+				Classification: data[0],
+			}
+		}
+
+	case SensorStabilityDetector:
+		if len(data) >= 1 {
+			value.stabilityDetector = data[0]
+		}
+
+	case SensorShakeDetector:
+		if len(data) >= 2 {
+			value.shakeDetector = ShakeDetector{
+				Shake: binary.LittleEndian.Uint16(data[0:]),
+			}
+		}
+
+	case SensorFlipDetector:
+		if len(data) >= 2 {
+			value.flipDetector = binary.LittleEndian.Uint16(data[0:2])
+		}
+
+	case SensorPickupDetector:
+		if len(data) >= 2 {
+			// Pickup detected at data[0:2]
+		}
+
+	case SensorPersonalActivityClassifier:
+		if len(data) >= 16 {
+			value.personalActivityClassifier = PersonalActivityClassifier{
+				Page:            data[0],
+				MostLikelyState: data[1],
+				EndOfPage:       data[15],
+			}
+			for i := 0; i < 10 && i+2 < len(data); i++ {
+				value.personalActivityClassifier.Confidence[i] = data[2+i]
+			}
+		}
+
+	case SensorSleepDetector:
+		if len(data) >= 1 {
+			value.sleepDetector = data[0]
+		}
+
+	case SensorTiltDetector:
+		if len(data) >= 1 {
+			value.tiltDetector = data[0]
+		}
+
+	case SensorPocketDetector:
+		if len(data) >= 1 {
+			value.pocketDetector = data[0]
+		}
+
+	case SensorCircleDetector:
+		if len(data) >= 1 {
+			value.circleDetector = data[0]
+		}
+
+	case SensorHeartRateMonitor:
+		if len(data) >= 2 {
+			value.heartRateMonitor = binary.LittleEndian.Uint16(data[0:])
+		}
+	}
+
+	return value, true
+}
+
+// qToFloat converts a Q-point fixed-point value to float32.
+func qToFloat(data []byte, scale float32) float32 {
+	if len(data) < 2 {
+		return 0
+	}
+	return float32(int16(binary.LittleEndian.Uint16(data))) * scale
+}

bno08x/hal.go

@@ -0,0 +1,43 @@
+package bno08x
+
+import (
+	"time"
+)
+
+// hal implements the hardware abstraction layer for bus communication.
+type hal struct {
+	device *Device
+}
+
+func newHAL(dev *Device) *hal {
+	return &hal{
+		device: dev,
+	}
+}
+
+func (h *hal) open() error {
+	// HAL is now open and ready for communication
+	// Soft reset will be sent after handlers are registered
+	return nil
+}
+
+func (h *hal) close() {}
+
+func (h *hal) read(target []byte) (int, uint32, error) {
+	return h.device.bus.read(target)
+}
+
+func (h *hal) write(frame []byte) (int, error) {
+	if len(frame) > maxTransferOut {
+		return 0, errFrameTooLarge
+	}
+	err := h.device.bus.write(frame)
+	if err != nil {
+		return 0, err
+	}
+	return len(frame), nil
+}
+
+func (h *hal) getTimeUs() uint32 {
+	return uint32(time.Now().UnixNano() / 1000)
+}

bno08x/sh2.go

@@ -0,0 +1,387 @@
+// SH-2 specification found at https://www.ceva-ip.com/wp-content/uploads/SH-2-Reference-Manual.pdf
+
+package bno08x
+
+import (
+	"encoding/binary"
+	"time"
+)
+
+// getReportLen returns the length in bytes of a sensor report given its ID.
+// Returns 0 for unknown report IDs.
+func getReportLen(reportID byte) int {
+	switch reportID {
+	case 0xF1: // FLUSH_COMPLETED
+		return 6
+	case 0xFA: // TIMESTAMP_REBASE
+		return 5
+	case 0xFB: // BASE_TIMESTAMP_REF
+		return 5
+	case 0xFC: // GET_FEATURE_RESP
+		return 17
+	case 0x01: // Accelerometer (calibrated)
+		return 10
+	case 0x02: // Gyroscope (calibrated)
+		return 10
+	case 0x03: // Magnetic field (calibrated)
+		return 10
+	case 0x04: // Linear acceleration
+		return 10
+	case 0x05: // Rotation vector
+		return 14
+	case 0x06: // Gravity
+		return 10
+	case 0x07: // Gyroscope uncalibrated
+		return 16
+	case 0x08: // Game rotation vector
+		return 12
+	case 0x09: // Geomagnetic rotation vector
+		return 14
+	case 0x0A: // Pressure
+		return 10
+	case 0x0B: // Ambient light
+		return 10
+	case 0x0C: // Humidity
+		return 10
+	case 0x0D: // Proximity
+		return 10
+	case 0x0E: // Temperature
+		return 10
+	case 0x0F: // Magnetic field uncalibrated
+		return 16
+	case 0x10: // Tap detector
+		return 5
+	case 0x11: // Step counter
+		return 12
+	case 0x12: // Significant motion
+		return 6
+	case 0x13: // Stability classifier
+		return 5
+	case 0x14: // Raw accelerometer
+		return 16
+	case 0x15: // Raw gyroscope
+		return 16
+	case 0x16: // Raw magnetometer
+		return 16
+	case 0x18: // Step detector
+		return 8
+	case 0x19: // Shake detector
+		return 6
+	case 0x1A: // Flip detector
+		return 6
+	case 0x1B: // Pickup detector
+		return 6
+	case 0x1C: // Stability detector
+		return 6
+	case 0x1E: // Personal activity classifier
+		return 16
+	default:
+		// For most sensor reports, they are typically 10-16 bytes
+		// If we don't know the exact length, return a safe default
+		// that covers most cases (the handler will bounds-check)
+		if reportID < 0xF0 {
+			return 10 // Most sensor reports are at least this long
+		}
+		return 0
+	}
+}
+
+// sh2Protocol implements the Sensor Hub 2 (SH-2) application protocol.
+type sh2Protocol struct {
+	device               *Device
+	transport            *shtp
+	cmdSeq               uint8
+	waiting              bool
+	lastCmd              uint8
+	pendingConfigRequest bool
+	pendingConfigSensor  SensorID
+	receivedConfig       SensorConfig
+	configReady          bool
+	configBuf            [17]byte                    // Reusable buffer for setSensorConfig
+	commandBuf           [3 + commandParamCount]byte // Reusable buffer for sendCommand
+}
+
+func newSH2Protocol(device *Device) *sh2Protocol {
+	proto := &sh2Protocol{
+		device:    device,
+		transport: device.shtp,
+	}
+
+	// Register handlers for each channel
+	device.shtp.register(channelControl, proto.handleControl)
+	device.shtp.register(channelSensorReport, proto.handleSensor)
+	device.shtp.register(channelWakeReport, proto.handleSensor)
+	device.shtp.register(channelGyroRV, proto.handleSensor)
+	device.shtp.register(channelExecutable, proto.handleExecutable)
+
+	return proto
+}
+
+// softReset sends a software reset command to the sensor.
+func (s *sh2Protocol) softReset() error {
+	payload := []byte{execDeviceCmdReset}
+	return s.transport.send(channelExecutable, payload)
+}
+
+// initialize sends the initialize command to the sensor.
+func (s *sh2Protocol) initialize() error {
+	return s.sendCommand(cmdInitialize, []byte{initSystem})
+}
+
+// requestProductIDs requests product identification information.
+func (s *sh2Protocol) requestProductIDs() error {
+	payload := []byte{reportProdIDReq, 0x00}
+	return s.transport.send(channelControl, payload)
+}
+
+// enableReport enables a sensor report at the specified interval.
+func (s *sh2Protocol) enableReport(id SensorID, intervalUs uint32) error {
+	config := SensorConfig{
+		ReportInterval: intervalUs,
+	}
+	return s.setSensorConfig(id, config)
+}
+
+// getSensorConfig retrieves the configuration for a sensor.
+// This method sends a GET_FEATURE request and waits for the response
+// by polling the device. It will timeout after approximately 1 second.
+func (s *sh2Protocol) getSensorConfig(id SensorID) (SensorConfig, error) {
+	// Mark that we're waiting for a config response
+	s.pendingConfigRequest = true
+	s.pendingConfigSensor = id
+	s.configReady = false
+
+	payload := []byte{reportGetFeature, byte(id)}
+	err := s.transport.send(channelControl, payload)
+	if err != nil {
+		s.pendingConfigRequest = false
+		return SensorConfig{}, err
+	}
+
+	// Poll for response with timeout
+	maxAttempts := 100 // ~1 second with 10ms delays
+	for i := 0; i < maxAttempts; i++ {
+		// Service the device to process incoming messages
+		s.device.shtp.poll()
+
+		if s.configReady {
+			s.pendingConfigRequest = false
+			s.configReady = false
+			return s.receivedConfig, nil
+		}
+
+		// Small delay between polls
+		time.Sleep(10 * time.Millisecond)
+	}
+
+	s.pendingConfigRequest = false
+	return SensorConfig{}, errTimeout
+}
+
+// setSensorConfig configures a sensor.
+func (s *sh2Protocol) setSensorConfig(id SensorID, config SensorConfig) error {
+	// Use pre-allocated buffer to avoid allocations
+	payload := s.configBuf[:]
+	payload[0] = reportSetFeature
+	payload[1] = byte(id)
+
+	// Build feature flags
+	var flags uint8
+	if config.ChangeSensitivityEnabled {
+		flags |= featChangeSensitivityEnabled
+	}
+	if config.ChangeSensitivityRelative {
+		flags |= featChangeSensitivityRelative
+	}
+	if config.WakeupEnabled {
+		flags |= featWakeEnabled
+	}
+	if config.AlwaysOnEnabled {
+		flags |= featAlwaysOnEnabled
+	}
+	payload[2] = flags
+
+	binary.LittleEndian.PutUint16(payload[3:5], config.ChangeSensitivity)
+	binary.LittleEndian.PutUint32(payload[5:9], config.ReportInterval)
+	binary.LittleEndian.PutUint32(payload[9:13], config.BatchInterval)
+	binary.LittleEndian.PutUint32(payload[13:17], config.SensorSpecific)
+
+	return s.transport.send(channelControl, payload)
+}
+
+// sendCommand sends a command with parameters to the sensor.
+func (s *sh2Protocol) sendCommand(command byte, params []byte) error {
+	// Use pre-allocated buffer to avoid allocations
+	payload := s.commandBuf[:]
+	payload[0] = reportCommandReq
+	payload[1] = s.cmdSeq
+	payload[2] = command
+	s.cmdSeq++
+	s.lastCmd = command
+	s.waiting = true
+
+	for i := 0; i < commandParamCount && i < len(params); i++ {
+		payload[3+i] = params[i]
+	}
+
+	return s.transport.send(channelControl, payload[:3+commandParamCount])
+}
+
+// handleControl processes control channel messages.
+func (s *sh2Protocol) handleControl(payload []byte, timestamp uint32) {
+	if len(payload) == 0 {
+		return
+	}
+
+	reportID := payload[0]
+
+	switch reportID {
+	case reportProdIDResp:
+		s.handleProdID(payload, timestamp)
+	case reportCommandResp:
+		s.handleCommandResp(payload, timestamp)
+	case reportGetFeatureResp:
+		s.handleGetFeatureResp(payload, timestamp)
+	case reportFRSReadResp:
+		// FRS (Flash Record System) read response
+		// Not implemented in basic version
+	}
+}
+
+// handleProdID processes product ID responses.
+func (s *sh2Protocol) handleProdID(payload []byte, timestamp uint32) {
+	if len(payload) < 16 {
+		return
+	}
+
+	entry := ProductID{
+		ResetCause:   payload[1],
+		VersionMajor: payload[2],
+		VersionMinor: payload[3],
+		PartNumber:   binary.LittleEndian.Uint32(payload[4:8]),
+		BuildNumber:  binary.LittleEndian.Uint32(payload[8:12]),
+		VersionPatch: binary.LittleEndian.Uint16(payload[12:14]),
+		Reserved0:    payload[14],
+		Reserved1:    payload[15],
+	}
+
+	// Store in first slot
+	s.device.productIDs.Entries[0] = entry
+	s.device.productIDs.NumEntries = 1
+}
+
+// handleCommandResp processes command responses.
+func (s *sh2Protocol) handleCommandResp(payload []byte, timestamp uint32) {
+	if len(payload) < 16 {
+		return
+	}
+
+	// seq := payload[1]
+	command := payload[2]
+	// commandSeq := payload[3]
+	// respSeq := payload[4]
+
+	// Check if this response is for our command
+	if s.waiting && command == s.lastCmd {
+		s.waiting = false
+		// Status is in payload[6]
+		// For now, we just acknowledge receipt
+	}
+}
+
+// handleGetFeatureResp processes get feature responses.
+func (s *sh2Protocol) handleGetFeatureResp(payload []byte, timestamp uint32) {
+	if len(payload) < 17 {
+		return
+	}
+
+	// Parse the response
+	sensorID := SensorID(payload[1])
+	flags := payload[2]
+	changeSensitivity := binary.LittleEndian.Uint16(payload[3:5])
+	reportInterval := binary.LittleEndian.Uint32(payload[5:9])
+	batchInterval := binary.LittleEndian.Uint32(payload[9:13])
+	sensorSpecific := binary.LittleEndian.Uint32(payload[13:17])
+
+	// If we're waiting for this sensor's config, store it
+	if s.pendingConfigRequest && s.pendingConfigSensor == sensorID {
+		s.receivedConfig = SensorConfig{
+			ChangeSensitivityEnabled:  flags&featChangeSensitivityEnabled != 0,
+			ChangeSensitivityRelative: flags&featChangeSensitivityRelative != 0,
+			WakeupEnabled:             flags&featWakeEnabled != 0,
+			AlwaysOnEnabled:           flags&featAlwaysOnEnabled != 0,
+			ChangeSensitivity:         changeSensitivity,
+			ReportInterval:            reportInterval,
+			BatchInterval:             batchInterval,
+			SensorSpecific:            sensorSpecific,
+		}
+		s.configReady = true
+	}
+}
+
+// handleSensor processes sensor report messages.
+// The payload can contain multiple sensor reports batched together.
+func (s *sh2Protocol) handleSensor(payload []byte, timestamp uint32) {
+	cursor := 0
+	var referenceDelta uint32
+
+	for cursor < len(payload) {
+		if cursor >= len(payload) {
+			break
+		}
+
+		reportID := payload[cursor]
+		reportLen := getReportLen(reportID)
+
+		if reportLen == 0 {
+			// Unknown report ID
+			break
+		}
+
+		if cursor+reportLen > len(payload) {
+			// Not enough data for this report
+			break
+		}
+
+		// Handle special report types
+		switch reportID {
+		case 0xFB: // SENSORHUB_BASE_TIMESTAMP_REF
+			if reportLen >= 5 {
+				// Extract timebase (little-endian uint32)
+				timebase := binary.LittleEndian.Uint32(payload[cursor+1 : cursor+5])
+				referenceDelta = -timebase // Store negative for delta calculation
+			}
+
+		case 0xFA: // SENSORHUB_TIMESTAMP_REBASE
+			if reportLen >= 5 {
+				timebase := binary.LittleEndian.Uint32(payload[cursor+1 : cursor+5])
+				referenceDelta += timebase
+			}
+
+		case 0xF1: // SENSORHUB_FLUSH_COMPLETED
+			// Route to control handler
+			s.handleControl(payload[cursor:cursor+reportLen], timestamp)
+
+		default:
+			// Regular sensor report
+			value, ok := decodeSensor(payload[cursor:cursor+reportLen], timestamp)
+			if ok {
+				s.device.enqueue(value)
+			}
+		}
+
+		cursor += reportLen
+	}
+} // handleExecutable processes executable channel messages.
+func (s *sh2Protocol) handleExecutable(payload []byte, timestamp uint32) {
+	if len(payload) == 0 {
+		return
+	}
+
+	reportID := payload[0]
+
+	switch reportID {
+	case execDeviceRespResetComplete:
+		s.device.lastReset = true
+	}
+}

bno08x/shtp.go

@@ -0,0 +1,83 @@
+// SHTP specification found at https://www.ceva-ip.com/wp-content/uploads/SH-2-SHTP-Reference-Manual.pdf
+
+package bno08x
+
+import "encoding/binary"
+
+// shtpHandler is a callback for handling SHTP channel data.
+type shtpHandler func(payload []byte, timestamp uint32)
+
+// shtp implements the Sensor Hub Transport Protocol layer.
+type shtp struct {
+	hal      *hal
+	handlers map[uint8]shtpHandler
+	seq      [8]uint8
+	rx       [maxTransferIn]byte  // Reusable receive buffer
+	tx       [maxTransferOut]byte // Reusable transmit buffer
+}
+
+func newSHTP(hal *hal) *shtp {
+	return &shtp{
+		hal:      hal,
+		handlers: make(map[uint8]shtpHandler),
+	}
+}
+
+// register registers a handler for a specific SHTP channel.
+func (s *shtp) register(channel uint8, handler shtpHandler) {
+	if handler == nil {
+		delete(s.handlers, channel)
+		return
+	}
+	s.handlers[channel] = handler
+}
+
+// send transmits a payload on the specified channel.
+func (s *shtp) send(channel uint8, payload []byte) error {
+	total := len(payload) + shtpHeaderLength
+	if total > maxTransferOut {
+		return errFrameTooLarge
+	}
+
+	// Use pre-allocated transmit buffer to avoid allocations
+	frame := s.tx[:total]
+	binary.LittleEndian.PutUint16(frame[0:2], uint16(total))
+	frame[2] = channel
+	frame[3] = s.seq[channel]
+	s.seq[channel]++
+	copy(frame[shtpHeaderLength:], payload)
+
+	_, err := s.hal.write(frame)
+	return err
+}
+
+// poll checks for and processes incoming SHTP packets.
+// Returns true if a packet was processed, false if no data available.
+func (s *shtp) poll() (bool, error) {
+	n, timestamp, err := s.hal.read(s.rx[:])
+	if err != nil {
+		return false, err
+	}
+	if n == 0 {
+		return false, nil
+	}
+
+	packet := s.rx[:n]
+	length := int(binary.LittleEndian.Uint16(packet[0:2]) & ^uint16(continueMask))
+	if length > n {
+		length = n
+	}
+	if length < shtpHeaderLength {
+		return false, nil
+	}
+
+	channel := packet[2]
+	// seq := packet[3] // sequence number, not currently validated
+	payload := packet[shtpHeaderLength:length]
+
+	if handler := s.handlers[channel]; handler != nil {
+		handler(payload, timestamp)
+	}
+
+	return true, nil
+}

bno08x/types.go

@@ -0,0 +1,572 @@
+package bno08x
+
+// SensorID identifies a specific sensor type.
+type SensorID uint8
+
+// Sensor IDs as defined in the SH-2 specification.
+const (
+	SensorRawAccelerometer           SensorID = 0x14
+	SensorAccelerometer              SensorID = 0x01
+	SensorLinearAcceleration         SensorID = 0x04
+	SensorGravity                    SensorID = 0x06
+	SensorRawGyroscope               SensorID = 0x15
+	SensorGyroscope                  SensorID = 0x02
+	SensorGyroscopeUncalibrated      SensorID = 0x07
+	SensorRawMagnetometer            SensorID = 0x16
+	SensorMagneticField              SensorID = 0x03
+	SensorMagneticFieldUncalibrated  SensorID = 0x0F
+	SensorRotationVector             SensorID = 0x05
+	SensorGameRotationVector         SensorID = 0x08
+	SensorGeomagneticRotationVector  SensorID = 0x09
+	SensorPressure                   SensorID = 0x0A
+	SensorAmbientLight               SensorID = 0x0B
+	SensorHumidity                   SensorID = 0x0C
+	SensorProximity                  SensorID = 0x0D
+	SensorTemperature                SensorID = 0x0E
+	SensorReserved                   SensorID = 0x17
+	SensorTapDetector                SensorID = 0x10
+	SensorStepDetector               SensorID = 0x18
+	SensorStepCounter                SensorID = 0x11
+	SensorSignificantMotion          SensorID = 0x12
+	SensorStabilityClassifier        SensorID = 0x13
+	SensorShakeDetector              SensorID = 0x19
+	SensorFlipDetector               SensorID = 0x1A
+	SensorPickupDetector             SensorID = 0x1B
+	SensorStabilityDetector          SensorID = 0x1C
+	SensorPersonalActivityClassifier SensorID = 0x1E
+	SensorSleepDetector              SensorID = 0x1F
+	SensorTiltDetector               SensorID = 0x20
+	SensorPocketDetector             SensorID = 0x21
+	SensorCircleDetector             SensorID = 0x22
+	SensorHeartRateMonitor           SensorID = 0x23
+	SensorARVRStabilizedRV           SensorID = 0x28
+	SensorARVRStabilizedGRV          SensorID = 0x29
+	SensorGyroIntegratedRV           SensorID = 0x2A
+	SensorIZROMotionRequest          SensorID = 0x2B
+	SensorMaxID                      SensorID = 0x2B
+)
+
+// ProductID contains firmware information from the sensor.
+type ProductID struct {
+	ResetCause   uint8
+	VersionMajor uint8
+	VersionMinor uint8
+	PartNumber   uint32
+	BuildNumber  uint32
+	VersionPatch uint16
+	Reserved0    uint8
+	Reserved1    uint8
+}
+
+// ProductIDs holds all product ID entries returned by the sensor.
+type ProductIDs struct {
+	Entries    [5]ProductID
+	NumEntries uint8
+}
+
+// Vector3 represents a 3D vector.
+type Vector3 struct {
+	X float32
+	Y float32
+	Z float32
+}
+
+// Quaternion represents a quaternion in (real, i, j, k) format.
+// Note: This maps to (w, x, y, z) convention where w=real, x=i, y=j, z=k.
+type Quaternion struct {
+	Real float32
+	I    float32
+	J    float32
+	K    float32
+}
+
+// RawVector3 contains raw ADC counts with timestamp.
+type RawVector3 struct {
+	X         int16
+	Y         int16
+	Z         int16
+	Timestamp uint32
+}
+
+// RawGyroscope contains raw gyro readings with temperature and timestamp.
+type RawGyroscope struct {
+	X           int16
+	Y           int16
+	Z           int16
+	Temperature int16
+	Timestamp   uint32
+}
+
+// GyroscopeUncalibrated contains uncalibrated gyroscope data with bias.
+type GyroscopeUncalibrated struct {
+	X     float32
+	Y     float32
+	Z     float32
+	BiasX float32
+	BiasY float32
+	BiasZ float32
+}
+
+// MagneticFieldUncalibrated contains uncalibrated magnetometer data with bias.
+type MagneticFieldUncalibrated struct {
+	X     float32
+	Y     float32
+	Z     float32
+	BiasX float32
+	BiasY float32
+	BiasZ float32
+}
+
+// TapDetector contains tap/double-tap detection flags.
+type TapDetector struct {
+	Flags uint8
+}
+
+// StepDetector contains step detection with latency.
+type StepDetector struct {
+	Latency uint32
+}
+
+// StepCounter contains step count with latency.
+type StepCounter struct {
+	Count   uint16
+	Latency uint32
+}
+
+// SignificantMotion indicates significant motion was detected.
+type SignificantMotion struct {
+	Motion uint16
+}
+
+// ActivityClassification contains activity classification data.
+type ActivityClassification struct {
+	Page            uint8
+	MostLikelyState uint8
+	Classification  [10]uint8
+	EndOfPage       uint8
+}
+
+// ShakeDetector contains shake detection data.
+type ShakeDetector struct {
+	Shake uint16
+}
+
+// StabilityClassifier contains stability classification.
+type StabilityClassifier struct {
+	Classification uint8
+}
+
+// PersonalActivityClassifier contains personal activity data.
+type PersonalActivityClassifier struct {
+	Page            uint8
+	MostLikelyState uint8
+	Confidence      [10]uint8
+	EndOfPage       uint8
+}
+
+// SensorValue contains decoded sensor data for all sensor types.
+type SensorValue struct {
+	id        SensorID
+	status    uint8
+	sequence  uint8
+	delay     uint8
+	timestamp uint64
+
+	// Orientation data (quaternions)
+	quaternion         Quaternion
+	quaternionAccuracy float32
+
+	// Linear measurements
+	accelerometer      Vector3
+	linearAcceleration Vector3
+	gravity            Vector3
+	gyroscope          Vector3
+	gyroscopeUncal     GyroscopeUncalibrated
+	magneticField      Vector3
+	magneticFieldUncal MagneticFieldUncalibrated
+
+	// Raw sensor data
+	rawAccelerometer RawVector3
+	rawGyroscope     RawGyroscope
+	rawMagnetometer  RawVector3
+
+	// Environmental sensors
+	pressure     float32 // hPa
+	ambientLight float32 // lux
+	humidity     float32 // %
+	proximity    float32 // cm
+	temperature  float32 // °C
+
+	// Activity detection
+	tapDetector                TapDetector
+	stepCounter                StepCounter
+	stepDetector               StepDetector
+	significantMotion          SignificantMotion
+	shakeDetector              ShakeDetector
+	flipDetector               uint16
+	stabilityClassifier        StabilityClassifier
+	stabilityDetector          uint8
+	activityClassifier         ActivityClassification
+	personalActivityClassifier PersonalActivityClassifier
+	sleepDetector              uint8
+	tiltDetector               uint8
+	pocketDetector             uint8
+	circleDetector             uint8
+	heartRateMonitor           uint16
+}
+
+// SensorConfig holds configuration settings for a sensor.
+type SensorConfig struct {
+	ChangeSensitivityEnabled  bool
+	ChangeSensitivityRelative bool
+	WakeupEnabled             bool
+	AlwaysOnEnabled           bool
+	ChangeSensitivity         uint16
+	ReportInterval            uint32 // microseconds
+	BatchInterval             uint32 // microseconds
+	SensorSpecific            uint32
+}
+
+// Error represents a driver error.
+type Error string
+
+func (e Error) Error() string { return string(e) }
+
+// Error constants.
+var (
+	errBufferTooSmall = Error("bno08x: buffer too small")
+	errNoEvent        = Error("bno08x: no sensor event available")
+	errTimeout        = Error("bno08x: operation timed out")
+	errFrameTooLarge  = Error("bno08x: frame exceeds maximum size")
+	errNoBus          = Error("bno08x: I2C bus not configured")
+	errInvalidParam   = Error("bno08x: invalid parameter")
+	errHubError       = Error("bno08x: sensor hub error")
+	errIO             = Error("bno08x: I/O error")
+)
+
+// Metadata accessor methods (always available for any sensor type)
+
+// ID returns the sensor ID.
+func (sv SensorValue) ID() SensorID {
+	return sv.id
+}
+
+// Status returns the sensor status flags.
+func (sv SensorValue) Status() uint8 {
+	return sv.status
+}
+
+// Sequence returns the sequence number.
+func (sv SensorValue) Sequence() uint8 {
+	return sv.sequence
+}
+
+// Delay returns the sensor delay value.
+func (sv SensorValue) Delay() uint8 {
+	return sv.delay
+}
+
+// Timestamp returns the sensor timestamp.
+func (sv SensorValue) Timestamp() uint64 {
+	return sv.timestamp
+}
+
+// Orientation data accessor methods
+
+// Quaternion returns the quaternion value for rotation vector sensors.
+// Panics if called on a sensor type that doesn't provide quaternion data.
+func (sv SensorValue) Quaternion() Quaternion {
+	switch sv.id {
+	case SensorRotationVector, SensorGameRotationVector, SensorGeomagneticRotationVector,
+		SensorARVRStabilizedRV, SensorARVRStabilizedGRV, SensorGyroIntegratedRV:
+		return sv.quaternion
+	default:
+		panic("bno08x: Quaternion() called on non-rotation sensor type")
+	}
+}
+
+// QuaternionAccuracy returns the quaternion accuracy estimate.
+// Panics if called on a sensor type that doesn't provide quaternion accuracy.
+func (sv SensorValue) QuaternionAccuracy() float32 {
+	switch sv.id {
+	case SensorRotationVector, SensorGeomagneticRotationVector, SensorARVRStabilizedRV:
+		return sv.quaternionAccuracy
+	default:
+		panic("bno08x: QuaternionAccuracy() called on sensor type without accuracy data")
+	}
+}
+
+// Linear measurement accessor methods
+
+// Accelerometer returns the accelerometer vector.
+// Panics if called on a sensor type other than SensorAccelerometer.
+func (sv SensorValue) Accelerometer() Vector3 {
+	if sv.id != SensorAccelerometer {
+		panic("bno08x: Accelerometer() called on non-accelerometer sensor type")
+	}
+	return sv.accelerometer
+}
+
+// LinearAcceleration returns the linear acceleration vector.
+// Panics if called on a sensor type other than SensorLinearAcceleration.
+func (sv SensorValue) LinearAcceleration() Vector3 {
+	if sv.id != SensorLinearAcceleration {
+		panic("bno08x: LinearAcceleration() called on wrong sensor type")
+	}
+	return sv.linearAcceleration
+}
+
+// Gravity returns the gravity vector.
+// Panics if called on a sensor type other than SensorGravity.
+func (sv SensorValue) Gravity() Vector3 {
+	if sv.id != SensorGravity {
+		panic("bno08x: Gravity() called on non-gravity sensor type")
+	}
+	return sv.gravity
+}
+
+// Gyroscope returns the gyroscope vector.
+// Panics if called on a sensor type other than SensorGyroscope.
+func (sv SensorValue) Gyroscope() Vector3 {
+	if sv.id != SensorGyroscope {
+		panic("bno08x: Gyroscope() called on non-gyroscope sensor type")
+	}
+	return sv.gyroscope
+}
+
+// GyroscopeUncal returns the uncalibrated gyroscope data.
+// Panics if called on a sensor type other than SensorGyroscopeUncalibrated.
+func (sv SensorValue) GyroscopeUncal() GyroscopeUncalibrated {
+	if sv.id != SensorGyroscopeUncalibrated {
+		panic("bno08x: GyroscopeUncal() called on wrong sensor type")
+	}
+	return sv.gyroscopeUncal
+}
+
+// MagneticField returns the magnetic field vector.
+// Panics if called on a sensor type other than SensorMagneticField.
+func (sv SensorValue) MagneticField() Vector3 {
+	if sv.id != SensorMagneticField {
+		panic("bno08x: MagneticField() called on wrong sensor type")
+	}
+	return sv.magneticField
+}
+
+// MagneticFieldUncal returns the uncalibrated magnetic field data.
+// Panics if called on a sensor type other than SensorMagneticFieldUncalibrated.
+func (sv SensorValue) MagneticFieldUncal() MagneticFieldUncalibrated {
+	if sv.id != SensorMagneticFieldUncalibrated {
+		panic("bno08x: MagneticFieldUncal() called on wrong sensor type")
+	}
+	return sv.magneticFieldUncal
+}
+
+// Raw sensor data accessor methods
+
+// RawAccelerometer returns the raw accelerometer data.
+// Panics if called on a sensor type other than SensorRawAccelerometer.
+func (sv SensorValue) RawAccelerometer() RawVector3 {
+	if sv.id != SensorRawAccelerometer {
+		panic("bno08x: RawAccelerometer() called on wrong sensor type")
+	}
+	return sv.rawAccelerometer
+}
+
+// RawGyroscope returns the raw gyroscope data.
+// Panics if called on a sensor type other than SensorRawGyroscope.
+func (sv SensorValue) RawGyroscope() RawGyroscope {
+	if sv.id != SensorRawGyroscope {
+		panic("bno08x: RawGyroscope() called on wrong sensor type")
+	}
+	return sv.rawGyroscope
+}
+
+// RawMagnetometer returns the raw magnetometer data.
+// Panics if called on a sensor type other than SensorRawMagnetometer.
+func (sv SensorValue) RawMagnetometer() RawVector3 {
+	if sv.id != SensorRawMagnetometer {
+		panic("bno08x: RawMagnetometer() called on wrong sensor type")
+	}
+	return sv.rawMagnetometer
+}
+
+// Environmental sensor accessor methods
+
+// Pressure returns the pressure reading in hPa.
+// Panics if called on a sensor type other than SensorPressure.
+func (sv SensorValue) Pressure() float32 {
+	if sv.id != SensorPressure {
+		panic("bno08x: Pressure() called on non-pressure sensor type")
+	}
+	return sv.pressure
+}
+
+// AmbientLight returns the ambient light reading in lux.
+// Panics if called on a sensor type other than SensorAmbientLight.
+func (sv SensorValue) AmbientLight() float32 {
+	if sv.id != SensorAmbientLight {
+		panic("bno08x: AmbientLight() called on wrong sensor type")
+	}
+	return sv.ambientLight
+}
+
+// Humidity returns the humidity reading in percent.
+// Panics if called on a sensor type other than SensorHumidity.
+func (sv SensorValue) Humidity() float32 {
+	if sv.id != SensorHumidity {
+		panic("bno08x: Humidity() called on non-humidity sensor type")
+	}
+	return sv.humidity
+}
+
+// Proximity returns the proximity reading in cm.
+// Panics if called on a sensor type other than SensorProximity.
+func (sv SensorValue) Proximity() float32 {
+	if sv.id != SensorProximity {
+		panic("bno08x: Proximity() called on non-proximity sensor type")
+	}
+	return sv.proximity
+}
+
+// Temperature returns the temperature reading in °C.
+// Panics if called on a sensor type other than SensorTemperature.
+func (sv SensorValue) Temperature() float32 {
+	if sv.id != SensorTemperature {
+		panic("bno08x: Temperature() called on non-temperature sensor type")
+	}
+	return sv.temperature
+}
+
+// Activity detection accessor methods
+
+// TapDetector returns the tap detector data.
+// Panics if called on a sensor type other than SensorTapDetector.
+func (sv SensorValue) TapDetector() TapDetector {
+	if sv.id != SensorTapDetector {
+		panic("bno08x: TapDetector() called on wrong sensor type")
+	}
+	return sv.tapDetector
+}
+
+// StepCounter returns the step counter value.
+// Panics if called on a sensor type other than SensorStepCounter.
+func (sv SensorValue) StepCounter() StepCounter {
+	if sv.id != SensorStepCounter {
+		panic("bno08x: StepCounter() called on wrong sensor type")
+	}
+	return sv.stepCounter
+}
+
+// StepDetector returns the step detector data.
+// Panics if called on a sensor type other than SensorStepDetector.
+func (sv SensorValue) StepDetector() StepDetector {
+	if sv.id != SensorStepDetector {
+		panic("bno08x: StepDetector() called on wrong sensor type")
+	}
+	return sv.stepDetector
+}
+
+// SignificantMotion returns the significant motion data.
+// Panics if called on a sensor type other than SensorSignificantMotion.
+func (sv SensorValue) SignificantMotion() SignificantMotion {
+	if sv.id != SensorSignificantMotion {
+		panic("bno08x: SignificantMotion() called on wrong sensor type")
+	}
+	return sv.significantMotion
+}
+
+// ShakeDetector returns the shake detector data.
+// Panics if called on a sensor type other than SensorShakeDetector.
+func (sv SensorValue) ShakeDetector() ShakeDetector {
+	if sv.id != SensorShakeDetector {
+		panic("bno08x: ShakeDetector() called on wrong sensor type")
+	}
+	return sv.shakeDetector
+}
+
+// FlipDetector returns the flip detector data.
+// Panics if called on a sensor type other than SensorFlipDetector.
+func (sv SensorValue) FlipDetector() uint16 {
+	if sv.id != SensorFlipDetector {
+		panic("bno08x: FlipDetector() called on wrong sensor type")
+	}
+	return sv.flipDetector
+}
+
+// StabilityClassifier returns the stability classifier data.
+// Panics if called on a sensor type other than SensorStabilityClassifier.
+func (sv SensorValue) StabilityClassifier() StabilityClassifier {
+	if sv.id != SensorStabilityClassifier {
+		panic("bno08x: StabilityClassifier() called on wrong sensor type")
+	}
+	return sv.stabilityClassifier
+}
+
+// StabilityDetector returns the stability detector value.
+// Panics if called on a sensor type other than SensorStabilityDetector.
+func (sv SensorValue) StabilityDetector() uint8 {
+	if sv.id != SensorStabilityDetector {
+		panic("bno08x: StabilityDetector() called on wrong sensor type")
+	}
+	return sv.stabilityDetector
+}
+
+// ActivityClassifier returns the activity classification data.
+// Note: This field appears unused in decode.go, keeping for API compatibility.
+func (sv SensorValue) ActivityClassifier() ActivityClassification {
+	return sv.activityClassifier
+}
+
+// PersonalActivityClassifier returns the personal activity classifier data.
+// Panics if called on a sensor type other than SensorPersonalActivityClassifier.
+func (sv SensorValue) PersonalActivityClassifier() PersonalActivityClassifier {
+	if sv.id != SensorPersonalActivityClassifier {
+		panic("bno08x: PersonalActivityClassifier() called on wrong sensor type")
+	}
+	return sv.personalActivityClassifier
+}
+
+// SleepDetector returns the sleep detector value.
+// Panics if called on a sensor type other than SensorSleepDetector.
+func (sv SensorValue) SleepDetector() uint8 {
+	if sv.id != SensorSleepDetector {
+		panic("bno08x: SleepDetector() called on wrong sensor type")
+	}
+	return sv.sleepDetector
+}
+
+// TiltDetector returns the tilt detector value.
+// Panics if called on a sensor type other than SensorTiltDetector.
+func (sv SensorValue) TiltDetector() uint8 {
+	if sv.id != SensorTiltDetector {
+		panic("bno08x: TiltDetector() called on wrong sensor type")
+	}
+	return sv.tiltDetector
+}
+
+// PocketDetector returns the pocket detector value.
+// Panics if called on a sensor type other than SensorPocketDetector.
+func (sv SensorValue) PocketDetector() uint8 {
+	if sv.id != SensorPocketDetector {
+		panic("bno08x: PocketDetector() called on wrong sensor type")
+	}
+	return sv.pocketDetector
+}
+
+// CircleDetector returns the circle detector value.
+// Panics if called on a sensor type other than SensorCircleDetector.
+func (sv SensorValue) CircleDetector() uint8 {
+	if sv.id != SensorCircleDetector {
+		panic("bno08x: CircleDetector() called on wrong sensor type")
+	}
+	return sv.circleDetector
+}
+
+// HeartRateMonitor returns the heart rate monitor value.
+// Panics if called on a sensor type other than SensorHeartRateMonitor.
+func (sv SensorValue) HeartRateMonitor() uint16 {
+	if sv.id != SensorHeartRateMonitor {
+		panic("bno08x: HeartRateMonitor() called on wrong sensor type")
+	}
+	return sv.heartRateMonitor
+}

buzzer/buzzer.go

@@ -2,22 +2,22 @@
 package buzzer // import "tinygo.org/x/drivers/buzzer"
 
 import (
-	"machine"
-
 	"time"
+
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 // Device wraps a GPIO connection to a buzzer.
 type Device struct {
-	pin  machine.Pin
+	pin  pin.OutputFunc
 	High bool
 	BPM  float64
 }
 
 // New returns a new buzzer driver given which pin to use
-func New(pin machine.Pin) Device {
+func New(pin pin.Output) Device {
 	return Device{
-		pin:  pin,
+		pin:  pin.Set,
 		High: false,
 		BPM:  96.0,
 	}
@@ -25,14 +25,14 @@ func New(pin machine.Pin) Device {
 
 // On sets the buzzer to a high state.
 func (l *Device) On() (err error) {
-	l.pin.Set(true)
+	l.pin.High()
 	l.High = true
 	return
 }
 
 // Off sets the buzzer to a low state.
 func (l *Device) Off() (err error) {
-	l.pin.Set(false)
+	l.pin.Low()
 	l.High = false
 	return
 }

comboat/comboat.go

@@ -0,0 +1,711 @@
+// Package comboat implements WiFi driver for the Aithinker-Combo-AT WiFi
+// device found on the Elecrow W5 rp2040 and rp2350 devices.  Ths WiFi device
+// is a RTL8720d variant.  The driver interface is via AT command set over UART
+// (see reference docs below).
+//
+// NOTE: the driver doesn't support UDP/TCP server connections in STA mode,
+// currently.  UDP/TCP/TLS client connections are supported in STA mode.
+//
+// https://aithinker-combo-guide.readthedocs.io/en/latest/docs/instruction/index.html
+// https://aithinker-combo-guide.readthedocs.io/en/latest/docs/command-set/index.html
+// https://aithinker-combo-guide.readthedocs.io/en/latest/docs/command-examples/index.html
+
+package comboat // import "tinygo.org/x/drivers/comboat"
+
+import (
+	"bytes"
+	"errors"
+	"fmt"
+	"io"
+	"machine"
+	"net"
+	"net/netip"
+	"strconv"
+	"sync"
+	"time"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/netdev"
+	"tinygo.org/x/drivers/netlink"
+)
+
+type Config struct {
+	BaudRate uint32
+	Uart     *machine.UART
+	Tx       machine.Pin
+	Rx       machine.Pin
+}
+
+type socket struct {
+	protocol  int
+	id        string
+	rx        chan []byte
+	remainder []byte
+	laddr     netip.AddrPort // Set in Bind()
+}
+
+type device struct {
+	cfg     *Config
+	uart    *machine.UART
+	uartMu  sync.Mutex
+	mac     net.HardwareAddr
+	ip      netip.Addr
+	gateway netip.Addr
+	buf     [1500]byte
+	pos     int
+	last    []byte
+	ok      chan bool
+	txReady chan bool
+	accept  chan string
+	err     chan error
+	sockets [8]*socket
+	sync.Mutex
+}
+
+func NewDevice(cfg *Config) *device {
+	return &device{
+		cfg:     cfg,
+		ok:      make(chan bool),
+		txReady: make(chan bool),
+		accept:  make(chan string),
+		err:     make(chan error),
+	}
+}
+
+func logDebug(msg string) {
+	//println("[DEBUG] " + msg)
+}
+
+func logError(msg string) {
+	println("[ERROR] " + msg)
+}
+
+func split(resp []byte, part int, del, on string) string {
+	parts := bytes.Split(resp, []byte(del))
+	if part >= len(parts) {
+		return "Split parts error getting " + on
+	}
+	return string(parts[part])
+}
+
+func (d *device) getFWVersion() string {
+	return split(d.last, 1, ":", "FW version")
+}
+
+func (d *device) saveMAC() {
+	raw := split(d.last, 1, ":", "MAC")
+	if len(raw) > 11 {
+		macStr := fmt.Sprintf("%s:%s:%s:%s:%s:%s",
+			raw[0:2], raw[2:4], raw[4:6],
+			raw[6:8], raw[8:10], raw[10:12])
+		d.mac, _ = net.ParseMAC(macStr)
+	}
+}
+
+var countryCodes = map[int]string{
+	1:  "JP Japan",
+	2:  "American Samoa",
+	3:  "CA Canada",
+	4:  "US",
+	5:  "CN China",
+	6:  "Hong Kong, China",
+	7:  "Taiwan, China",
+	8:  "MO Macau, China",
+	9:  "IL Israel",
+	10: "Singapore",
+	11: "KR South Korea",
+	12: "TR Türkiye",
+	13: "AU Australia",
+	14: "ZA South Africa",
+	15: "BR Brazil",
+}
+
+func (d *device) getCountry() (code string) {
+	code = split(d.last, 1, ":", "county code")
+	codeNum, err := strconv.Atoi(code)
+	if err != nil {
+		return
+	}
+	if val, ok := countryCodes[codeNum]; ok {
+		code = val
+	}
+	return
+}
+
+func (d *device) saveIP() {
+	ipStr := split(d.last, 7, ",", "IP address")
+	gwStr := split(d.last, 8, ",", "gateway address")
+	d.ip, _ = netip.ParseAddr(ipStr)
+	d.gateway, _ = netip.ParseAddr(gwStr)
+}
+
+func (d *device) execute(cmd string, timeout int) (err error) {
+	logDebug("EXECUTE " + cmd)
+
+	d.uartMu.Lock()
+	_, err = d.uart.Write([]byte(cmd + "\r\n"))
+	d.uartMu.Unlock()
+
+	if err != nil {
+		return
+	}
+
+	t := time.NewTicker(time.Duration(timeout) * time.Millisecond)
+	defer t.Stop()
+
+	select {
+	case <-t.C:
+		return errors.New("Timed out")
+	case <-d.ok:
+		return
+	case err = <-d.err:
+		return
+	}
+}
+
+func (d *device) send(cmd string, timeout int) (err error) {
+	logDebug("EXECUTE " + cmd)
+
+	d.uartMu.Lock()
+	_, err = d.uart.Write([]byte(cmd + "\r\n"))
+	d.uartMu.Unlock()
+
+	if err != nil {
+		return
+	}
+
+	t := time.NewTicker(time.Duration(timeout) * time.Millisecond)
+	defer t.Stop()
+
+	select {
+	case <-t.C:
+		return errors.New("Timed out")
+	case <-d.txReady:
+		return
+	case err = <-d.err:
+		return
+	}
+}
+
+func (d *device) findSocket(id string) (*socket, error) {
+	for _, s := range d.sockets {
+		if s.id == id {
+			return s, nil
+		}
+	}
+	return nil, errors.New("Socket not found with id: " + id)
+}
+
+func (d *device) getSocket(sockfd int) (*socket, error) {
+	if sockfd < 0 || sockfd+1 > len(d.sockets) {
+		return nil, netdev.ErrInvalidSocketFd
+	}
+	if d.sockets[sockfd] == nil {
+		return nil, netdev.ErrInvalidSocketFd
+	}
+	return d.sockets[sockfd], nil
+}
+
+func (d *device) handle(event []byte) {
+	logDebug("GOT EVENT " + string(event))
+	switch {
+
+	// SocketDisconnect,<id>
+	case bytes.HasPrefix(event, []byte("SocketDisconnect")):
+		id := split(event, 1, ",", "SocketDisconnect")
+		s, err := d.findSocket(id)
+		if err == nil {
+			close(s.rx) // Sends io.EOF
+		}
+
+	// SocketSeed,<id>,<server id>
+	case bytes.HasPrefix(event, []byte("SocketSeed,2,1")):
+		//d.uart.Write([]byte("AT+SOCKET?" + "\r\n"))
+	}
+}
+
+func (d *device) processUART() {
+
+	if d.pos == 1 && d.buf[0] == '>' {
+		d.pos = 0
+		logDebug("GOT >")
+		d.txReady <- true
+	}
+
+	sofar := d.buf[:d.pos]
+
+	if !bytes.HasSuffix(sofar, []byte("\r\n")) {
+		return
+	}
+
+	// Strip CR/LF off end
+	sofar = sofar[:len(sofar)-2]
+
+	switch {
+
+	case bytes.HasPrefix(sofar, []byte("+EVENT:SocketDown")):
+		// +EVENT:SocketDown,<id>,<length>,<data>
+		parts := bytes.SplitN(sofar, []byte(","), 4)
+		if len(parts) != 4 {
+			logError("Error parsing +EVENT:SocketDown: " + string(sofar))
+			d.pos = 0
+			return
+		}
+		id := string(parts[1])
+		length, err := strconv.Atoi(string(parts[2]))
+		if err != nil {
+			logError("Error parsing length from: " + string(parts[2]))
+			d.pos = 0
+			return
+		}
+		if length != len(parts[3]) {
+			// This can happen if <data> actually contains a CR/LF.
+			// Return without resetting d.pos to continue reading
+			// in the full <data>.
+			return
+		}
+		s, err := d.findSocket(id)
+		if err != nil {
+			logError(err.Error())
+			d.pos = 0
+			return
+		}
+		logDebug("GOT +EVENT:SocketDown," + id + "," + string(parts[2]))
+		d.pos = 0
+		data := make([]byte, len(parts[3]))
+		copy(data, parts[3])
+		s.rx <- data
+
+	case bytes.HasPrefix(sofar, []byte("OK")):
+		d.pos = 0
+		logDebug("GOT OK")
+		d.ok <- true
+
+	case bytes.HasPrefix(sofar, []byte("ERROR")):
+		d.pos = 0
+		logDebug("GOT ERROR")
+		errStr := getErrStr(d.last)
+		d.err <- errors.New(errStr)
+
+	case bytes.HasPrefix(sofar, []byte("+EVENT:")):
+		d.pos = 0
+		event := sofar[len("+EVENT:"):]
+		d.handle(event)
+
+	default:
+		// Catch everything else and store in d.last
+		d.pos = 0
+		size := len(sofar)
+		if size > 0 {
+			d.last = make([]byte, size)
+			copy(d.last, sofar[:size])
+			logDebug("GOT LINE " + string(d.last))
+		}
+	}
+}
+
+func (d *device) serviceUART() {
+	for {
+		d.uartMu.Lock()
+		for d.uart.Buffered() > 0 {
+			if d.pos >= len(d.buf) {
+				println("Trying to write past buffer")
+				d.pos = 0
+				break
+			}
+			var err error
+			d.buf[d.pos], err = d.uart.ReadByte()
+			if err == nil {
+				d.pos++
+				d.processUART()
+			}
+		}
+		d.uartMu.Unlock()
+		time.Sleep(10 * time.Millisecond)
+	}
+}
+
+func (d *device) NetConnect(params *netlink.ConnectParams) error {
+
+	d.Lock()
+	defer d.Unlock()
+
+	d.uart = d.cfg.Uart
+	d.uart.Configure(machine.UARTConfig{
+		BaudRate: d.cfg.BaudRate,
+		TX:       d.cfg.Tx,
+		RX:       d.cfg.Rx,
+	})
+
+	go d.serviceUART()
+
+	fmt.Printf("\r\n")
+	fmt.Printf("TinyGo Combo-AT WiFi network device driver\r\n")
+
+	fmt.Printf("\r\n")
+	fmt.Printf("Driver version            : %s\r\n", drivers.Version)
+
+	if len(params.Ssid) == 0 {
+		return netlink.ErrMissingSSID
+	}
+
+	// AT Test to see if device is alive
+	if err := d.execute("AT", 1000); err != nil {
+		return err
+	}
+
+	// Disable echo
+	if err := d.execute("ATE0", 1000); err != nil {
+		return err
+	}
+
+	// Get FW version
+	if err := d.execute("AT+GMR", 1000); err != nil {
+		return err
+	}
+	fmt.Printf("Combo-AT firmware version : %s\r\n", d.getFWVersion())
+
+	// Get/save MAC addresses
+	if err := d.execute("AT+CIPSTAMAC_DEF?", 1000); err != nil {
+		return err
+	}
+	d.saveMAC()
+	fmt.Printf("MAC address               : %s\r\n", d.mac.String())
+
+	// Set country code US
+	if err := d.execute("AT+WCOUNTRY=4", 1000); err != nil {
+		return err
+	}
+
+	// Get country code
+	if err := d.execute("AT+WCOUNTRY?", 1000); err != nil {
+		return err
+	}
+	fmt.Printf("WiFi country code         : %s\r\n", d.getCountry())
+
+	// Set Wi-Fi working mode to STA and save to flash
+	if err := d.execute("AT+WMODE=1,1", 1000); err != nil {
+		return err
+	}
+
+	// Connect to Wifi AP (keep trying until connected)
+	fmt.Printf("\r\n")
+	cmd := "AT+WJAP=" + params.Ssid + "," + params.Passphrase
+
+	for {
+		fmt.Printf("Connecting to WiFi SSID '%s'...", params.Ssid)
+		if err := d.execute(cmd, 20000); err != nil {
+			fmt.Printf("FAILED (%s)\r\n", err.Error())
+			continue
+		}
+		break
+	}
+
+	fmt.Printf("CONNECTED\r\n")
+
+	// Automatically reconnect to Wi-Fi after power on
+	if err := d.execute("AT+WAUTOCONN=1", 1000); err != nil {
+		return err
+	}
+
+	// Get/save IP/gateway addresses
+	if err := d.execute("AT+WJAP?", 1000); err != nil {
+		return err
+	}
+	d.saveIP()
+
+	fmt.Printf("\r\n")
+	fmt.Printf("DHCP-assigned IP          : %s\r\n", d.ip)
+	fmt.Printf("DHCP-assigned gateway     : %s\r\n", d.gateway)
+	fmt.Printf("\r\n")
+
+	// Set socket receiving mode to active
+	if err := d.execute("AT+SOCKETRECVCFG=1", 1000); err != nil {
+		return err
+	}
+
+	return nil
+}
+
+func (d *device) NetDisconnect() {
+	d.Lock()
+	defer d.Unlock()
+	// Disconnect from WiFi AP
+	d.execute("AT+WDISCONNECT", 1000)
+}
+
+func (d *device) NetNotify(cb func(netlink.Event)) {
+	fmt.Printf("\r\n%s\r\n", netlink.ErrNotSupported)
+}
+
+func (d *device) GetHardwareAddr() (net.HardwareAddr, error) {
+	return d.mac, nil
+}
+
+func (d *device) _getHostByName(name string) (ip netip.Addr, err error) {
+	if err = d.execute("AT+WDOMAIN="+name, 1000); err != nil {
+		return
+	}
+	ipStr := split(d.last, 1, ":", "host by name")
+	return netip.ParseAddr(ipStr)
+}
+
+func (d *device) GetHostByName(name string) (ip netip.Addr, err error) {
+
+	// If it's already a dotted-network address, and not a host name,
+	// return it
+	ip, err = netip.ParseAddr(name)
+	if err == nil {
+		return
+	}
+
+	d.Lock()
+	defer d.Unlock()
+
+	return d._getHostByName(name)
+}
+
+func (d *device) Addr() (netip.Addr, error) {
+	return d.ip, nil
+}
+
+func (d *device) Socket(domain, stype, 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
+	}
+
+	d.Lock()
+	defer d.Unlock()
+
+	// Search for empty slot in sockets array
+	for fd, s := range d.sockets {
+		if s == nil {
+			// Found one
+			d.sockets[fd] = &socket{
+				protocol: protocol,
+				rx:       make(chan []byte, 10),
+			}
+			return fd, nil
+		}
+	}
+
+	return -1, netdev.ErrNoMoreSockets
+}
+
+func (d *device) Bind(sockfd int, ip netip.AddrPort) error {
+
+	d.Lock()
+	defer d.Unlock()
+
+	s, err := d.getSocket(sockfd)
+	if err != nil {
+		return err
+	}
+
+	s.laddr = ip
+	return nil
+}
+
+func (d *device) Connect(sockfd int, host string, ip netip.AddrPort) error {
+
+	var addr string
+	var cmd string
+
+	d.Lock()
+	defer d.Unlock()
+
+	s, err := d.getSocket(sockfd)
+	if err != nil {
+		return err
+	}
+
+	if host == "" {
+		addr = ip.Addr().String()
+	} else {
+		ip, err := d._getHostByName(host)
+		if err != nil {
+			return err
+		}
+		addr = ip.String()
+	}
+	port := strconv.Itoa(int(ip.Port()))
+
+	switch s.protocol {
+	case netdev.IPPROTO_UDP:
+		cmd = "AT+SOCKET=2," + addr + "," + port
+	case netdev.IPPROTO_TCP:
+		cmd = "AT+SOCKET=4," + addr + "," + port
+	case netdev.IPPROTO_TLS:
+		cmd = "AT+SOCKET=7," + addr + "," + port
+	}
+
+	if cmd == "" {
+		return netdev.ErrProtocolNotSupported
+	}
+
+	if err := d.execute(cmd, 20000); err != nil {
+		return err
+	}
+
+	s.id = split(d.last, 1, "=", "connection ID")
+
+	return nil
+}
+
+func (d *device) Listen(sockfd, backlog int) error {
+
+	// TODO Creating a TCP server socket isn't working when in STA mode,
+	// TODO returning error "Socket bind error".
+	// TODO The reference example shows a TCP server example in AP mode.
+
+	/*
+		var cmd string
+
+		d.Lock()
+		defer d.Unlock()
+
+		s, err := d.getSocket(sockfd)
+		if err != nil {
+			return err
+		}
+
+		port := strconv.Itoa(int(s.laddr.Port()))
+
+		switch s.protocol {
+		case netdev.IPPROTO_UDP:
+			cmd = "AT+SOCKET=1," + port
+		case netdev.IPPROTO_TCP:
+			cmd = "AT+SOCKET=3," + port
+		}
+
+		if cmd == "" {
+			return netdev.ErrProtocolNotSupported
+		}
+
+		if err := d.execute(cmd, 20000); err != nil {
+			return err
+		}
+
+		s.id = split(d.last, 1, "=", "connection ID")
+	*/
+
+	return netdev.ErrNotSupported
+}
+
+func (d *device) Accept(sockfd int) (int, netip.AddrPort, error) {
+	return 0, netip.AddrPort{}, netdev.ErrNotSupported
+}
+
+func (d *device) Send(sockfd int, buf []byte, flags int, deadline time.Time) (int, error) {
+
+	d.Lock()
+	defer d.Unlock()
+
+	s, err := d.getSocket(sockfd)
+	if err != nil {
+		return 0, err
+	}
+
+	cmd := fmt.Sprintf("AT+SOCKETSEND=%s,%d", s.id, len(buf))
+
+	if err := d.send(cmd, 1000); err != nil {
+		return 0, err
+	}
+
+	// AT+SOCKETSEND will sub-packet send data into 1024-byte chunks,
+	// automatically, so send the full buffer in one shot, even if it's
+	// bigger than 1024 bytes.
+
+	d.uartMu.Lock()
+	n, err := d.uart.Write(buf)
+	d.uartMu.Unlock()
+
+	if err != nil {
+		return 0, err
+	}
+
+	// Expecting "OK" after good send, or "ERROR"
+
+	t := time.NewTicker(time.Duration(1000) * time.Millisecond)
+	defer t.Stop()
+
+	select {
+	case <-t.C:
+		return 0, errors.New("Timed out")
+	case <-d.ok:
+		return n, nil
+	case err = <-d.err:
+		return 0, err
+	}
+}
+
+func (d *device) Recv(sockfd int, buf []byte, flags int, deadline time.Time) (int, error) {
+
+	d.Lock()
+	defer d.Unlock()
+
+	s, err := d.getSocket(sockfd)
+	if err != nil {
+		return 0, err
+	}
+
+	// 1. Use leftover data first
+	if len(s.remainder) > 0 {
+		n := copy(buf, s.remainder)
+		s.remainder = s.remainder[n:]
+		return n, nil
+	}
+
+	// 2. Get new data from the channel
+	data, ok := <-s.rx
+	if !ok {
+		// Socket closed, return EOF
+		return 0, io.EOF
+	}
+
+	// 3. Copy data, handle leftovers
+	n := copy(buf, data)
+	if n < len(data) {
+		s.remainder = data[n:]
+	}
+
+	return n, nil
+}
+
+func (d *device) Close(sockfd int) error {
+
+	d.Lock()
+	defer d.Unlock()
+
+	s, err := d.getSocket(sockfd)
+	if err != nil {
+		return err
+	}
+
+	// Delete socket only if connection was successful (s.id is set)
+	if s.id != "" {
+		cmd := fmt.Sprintf("AT+SOCKETDEL=%s", s.id)
+		if err = d.execute(cmd, 1000); err != nil {
+			return err
+		}
+	}
+
+	d.sockets[sockfd] = nil
+
+	return nil
+}
+
+func (d *device) SetSockOpt(sockfd, level, opt int, value interface{}) error {
+	return netdev.ErrNotSupported
+}

comboat/errors.go

@@ -0,0 +1,86 @@
+package comboat
+
+import (
+	"bytes"
+	"strconv"
+)
+
+var errStrings = map[int]string{
+
+	// System framework related error codes
+
+	0:  "success",
+	1:  "The command is not supported (the combo framework contains the command but the current platform has not transplanted or adapted to support it)",
+	2:  "The command parameters contain unsupported operations (the current platform only supports some operations for this command)",
+	3:  "The instruction format is incorrect (this refers to the wrong number of parameters, for example, two parameters are required, but only one parameter is entered)",
+	4:  "Parameter error (the content of the parameter is wrong, for example, a number between 0 and 9 is required, but 10 or xyz is passed in, which is a parameter error)",
+	5:  "Parameter length error (command length exceeds the maximum supported length)",
+	31: "The current command has not ended and needs to report the status asynchronously. This value is used by the state machine to determine the use of the command and no message is returned.",
+	32: "Unknown error (or unhandled error type)",
+
+	// Common error codes
+
+	33: "malloc error",
+	34: "Failed to read buf",
+	35: "Failed to write buf",
+	36: "Configuration error (configuration error loaded from memory, for example, we set port -1 for OTA upgrade, and check port error when executing AT+OTA, then configuration error will be reported)",
+	37: "Failed to create task",
+	38: "Flash read and write failure",
+	39: "Serial port configuration error, unsupported baud rate",
+	40: "Serial port configuration error, unsupported data bits",
+	41: "Serial port configuration error, unsupported stop bit",
+	42: "Serial port configuration error, unsupported parity bit",
+	43: "Serial port configuration error, unsupported flow control",
+	44: "Serial port configuration failed",
+	45: "Wrong username/password",
+	46: "Low power mode error or unsupported low power mode",
+	47: "Uninitialized configuration data error (including io mapping data)",
+	63: "General error code (without other information)",
+
+	// Wi-Fi related error codes
+
+	64: "Wi-Fi not initialized or initialization failed",
+	65: "Wi-Fi mode error (unable to connect to Wi-Fi in single AP mode)",
+	66: "Wi-Fi connection failed",
+	67: "Wi-Fi connection successful, error in obtaining IP (DHCP)",
+	68: "Failed to obtain encryption method",
+	69: "The specified AP was not found.",
+	70: "Wi-Fi scan start failed",
+	71: "Wi-Fi scan timeout",
+	72: "Failed to enable AP hotspot",
+	73: "Failed to obtain the Wi-Fi information of the router or the AP information that you enabled yourself",
+	74: "The network card (STA/AP) is not running",
+	75: "Wi-Fi country code error (unsupported Wi-Fi country code)",
+	76: "The current network configuration mode is wrong.",
+	95: "Wi-Fi connection unknown error",
+
+	// Socket related error codes
+
+	96:  "Failed to create socket",
+	97:  "Socket connection failed",
+	98:  "DNS Failure",
+	99:  "The socket status is wrong (for example, TCP is not connected yet)",
+	100: "Socket type error",
+	101: "Socket send failed",
+	102: "Socket receive failed",
+	103: "Socket monitoring thread creation failed",
+	104: "Socket bind error",
+	105: "The current connection cannot be transparently linked (wrong socket type or number)",
+	106: "PING test failed (all packets lost)",
+	107: "Wi-Fi country code error (unsupported Wi-Fi country code)",
+	108: "SSL Config Error",
+	109: "SSL verification error (usually caused by unsupported SSL encryption type or certificate error)",
+	127: "Unknown socket error",
+}
+
+func getErrStr(errLine []byte) (errStr string) {
+	errStr = "Can't parse ERROR response"
+	tokens := bytes.Split(errLine, []byte(":"))
+	if len(tokens) > 1 {
+		errCode, err := strconv.Atoi(string(tokens[1]))
+		if err == nil {
+			errStr = errStrings[errCode]
+		}
+	}
+	return
+}

ds18b20/ds18b20.go

@@ -19,7 +19,7 @@ type OneWireDevice interface {
 	Write(uint8)
 	Read() uint8
 	Select([]uint8) error
-	Сrc8([]uint8, int) uint8
+	Сrc8([]uint8) uint8
 }
 
 // Device wraps a connection to an 1-Wire devices.
@@ -69,7 +69,7 @@ func (d Device) ReadTemperatureRaw(romid []uint8) ([]uint8, error) {
 	for i := 0; i < 9; i++ {
 		spb[i] = d.owd.Read()
 	}
-	if d.owd.Сrc8(spb, 8) != spb[8] {
+	if d.owd.Сrc8(spb) != 0 {
 		return nil, errReadTemperature
 	}
 	return spb[:2:2], nil

ds3231/ds3231.go

@@ -5,10 +5,12 @@
 package ds3231 // import "tinygo.org/x/drivers/ds3231"
 
 import (
+	"encoding/binary"
+	"errors"
 	"time"
 
 	"tinygo.org/x/drivers"
-	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/regmap"
 )
 
 type Mode uint8
@@ -17,6 +19,7 @@ type Mode uint8
 type Device struct {
 	bus     drivers.I2C
 	Address uint16
+	d       regmap.Device8I2C
 }
 
 // New creates a new DS3231 connection. The I2C bus must already be
@@ -24,54 +27,50 @@ type Device struct {
 //
 // This function only creates the Device object, it does not touch the device.
 func New(bus drivers.I2C) Device {
-	return Device{
+	d := Device{
 		bus:     bus,
 		Address: Address,
 	}
+	d.Configure()
+	return d
 }
 
 // Configure sets up the device for communication
 func (d *Device) Configure() bool {
+	d.d.SetBus(d.bus, d.Address, binary.BigEndian)
 	return true
 }
 
 // IsTimeValid return true/false is the time in the device is valid
 func (d *Device) IsTimeValid() bool {
-	data := []byte{0}
-	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_STATUS, data)
+	status, err := d.d.Read8(REG_STATUS)
 	if err != nil {
 		return false
 	}
-	return (data[0] & (1 << OSF)) == 0x00
+	return (status & (1 << OSF)) == 0x00
 }
 
 // IsRunning returns if the oscillator is running
 func (d *Device) IsRunning() bool {
-	data := []uint8{0}
-	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CONTROL, data)
+	control, err := d.d.Read8(REG_CONTROL)
 	if err != nil {
 		return false
 	}
-	return (data[0] & (1 << EOSC)) == 0x00
+	return (control & (1 << EOSC)) == 0x00
 }
 
 // SetRunning starts the internal oscillator
 func (d *Device) SetRunning(isRunning bool) error {
-	data := []uint8{0}
-	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CONTROL, data)
+	control, err := d.d.Read8(REG_CONTROL)
 	if err != nil {
 		return err
 	}
 	if isRunning {
-		data[0] &^= uint8(1 << EOSC)
+		control &^= uint8(1 << EOSC)
 	} else {
-		data[0] |= 1 << EOSC
+		control |= 1 << EOSC
 	}
-	err = legacy.WriteRegister(d.bus, uint8(d.Address), REG_CONTROL, data)
-	if err != nil {
-		return err
-	}
-	return nil
+	return d.d.Write8(REG_CONTROL, control)
 }
 
 // SetTime sets the date and time in the DS3231. The DS3231 hardware supports
@@ -86,18 +85,16 @@ func (d *Device) SetRunning(isRunning bool) error {
 // 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 := legacy.ReadRegister(d.bus, uint8(d.Address), REG_STATUS, data)
+	status, err := d.d.Read8(REG_STATUS)
 	if err != nil {
 		return err
 	}
-	data[0] &^= 1 << OSF
-	err = legacy.WriteRegister(d.bus, uint8(d.Address), REG_STATUS, data)
-	if err != nil {
+	status &^= 1 << OSF
+	if err = d.d.Write8(REG_STATUS, status); err != nil {
 		return err
 	}
 
-	data = make([]uint8, 7)
+	data := make([]uint8, 7)
 	data[0] = uint8ToBCD(uint8(dt.Second()))
 	data[1] = uint8ToBCD(uint8(dt.Minute()))
 	data[2] = uint8ToBCD(uint8(dt.Hour()))
@@ -118,21 +115,16 @@ func (d *Device) SetTime(dt time.Time) error {
 	data[5] = uint8ToBCD(uint8(dt.Month()) | centuryFlag)
 	data[6] = uint8ToBCD(year)
 
-	err = legacy.WriteRegister(d.bus, uint8(d.Address), REG_TIMEDATE, data)
-	if err != nil {
-		return err
-	}
-
-	return nil
+	return d.bus.Tx(d.Address, append([]byte{REG_TIMEDATE}, data...), nil)
 }
 
 // ReadTime returns the date and time
 func (d *Device) ReadTime() (dt time.Time, err error) {
 	data := make([]uint8, 7)
-	err = legacy.ReadRegister(d.bus, uint8(d.Address), REG_TIMEDATE, data)
-	if err != nil {
+	if err = d.d.ReadData(REG_TIMEDATE, data); err != nil {
 		return
 	}
+
 	second := bcdToInt(data[0] & 0x7F)
 	minute := bcdToInt(data[1])
 	hour := hoursBCDToInt(data[2])
@@ -150,12 +142,264 @@ 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 := legacy.ReadRegister(d.bus, uint8(d.Address), REG_TEMP, data)
+	temp, err := d.d.Read16(REG_TEMP)
 	if err != nil {
 		return 0, err
 	}
-	return milliCelsius(data[0], data[1]), nil
+	return milliCelsius(temp), nil
+}
+
+// GetSqwPinMode returns the current square wave output frequency
+func (d *Device) GetSqwPinMode() SqwPinMode {
+	control, err := d.d.Read8(REG_CONTROL)
+	if err != nil {
+		return SQW_OFF
+	}
+
+	control &= 0x1C // turn off INTCON
+	if control&0x04 != 0 {
+		return SQW_OFF
+	}
+
+	return SqwPinMode(control)
+}
+
+// SetSqwPinMode sets the square wave output mode to the given frequency
+func (d *Device) SetSqwPinMode(mode SqwPinMode) error {
+	control, err := d.d.Read8(REG_CONTROL)
+	if err != nil {
+		return err
+	}
+
+	control &^= 0x04 // turn off INTCON
+	control &^= 0x18 // set freq bits to 0
+
+	control |= uint8(mode)
+
+	return d.d.Write8(REG_CONTROL, control)
+}
+
+// SetAlarm1 sets alarm1 to the given time and mode
+func (d *Device) SetAlarm1(dt time.Time, mode Alarm1Mode) error {
+	control, err := d.d.Read8(REG_CONTROL)
+	if err != nil {
+		return err
+	}
+	if control&(1<<INTCN) == 0x00 {
+		return errors.New("INTCN has to be disabled")
+	}
+
+	A1M1 := uint8((mode & 0x01) << 7)
+	A1M2 := uint8((mode & 0x02) << 6)
+	A1M3 := uint8((mode & 0x04) << 5)
+	A1M4 := uint8((mode & 0x08) << 4)
+	DY_DT := uint8((mode & 0x10) << 2)
+
+	day := dt.Day()
+	if DY_DT > 0 {
+		day = dowToDS3231(int(dt.Weekday()))
+	}
+
+	alarm1 := uint32(uint8ToBCD(uint8(dt.Second()))|A1M1) << 24
+	alarm1 |= uint32(uint8ToBCD(uint8(dt.Minute()))|A1M2) << 16
+	alarm1 |= uint32(uint8ToBCD(uint8(dt.Hour()))|A1M3) << 8
+	alarm1 |= uint32(uint8ToBCD(uint8(day)) | A1M4 | DY_DT)
+
+	if err := d.d.Write32(REG_ALARMONE, alarm1); err != nil {
+		return err
+	}
+
+	control |= AlarmFlag_Alarm1
+	return d.d.Write8(REG_CONTROL, control)
+}
+
+// ReadAlarm1 returns the alarm1 time
+func (d *Device) ReadAlarm1() (dt time.Time, err error) {
+	data := make([]uint8, 4)
+	if err = d.d.ReadData(REG_ALARMONE, data); err != nil {
+		return
+	}
+	second := bcdToInt(data[0] & 0x7F)
+	minute := bcdToInt(data[1] & 0x7F)
+	hour := hoursBCDToInt(data[2] & 0x3F)
+
+	isDayOfWeek := (data[3] & 0x40) >> 6
+	var day int
+	if isDayOfWeek > 0 {
+		day = bcdToInt(data[3] & 0x0F)
+	} else {
+		day = bcdToInt(data[3] & 0x3F)
+	}
+
+	dt = time.Date(2000, 5, day, hour, minute, second, 0, time.UTC)
+	return
+}
+
+// SetAlarm2 sets alarm2 to the given time and mode
+func (d *Device) SetAlarm2(dt time.Time, mode Alarm2Mode) error {
+	control, err := d.d.Read8(REG_CONTROL)
+	if err != nil {
+		return err
+	}
+	if control&(1<<INTCN) == 0x00 {
+		return errors.New("INTCN has to be disabled")
+	}
+
+	A2M2 := uint8((mode & 0x01) << 7)
+	A2M3 := uint8((mode & 0x02) << 6)
+	A2M4 := uint8((mode & 0x04) << 5)
+	DY_DT := uint8((mode & 0x08) << 3)
+
+	day := dt.Day()
+	if DY_DT > 0 {
+		day = dowToDS3231(int(dt.Weekday()))
+	}
+
+	data := make([]uint8, 4)
+	data[0] = uint8ToBCD(uint8(dt.Minute())) | A2M2
+	data[1] = uint8ToBCD(uint8(dt.Hour())) | A2M3
+	data[2] = uint8ToBCD(uint8(day)) | A2M4 | DY_DT
+	if err = d.bus.Tx(d.Address, append([]byte{REG_ALARMTWO}, data...), nil); err != nil {
+		return err
+	}
+
+	control |= AlarmFlag_Alarm2
+	return d.d.Write8(REG_CONTROL, control)
+}
+
+// ReadAlarm2 returns the alarm2 time
+func (d *Device) ReadAlarm2() (dt time.Time, err error) {
+	data := make([]uint8, 3)
+	if err = d.d.ReadData(REG_ALARMTWO, data); err != nil {
+		return
+	}
+	minute := bcdToInt(data[0] & 0x7F)
+	hour := hoursBCDToInt(data[1] & 0x3F)
+
+	isDayOfWeek := (data[2] & 0x40) >> 6
+	var day int
+	if isDayOfWeek > 0 {
+		day = bcdToInt(data[2] & 0x0F)
+	} else {
+		day = bcdToInt(data[2] & 0x3F)
+	}
+
+	dt = time.Date(2000, 5, day, hour, minute, 0, 0, time.UTC)
+	return
+}
+
+// IsEnabledAlarm1 returns true when alarm1 is enabled
+func (d *Device) IsEnabledAlarm1() bool {
+	return d.isEnabledAlarm(1)
+}
+
+// SetEnabledAlarm1 sets the enabled status of alarm1
+func (d *Device) SetEnabledAlarm1(enable bool) error {
+	if enable {
+		return d.enableAlarm(1)
+	}
+	return d.disableAlarm(1)
+}
+
+// IsEnabledAlarm2 returns true when alarm2 is enabled
+func (d *Device) IsEnabledAlarm2() bool {
+	return d.isEnabledAlarm(2)
+}
+
+// SetEnabledAlarm2 sets the enabled status of alarm2
+func (d *Device) SetEnabledAlarm2(enable bool) error {
+	if enable {
+		return d.enableAlarm(2)
+	}
+	return d.disableAlarm(2)
+}
+
+// ClearAlarm1 clears status of alarm1
+func (d *Device) ClearAlarm1() error {
+	return d.clearAlarm(1)
+}
+
+// ClearAlarm2 clears status of alarm2
+func (d *Device) ClearAlarm2() error {
+	return d.clearAlarm(2)
+}
+
+// IsAlarm1Fired returns true when alarm1 is firing
+func (d *Device) IsAlarm1Fired() bool {
+	return d.isAlarmFired(1)
+}
+
+// IsAlarm2Fired returns true when alarm2 is firing
+func (d *Device) IsAlarm2Fired() bool {
+	return d.isAlarmFired(2)
+}
+
+// SetEnabled32K sets the enabled status of the 32KHz output
+func (d *Device) SetEnabled32K(enable bool) error {
+	status, err := d.d.Read8(REG_STATUS)
+	if err != nil {
+		return err
+	}
+
+	if enable {
+		status |= 1 << EN32KHZ
+	} else {
+		status &^= 1 << EN32KHZ
+	}
+
+	return d.d.Write8(REG_STATUS, status)
+}
+
+// IsEnabled32K returns true when the 32KHz output is enabled
+func (d *Device) IsEnabled32K() bool {
+	status, err := d.d.Read8(REG_STATUS)
+	if err != nil {
+		return false
+	}
+	return (status & (1 << EN32KHZ)) != 0x00
+}
+
+func (d *Device) disableAlarm(alarm_num uint8) error {
+	control, err := d.d.Read8(REG_CONTROL)
+	if err != nil {
+		return err
+	}
+	control &^= (1 << (alarm_num - 1))
+	return d.d.Write8(REG_CONTROL, control)
+}
+
+func (d *Device) enableAlarm(alarm_num uint8) error {
+	control, err := d.d.Read8(REG_CONTROL)
+	if err != nil {
+		return err
+	}
+	control |= (1 << (alarm_num - 1))
+	return d.d.Write8(REG_CONTROL, control)
+}
+
+func (d *Device) isEnabledAlarm(alarm_num uint8) bool {
+	control, err := d.d.Read8(REG_CONTROL)
+	if err != nil {
+		return false
+	}
+	return (control & (1 << (alarm_num - 1))) != 0x00
+}
+
+func (d *Device) clearAlarm(alarm_num uint8) error {
+	status, err := d.d.Read8(REG_STATUS)
+	if err != nil {
+		return err
+	}
+	status &^= (1 << (alarm_num - 1))
+	return d.d.Write8(REG_STATUS, status)
+}
+
+func (d *Device) isAlarmFired(alarm_num uint8) bool {
+	status, err := d.d.Read8(REG_STATUS)
+	if err != nil {
+		return false
+	}
+	return (status & (1 << (alarm_num - 1))) != 0x00
 }
 
 // milliCelsius converts the raw temperature bytes (msb and lsb) from the DS3231
@@ -172,8 +416,8 @@ func (d *Device) ReadTemperature() (int32, error) {
 // 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))
+func milliCelsius(tempBytes uint16) int32 {
+	t256 := int16(uint16(tempBytes>>8)<<8 | uint16(tempBytes&0xFF))
 	t1000 := int32(t256) / 64 * 250
 	return t1000
 }
@@ -200,3 +444,11 @@ func hoursBCDToInt(value uint8) (hour int) {
 	}
 	return
 }
+
+// dowToDS3231 converts the day of the week to internal DS3231 format
+func dowToDS3231(d int) int {
+	if d == 0 {
+		return 7
+	}
+	return d
+}

ds3231/ds3231_test.go

@@ -5,71 +5,71 @@ import (
 )
 
 func TestPositiveMilliCelsius(t *testing.T) {
-	t1000 := milliCelsius(0, 0)
+	t1000 := milliCelsius(0)
 	if t1000 != 0 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(0, 0b01000000)
+	t1000 = milliCelsius(0b0000000001000000)
 	if t1000 != 250 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(0, 0b10000000)
+	t1000 = milliCelsius(0b0000000010000000)
 	if t1000 != 500 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(0, 0b11000000)
+	t1000 = milliCelsius(0b0000000011000000)
 	if t1000 != 750 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(1, 0b00000000)
+	t1000 = milliCelsius(0b0000000100000000)
 	if t1000 != 1000 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(2, 0b00000000)
+	t1000 = milliCelsius(0b0000001000000000)
 	if t1000 != 2000 {
 		t.Fatal(t1000)
 	}
 
 	// highest temperature is 127.750C
-	t1000 = milliCelsius(0x7f, 0b11000000)
+	t1000 = milliCelsius(0b0111111111000000)
 	if t1000 != 127750 {
 		t.Fatal(t1000)
 	}
 }
 
 func TestNegativeMilliCelsius(t *testing.T) {
-	t1000 := milliCelsius(0xff, 0b11000000)
+	t1000 := milliCelsius(0b1111111111000000)
 	if t1000 != -250 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(0xff, 0b10000000)
+	t1000 = milliCelsius(0b1111111110000000)
 	if t1000 != -500 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(0xff, 0b01000000)
+	t1000 = milliCelsius(0b1111111101000000)
 	if t1000 != -750 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(0xff, 0b00000000)
+	t1000 = milliCelsius(0b1111111100000000)
 	if t1000 != -1000 {
 		t.Fatal(t1000)
 	}
 
-	t1000 = milliCelsius(0xfe, 0b00000000)
+	t1000 = milliCelsius(0b1111111000000000)
 	if t1000 != -2000 {
 		t.Fatal(t1000)
 	}
 
 	// lowest temperature is -128.000C
-	t1000 = milliCelsius(0x80, 0b00000000)
+	t1000 = milliCelsius(0b1000000000000000)
 	if t1000 != -128000 {
 		t.Fatal(t1000)
 	}

ds3231/registers.go

@@ -46,3 +46,52 @@ const (
 	AlarmTwo      Mode = 4
 	ModeAlarmBoth Mode = 5
 )
+
+// SQW Pin Modes
+type SqwPinMode uint8
+
+const (
+	SQW_OFF  SqwPinMode = 0x1C
+	SQW_1HZ  SqwPinMode = 0x00
+	SQW_1KHZ SqwPinMode = 0x08
+	SQW_4KHZ SqwPinMode = 0x10
+	SQW_8KHZ SqwPinMode = 0x18
+)
+
+// Alarm1 Modes define which parts of the set alarm time has to match the current timestamp of the clock device for
+// alarm1 to fire
+type Alarm1Mode uint8
+
+const (
+	// Alarm1 fires every second
+	A1_PER_SECOND Alarm1Mode = 0x0F
+	// Alarm1 fires when the seconds match
+	A1_SECOND Alarm1Mode = 0x0E
+	// Alarm1 fires when both seconds and minutes match
+	A1_MINUTE Alarm1Mode = 0x0C
+	// Alarm1 fires when seconds, minutes and hours match
+	A1_HOUR Alarm1Mode = 0x08
+	// Alarm1 fires when seconds, minutes, hours and the day of the month match
+	A1_DATE Alarm1Mode = 0x00
+	// Alarm1 fires when seconds, minutes, hours and the day of the week match
+	A1_DAY Alarm1Mode = 0x10
+)
+
+// Alarm2 Modes define which parts of the set alarm time has to match the current timestamp of the clock device for
+// alarm2 to fire.
+//
+// Alarm2 only supports matching down to the minute unlike alarm1 which supports matching down to the second.
+type Alarm2Mode uint8
+
+const (
+	// Alarm2 fires every minute
+	A2_PER_MINUTE Alarm2Mode = 0x07
+	// Alarm2 fires when the minutes match
+	A2_MINUTE Alarm2Mode = 0x06
+	// Alarm2 fires when both minutes and hours match
+	A2_HOUR Alarm2Mode = 0x04
+	// Alarm2 fires when minutes, hours and the day of the month match
+	A2_DATE Alarm2Mode = 0x00
+	// Alarm2 fires when minutes, hours and the day of the week match
+	A2_DAY Alarm2Mode = 0x08
+)

encoders/quadrature_interrupt.go

@@ -1,4 +1,4 @@
-//go:build tinygo && (rp2040 || stm32 || k210 || esp32c3 || nrf || (avr && (atmega328p || atmega328pb)))
+//go:build tinygo && (rp2040 || rp2350 || stm32 || k210 || esp32c3 || nrf || sam || (avr && (atmega328p || atmega328pb)))
 
 // Implementation based on:
 // https://gist.github.com/aykevl/3fc1683ed77bb0a9c07559dfe857304a

ens160/ens160.go

@@ -0,0 +1,225 @@
+// Package ens160 provides a driver for the ScioSense ENS160 digital gas sensor.
+//
+// Datasheet: https://www.sciosense.com/wp-content/uploads/2023/12/ENS160-Datasheet.pdf
+package ens160
+
+import (
+	"encoding/binary"
+	"errors"
+	"time"
+
+	"tinygo.org/x/drivers"
+)
+
+const (
+	defaultTimeout = 30 * time.Millisecond
+	shortTimeout   = 1 * time.Millisecond
+)
+
+// Conversion constants for environment data compensation.
+const (
+	kelvinOffsetMilli = 273150          // 273.15 K in milli-units
+	tempRawFactor     = 64              // As per datasheet for TEMP_IN
+	humRawFactor      = 512             // As per datasheet for RH_IN
+	milliFactor       = 1000            // For converting from milli-units
+	roundingTerm      = milliFactor / 2 // For rounding before integer division
+)
+
+// validityStrings provides human-readable descriptions for validity flags.
+var validityStrings = [...]string{
+	ValidityNormalOperation:     "normal operation",
+	ValidityWarmUpPhase:         "warm-up phase, wait ~3 minutes for valid data",
+	ValidityInitialStartUpPhase: "initial start-up phase, wait ~1 hour for valid data",
+	ValidityInvalidOutput:       "invalid output",
+}
+
+// Device wraps an I2C connection to an ENS160 device.
+type Device struct {
+	bus  drivers.I2C // I²C implementation
+	addr uint16      // 7‑bit bus address, promoted to uint16 per drivers.I2C
+
+	// shadow registers / last measurements
+	lastTvocPPB  uint16
+	lastEco2PPM  uint16
+	lastAqiUBA   uint8
+	lastValidity uint8 // Store the latest validity status
+
+	// pre‑allocated buffers
+	wbuf [5]byte // longest write: reg + 4 bytes (TEMP+RH)
+	rbuf [5]byte // longest read: DATA burst (5 bytes)
+}
+
+// New returns a new ENS160 driver.
+func New(bus drivers.I2C, addr uint16) *Device {
+	if addr == 0 {
+		addr = DefaultAddress
+	}
+	return &Device{
+		bus:          bus,
+		addr:         addr,
+		lastValidity: ValidityInvalidOutput,
+	}
+}
+
+// Connected returns whether a ENS160 has been found.
+func (d *Device) Connected() bool {
+	d.wbuf[0] = regPartID
+	err := d.bus.Tx(d.addr, d.wbuf[:1], d.rbuf[:2])
+	return err == nil && d.rbuf[0] == LowPartID && d.rbuf[1] == HighPartID
+}
+
+// Configure sets up the device for reading.
+func (d *Device) Configure() error {
+	// 1. Soft-reset. The device will automatically enter IDLE mode.
+	if err := d.write1(regOpMode, ModeReset); err != nil {
+		return err
+	}
+	time.Sleep(defaultTimeout)
+
+	// 2. Clear GPR registers, then go to STANDARD mode.
+	if err := d.write1(regCommand, cmdClrGPR); err != nil {
+		return err
+	}
+	time.Sleep(defaultTimeout)
+
+	if err := d.write1(regOpMode, ModeStandard); err != nil {
+		return err
+	}
+	time.Sleep(defaultTimeout)
+
+	return nil
+}
+
+// calculateTempRaw converts temperature from milli-degrees Celsius to the sensor's raw format.
+func calculateTempRaw(tempMilliC int32) uint16 {
+	// Clip temperature
+	const (
+		minC = -40 * 1000
+		maxC = 85 * 1000
+	)
+	if tempMilliC < minC {
+		tempMilliC = minC
+	} else if tempMilliC > maxC {
+		tempMilliC = maxC
+	}
+
+	// Integer fixed-point conversion to format required by the sensor.
+	// Formula from datasheet: T_IN = (T_ambient_C + 273.15) * 64
+	return uint16((((tempMilliC + kelvinOffsetMilli) * tempRawFactor) + roundingTerm) / milliFactor)
+}
+
+// calculateHumRaw converts relative humidity from milli-percent to the sensor's raw format.
+func calculateHumRaw(rhMilliPct int32) uint16 {
+	// Clip humidity
+	if rhMilliPct < 0 {
+		rhMilliPct = 0
+	} else if rhMilliPct > 100*1000 {
+		rhMilliPct = 100 * 1000
+	}
+
+	// Integer fixed-point conversion to format required by the sensor.
+	// Formula from datasheet: RH_IN = (RH_ambient_% * 512)
+	return uint16(((rhMilliPct * humRawFactor) + roundingTerm) / milliFactor)
+}
+
+// SetEnvDataMilli sets the ambient temperature and humidity for compensation.
+//
+// tempMilliC is the temperature in milli-degrees Celsius.
+// rhMilliPct is the relative humidity in milli-percent.
+func (d *Device) SetEnvDataMilli(tempMilliC, rhMilliPct int32) error {
+	tempRaw := calculateTempRaw(tempMilliC)
+	humRaw := calculateHumRaw(rhMilliPct)
+
+	d.wbuf[0] = regTempIn // start address (auto‑increment)
+	binary.LittleEndian.PutUint16(d.wbuf[1:3], tempRaw)
+	binary.LittleEndian.PutUint16(d.wbuf[3:5], humRaw)
+
+	return d.bus.Tx(d.addr, d.wbuf[:5], nil)
+}
+
+// Update refreshes the concentration measurements.
+func (d *Device) Update(which drivers.Measurement) error {
+	if which&drivers.Concentration == 0 {
+		return nil // nothing requested
+	}
+
+	const maxTries = 1000
+	var (
+		status   uint8
+		validity uint8
+	)
+	var gotData bool
+
+	// Poll DEVICE_STATUS until NEWDAT or timeout
+	for range maxTries {
+		var err error
+		status, err = d.read1(regStatus)
+		if err != nil {
+			return err
+		}
+		if status&statusSTATER != 0 {
+			return errors.New("ENS160: error (STATER set)")
+		}
+		validity = (status & statusValidityMask) >> statusValidityShift
+
+		if status&statusNEWDAT != 0 {
+			gotData = true
+			break // Always break when data available
+		}
+		time.Sleep(shortTimeout)
+	}
+	if !gotData {
+		return errors.New("ENS160: timeout waiting for NEWDAT")
+	}
+
+	// Burst-read data regardless of validity state
+	d.wbuf[0] = regAQI
+	if err := d.bus.Tx(d.addr, d.wbuf[:1], d.rbuf[:5]); err != nil {
+		return errors.New("ENS160: burst read failed")
+	}
+
+	d.lastAqiUBA = d.rbuf[0]
+	d.lastTvocPPB = binary.LittleEndian.Uint16(d.rbuf[1:3])
+	d.lastEco2PPM = binary.LittleEndian.Uint16(d.rbuf[3:5])
+	d.lastValidity = validity // Store the validity status
+
+	return nil
+}
+
+// TVOC returns the last total‑VOC concentration in parts‑per‑billion.
+func (d *Device) TVOC() uint16 { return d.lastTvocPPB }
+
+// ECO2 returns the last equivalent CO₂ concentration in parts‑per‑million.
+func (d *Device) ECO2() uint16 { return d.lastEco2PPM }
+
+// AQI returns the last Air‑Quality Index according to UBA (1–5).
+func (d *Device) AQI() uint8 { return d.lastAqiUBA }
+
+// Validity returns the current operating state of the sensor.
+func (d *Device) Validity() uint8 {
+	return d.lastValidity
+}
+
+// ValidityString returns a human-readable string describing the current validity status.
+func (d *Device) ValidityString() string {
+	if int(d.lastValidity) < len(validityStrings) {
+		return validityStrings[d.lastValidity]
+	}
+	return "unknown"
+}
+
+// write1 writes a single byte to a register.
+func (d *Device) write1(reg, val uint8) error {
+	d.wbuf[0] = reg
+	d.wbuf[1] = val
+	return d.bus.Tx(d.addr, d.wbuf[:2], nil)
+}
+
+// read1 reads a single byte from a register.
+func (d *Device) read1(reg uint8) (uint8, error) {
+	d.wbuf[0] = reg
+	if err := d.bus.Tx(d.addr, d.wbuf[:1], d.rbuf[:1]); err != nil {
+		return 0, err
+	}
+	return d.rbuf[0], nil
+}

ens160/ens160_test.go

@@ -0,0 +1,54 @@
+package ens160
+
+import (
+	"testing"
+)
+
+func TestCalculateTempRaw(t *testing.T) {
+	testCases := []struct {
+		name        string
+		tempMilliC  int32
+		expectedRaw uint16
+	}{
+		{"25°C", 25000, 19082},
+		{"-10.5°C", -10500, 16810},
+		{"Min temp", -40000, 14922},
+		{"Below min", -50000, 14922},
+		{"Max temp", 85000, 22922},
+		{"Above max", 90000, 22922},
+		{"Zero", 0, 17482},
+	}
+
+	for _, tc := range testCases {
+		t.Run(tc.name, func(t *testing.T) {
+			raw := calculateTempRaw(tc.tempMilliC)
+			if raw != tc.expectedRaw {
+				t.Errorf("expected %d, got %d", tc.expectedRaw, raw)
+			}
+		})
+	}
+}
+
+func TestCalculateHumRaw(t *testing.T) {
+	testCases := []struct {
+		name        string
+		rhMilliPct  int32
+		expectedRaw uint16
+	}{
+		{"50%", 50000, 25600},
+		{"0%", 0, 0},
+		{"100%", 100000, 51200},
+		{"Below 0%", -10000, 0},
+		{"Above 100%", 110000, 51200},
+		{"33.3%", 33300, 17050},
+	}
+
+	for _, tc := range testCases {
+		t.Run(tc.name, func(t *testing.T) {
+			raw := calculateHumRaw(tc.rhMilliPct)
+			if raw != tc.expectedRaw {
+				t.Errorf("expected %d, got %d", tc.expectedRaw, raw)
+			}
+		})
+	}
+}

ens160/registers.go

@@ -0,0 +1,65 @@
+package ens160
+
+// DefaultAddress is the default I2C address for the ENS160 when the ADDR pin is
+// connected to high (3.3V). When connected to low (GND), the address is 0x52.
+const DefaultAddress = 0x53
+
+// Registers
+const (
+	regPartID   = 0x00
+	regOpMode   = 0x10
+	regConfig   = 0x11
+	regCommand  = 0x12
+	regTempIn   = 0x13
+	regRhIn     = 0x15
+	regStatus   = 0x20
+	regAQI      = 0x21
+	regTVOC     = 0x22
+	regECO2     = 0x24
+	regDataT    = 0x30
+	regDataRH   = 0x32
+	regMISR     = 0x38
+	regGPRWrite = 0x40
+	regGPRRead  = 0x48
+)
+
+// Operating modes
+const (
+	ModeDeepSleep = 0x00
+	ModeIdle      = 0x01
+	ModeStandard  = 0x02
+	ModeReset     = 0xF0
+)
+
+// Status register bits
+const (
+	statusSTATAS = 1 << 7
+	statusSTATER = 1 << 6
+
+	statusValidityMask  = 0x0C
+	statusValidityShift = 2
+
+	statusNEWDAT = 1 << 1
+	statusNEWGPR = 1 << 0
+)
+
+// Validity flags
+const (
+	ValidityNormalOperation     = 0x00
+	ValidityWarmUpPhase         = 0x01 // need ~3 minutes until valid data
+	ValidityInitialStartUpPhase = 0x02 // need ~1 hour until valid data
+	ValidityInvalidOutput       = 0x03
+)
+
+// Commands
+const (
+	cmdNOP       = 0x00
+	cmdGetAppVer = 0x0E
+	cmdClrGPR    = 0xCC
+)
+
+// Part IDs
+const (
+	LowPartID  = 0x60
+	HighPartID = 0x01
+)

espat/espat.go

@@ -122,7 +122,7 @@ func (d *Device) NetDisconnect() {
 }
 
 func (d *Device) NetNotify(cb func(netlink.Event)) {
-	// Not supported
+	fmt.Printf("\r\n%s\r\n", netlink.ErrNotSupported)
 }
 
 func (d *Device) GetHostByName(name string) (netip.Addr, error) {
@@ -473,7 +473,6 @@ func (d *Device) parseIPD(end int) error {
 	}
 
 	// load up the socket data
-	//d.data = append(d.data, d.response[e+1:end]...)
 	d.data = append(d.data, d.response[e+1:e+1+v]...)
 	return nil
 }

examples/bno08x/i2c/main.go

@@ -0,0 +1,66 @@
+// Package main provides a basic example of using the BNO08x driver
+// to read rotation vector (quaternion) data from the sensor.
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/bno08x"
+)
+
+func main() {
+	time.Sleep(2 * time.Second) // Wait for sensor to power up
+	// Initialize I2C bus
+	i2c := machine.I2C0
+	err := i2c.Configure(machine.I2CConfig{
+		Frequency: 400 * machine.KHz,
+	})
+	if err != nil {
+		println("Failed to configure I2C:", err.Error())
+		return
+	}
+
+	println("Initializing BNO08x sensor...")
+
+	// Create and configure sensor using I2C
+	sensor := bno08x.NewI2C(i2c)
+	err = sensor.Configure(bno08x.Config{})
+	if err != nil {
+		println("Failed to configure sensor:", err.Error())
+		return
+	}
+
+	println("Sensor initialized successfully")
+
+	// Enable Game Rotation Vector reports at 100Hz (10000 microseconds = 10ms interval)
+	// Using Game Rotation Vector (0x08) to match the working channel_debug test
+	err = sensor.EnableReport(bno08x.SensorGameRotationVector, 10000)
+	if err != nil {
+		println("Failed to enable game rotation vector:", err.Error())
+		return
+	}
+
+	println("Reading rotation vectors...")
+	println("Format: Real I J K Accuracy")
+
+	// Add a delay after enabling reports (Arduino does this)
+	time.Sleep(100 * time.Millisecond)
+
+	// Main loop - read and display quaternion data
+	for {
+		event, ok := sensor.GetSensorEvent()
+		if ok && (event.ID() == bno08x.SensorRotationVector || event.ID() == bno08x.SensorGameRotationVector) {
+			q := event.Quaternion()
+			if event.ID() == bno08x.SensorRotationVector {
+				println(q.Real, q.I, q.J, q.K, event.QuaternionAccuracy())
+			} else {
+				// GameRotationVector doesn't have accuracy
+				println(q.Real, q.I, q.J, q.K)
+			}
+		}
+
+		// Arduino uses 10ms delay in loop
+		time.Sleep(10 * time.Millisecond)
+	}
+}

examples/ds3231/alarms/main.go

@@ -0,0 +1,74 @@
+// Connects to an DS3231 I2C Real Time Clock (RTC) and sets both alarms. It then repeatedly checks
+// if the alarms are firing and prints out a message if that is the case.
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/ds3231"
+)
+
+func main() {
+	machine.I2C0.Configure(machine.I2CConfig{})
+
+	rtc := ds3231.New(machine.I2C0)
+	rtc.Configure()
+
+	valid := rtc.IsTimeValid()
+	if !valid {
+		date := time.Date(2019, 12, 05, 20, 34, 12, 0, time.UTC)
+		rtc.SetTime(date)
+	}
+
+	// Set alarm1 so it triggers when the seconds match 59 => repeats every minute at dd:hh:mm:59
+	if err := rtc.SetAlarm1(time.Date(0, 0, 0, 0, 0, 59, 0, time.UTC), ds3231.A1_SECOND); err != nil {
+		println("Error while setting Alarm1")
+	}
+	if err := rtc.SetEnabledAlarm1(true); err != nil {
+		println("Error while enabling Alarm1")
+	}
+
+	// Set alarm2 so it triggers when the minutes match 35 => repeats every hour at dd:hh:35:ss
+	if err := rtc.SetAlarm2(time.Date(0, 0, 0, 0, 35, 0, 0, time.UTC), ds3231.A2_MINUTE); err != nil {
+		println("Error while setting Alarm2")
+	}
+	if err := rtc.SetEnabledAlarm2(true); err != nil {
+		println("Error while enabling Alarm2")
+	}
+
+	running := rtc.IsRunning()
+	if !running {
+		err := rtc.SetRunning(true)
+		if err != nil {
+			println("Error configuring RTC")
+		}
+	}
+
+	for {
+		dt, err := rtc.ReadTime()
+		if err != nil {
+			println("Error reading date:", err)
+			continue
+		}
+
+		a1 := rtc.IsAlarm1Fired()
+		a2 := rtc.IsAlarm2Fired()
+
+		println(dt.Format(time.DateTime), "A1:", a1, "A2:", a2)
+
+		if a1 {
+			if err := rtc.ClearAlarm1(); err != nil {
+				println("Error while clearing alarm1")
+			}
+		}
+		if a2 {
+			if err := rtc.ClearAlarm2(); err != nil {
+				println("Error while clearing alarm2")
+			}
+
+		}
+
+		time.Sleep(time.Second * 1)
+	}
+}

examples/ds3231/basic/main.go

@@ -3,10 +3,9 @@ package main
 
 import (
 	"machine"
+	"strconv"
 	"time"
 
-	"fmt"
-
 	"tinygo.org/x/drivers/ds3231"
 )
 
@@ -26,19 +25,19 @@ func main() {
 	if !running {
 		err := rtc.SetRunning(true)
 		if err != nil {
-			fmt.Println("Error configuring RTC")
+			println("Error configuring RTC")
 		}
 	}
 
 	for {
 		dt, err := rtc.ReadTime()
 		if err != nil {
-			fmt.Println("Error reading date:", err)
+			println("Error reading date:", err)
 		} else {
-			fmt.Printf("Date: %d/%s/%02d %02d:%02d:%02d \r\n", dt.Year(), dt.Month(), dt.Day(), dt.Hour(), dt.Minute(), dt.Second())
+			println(dt.Format(time.DateTime))
 		}
 		temp, _ := rtc.ReadTemperature()
-		fmt.Printf("Temperature: %.2f °C \r\n", float32(temp)/1000)
+		println("Temperature:", strconv.FormatFloat(float64(temp)/1000, 'f', -1, 32), "°C")
 
 		time.Sleep(time.Second * 1)
 	}

examples/ens160/main.go

@@ -0,0 +1,56 @@
+// This example demonstrates ENS160 usage.
+//
+// Wiring:
+// - VCC to 3.3V, GND to ground
+// - SDA to board SDA, SCL to board SCL
+
+package main
+
+import (
+	"time"
+
+	"machine"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/ens160"
+)
+
+func main() {
+	err := machine.I2C0.Configure(machine.I2CConfig{
+		Frequency: 400 * machine.KHz,
+	})
+	if err != nil {
+		println("Failed to configure I2C:", err)
+	}
+
+	dev := ens160.New(machine.I2C0, ens160.DefaultAddress)
+
+	connected := dev.Connected()
+	if !connected {
+		println("ENS160 not detected")
+		return
+	}
+	println("ENS160 detected")
+
+	if err := dev.Configure(); err != nil {
+		println("Failed to configure ENS160:", err)
+	}
+
+	for {
+		err := dev.Update(drivers.Concentration)
+		if err != nil {
+			println("Error reading ENS160: %v\n", err)
+			time.Sleep(5 * time.Second)
+			continue
+		}
+
+		println(
+			"AQI:", dev.AQI(),
+			"TVOC:", dev.TVOC(),
+			"eCO2:", dev.ECO2(),
+			"Validity:", dev.ValidityString(),
+		)
+
+		time.Sleep(2 * time.Second)
+	}
+}

examples/flash/console/spi/main.go

@@ -10,7 +10,7 @@ import (
 func main() {
 	console_example.RunFor(
 		flash.NewSPI(
-			&machine.SPI1,
+			machine.SPI1,
 			machine.SPI1_SDO_PIN,
 			machine.SPI1_SDI_PIN,
 			machine.SPI1_SCK_PIN,

examples/gps/i2c/main.go

@@ -10,7 +10,7 @@ import (
 func main() {
 	println("GPS I2C Example")
 	machine.I2C0.Configure(machine.I2CConfig{})
-	ublox := gps.NewI2C(machine.I2C0)
+	ublox := gps.NewI2CWithAddress(machine.I2C0, gps.UBLOX_I2C_ADDRESS)
 	parser := gps.NewParser()
 	var fix gps.Fix
 	for {

examples/gps/uart/main.go

@@ -8,7 +8,6 @@ import (
 )
 
 func main() {
-	println("GPS UART Example")
 	machine.UART1.Configure(machine.UARTConfig{BaudRate: 9600})
 	ublox := gps.NewUART(machine.UART1)
 	parser := gps.NewParser()
@@ -16,14 +15,24 @@ func main() {
 	for {
 		s, err := ublox.NextSentence()
 		if err != nil {
-			println(err)
-			continue
+			switch err {
+			case gps.ErrUnknownNMEASentence, gps.ErrInvalidNMEASentence, gps.ErrInvalidNMEASentenceLength:
+				continue
+			default:
+				println("sentence error:", err)
+				continue
+			}
 		}
 
 		fix, err = parser.Parse(s)
 		if err != nil {
-			println(err)
-			continue
+			switch err {
+			case gps.ErrUnknownNMEASentence, gps.ErrInvalidNMEASentence, gps.ErrInvalidNMEASentenceLength:
+				continue
+			default:
+				println("parse error:", err)
+				continue
+			}
 		}
 		if fix.Valid {
 			print(fix.Time.Format("15:04:05"))
@@ -43,7 +52,10 @@ func main() {
 			}
 			println()
 		} else {
-			println("No fix")
+			if fix.Type == gps.GSV {
+				// GSV sentence provides satellite count even if no fix yet
+				println(fix.Satellites, "satellites visible")
+			}
 		}
 		time.Sleep(200 * time.Millisecond)
 	}

examples/honeyhsc/example.go

@@ -0,0 +1,49 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/honeyhsc"
+)
+
+// Data taken from https://github.com/rodan/honeywell_hsc_ssc_i2c/blob/master/hsc_ssc_i2c.cpp
+// these defaults are valid for the HSCMRNN030PA2A3 chip
+const (
+	i2cAddress = 0x28
+	// 10%
+	outputMinimum = 0x666
+	// 90% of 2^14 - 1
+	outputMax = 0x399A
+	// min is 0 for sensors that give absolute values
+	pressureMin = 0
+	// 30psi (and we want results in millipascals)
+	// pressureMax = 206842.7
+	pressureMax = 206843 * 1000
+)
+
+func main() {
+	bus := machine.I2C0
+	err := bus.Configure(machine.I2CConfig{
+		Frequency: 400_000, // 100kHz minimum and 400kHz I2C maximum clock. 50 to 800 for SPI.
+		SDA:       machine.I2C0_SDA_PIN,
+		SCL:       machine.I2C0_SCL_PIN,
+	})
+	if err != nil {
+		panic(err.Error())
+	}
+	sensor := honeyhsc.NewDevI2C(bus, i2cAddress, outputMinimum, outputMax, pressureMin, pressureMax)
+	for {
+		time.Sleep(time.Second)
+		const measuremask = drivers.Pressure | drivers.Temperature
+		err := sensor.Update(measuremask)
+		if err != nil {
+			println("error updating measurements:", err.Error())
+			continue
+		}
+		P := sensor.Pressure()
+		T := sensor.Temperature()
+		println("pressure:", P, "temperature:", T)
+	}
+}

examples/ina219/main.go

@@ -0,0 +1,29 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/ina219"
+)
+
+func main() {
+	machine.I2C0.Configure(machine.I2CConfig{})
+
+	dev := ina219.New(machine.I2C0)
+	dev.Configure()
+
+	for {
+		busVoltage, shuntVoltage, current, power, err := dev.Measurements()
+		if err != nil {
+			println("Error reading measurements", err)
+		}
+
+		println("Bus Voltage:", busVoltage, "V")
+		println("Shunt Voltage:", shuntVoltage/100, "mV")
+		println("Current:", current, "mA")
+		println("Power:", power, "mW")
+
+		time.Sleep(10 * time.Millisecond)
+	}
+}

examples/lis3dh/main.go

@@ -14,9 +14,18 @@ func main() {
 	i2c.Configure(machine.I2CConfig{SCL: machine.SCL1_PIN, SDA: machine.SDA1_PIN})
 
 	accel := lis3dh.New(i2c)
-	accel.Address = lis3dh.Address1 // address on the Circuit Playground Express
-	accel.Configure()
-	accel.SetRange(lis3dh.RANGE_2_G)
+	err := accel.Configure(lis3dh.Config{
+		Address: lis3dh.Address1, // address on the Circuit Playground Express
+	})
+	for err != nil {
+		println("could not configure LIS3DH:", err)
+		time.Sleep(time.Second)
+	}
+	err = accel.SetRange(lis3dh.RANGE_2_G)
+	for err != nil {
+		println("could not set acceleration range:", err)
+		time.Sleep(time.Second)
+	}
 
 	println(accel.Connected())
 

examples/lsm303dlhc/main.go

@@ -0,0 +1,58 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/lsm303dlhc"
+)
+
+func main() {
+
+	// LSM303DLHC is connected to the I2C0 bus on Adafruit Feather M4 via pins: 20(SDA) and 21(SCL).
+	machine.I2C0.Configure(machine.I2CConfig{})
+
+	sensor := lsm303dlhc.New(machine.I2C0)
+	//default settings
+	err := sensor.Configure(lsm303dlhc.Configuration{
+		AccelPowerMode: lsm303dlhc.ACCEL_POWER_NORMAL,
+		AccelRange:     lsm303dlhc.ACCEL_RANGE_2G,
+		AccelDataRate:  lsm303dlhc.ACCEL_DATARATE_100HZ,
+		MagPowerMode:   lsm303dlhc.MAG_POWER_NORMAL,
+		MagSystemMode:  lsm303dlhc.MAG_SYSTEM_CONTINUOUS,
+		MagDataRate:    lsm303dlhc.MAG_DATARATE_10HZ,
+	})
+	if err != nil {
+		for {
+			println("Failed to configure", err.Error())
+			time.Sleep(time.Second)
+		}
+	}
+
+	for {
+		accel_x, accel_y, accel_z, err := sensor.ReadAcceleration()
+		if err != nil {
+			println("Failed to read accel", err.Error())
+		}
+		println("ACCEL_X:", accel_x, " ACCEL_Y:", accel_y, " ACCEL_Z:", accel_z)
+
+		mag_x, mag_y, mag_z, err := sensor.ReadMagneticField()
+		if err != nil {
+			println("Failed to read mag", err.Error())
+		}
+		println("MAG_X:", mag_x, " MAG_Y:", mag_y, " MAG_Z:", mag_z)
+
+		pitch, roll, _ := sensor.ReadPitchRoll()
+		println("Pitch:", float32(pitch), " Roll:", float32(roll))
+
+		heading, _ := sensor.ReadCompass()
+		println("Heading:", float32(heading), "degrees")
+
+		temp, _ := sensor.ReadTemperature()
+		println("Temperature:", float32(temp)/1000, "*C")
+
+		println("\n")
+		time.Sleep(time.Millisecond * 250)
+	}
+
+}

examples/max6675/main.go

@@ -0,0 +1,34 @@
+package main
+
+import (
+	"fmt"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/max6675"
+)
+
+// example for reading temperature from a thermocouple
+func main() {
+	// Pins are for an Adafruit Feather nRF52840 Express
+	machine.D5.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	machine.D5.High()
+
+	machine.SPI0.Configure(machine.SPIConfig{
+		Frequency: 1_000_000,
+		SCK:       machine.SPI0_SCK_PIN,
+		SDI:       machine.SPI0_SDI_PIN,
+	})
+
+	thermocouple := max6675.NewDevice(machine.SPI0, machine.D5)
+
+	for {
+		temp, err := thermocouple.Read()
+		if err != nil {
+			println(err)
+			return
+		}
+		fmt.Printf("%0.02f C : %0.02f F\n", temp, (temp*9/5)+32)
+		time.Sleep(time.Second)
+	}
+}

examples/mcp2515/main.go

@@ -21,7 +21,7 @@ func main() {
 		SDI:       machine.SPI0_SDI_PIN,
 		Mode:      0})
 	can := mcp2515.New(spi, csPin)
-	can.Configure()
+	can.Configure(mcp2515.Configuration{})
 	err := can.Begin(mcp2515.CAN500kBps, mcp2515.Clock8MHz)
 	if err != nil {
 		failMessage(err.Error())

examples/mcp9808/main.go

@@ -0,0 +1,48 @@
+package main
+
+import (
+	"fmt"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/mcp9808"
+)
+
+func main() {
+
+	//tinygo monitor
+	time.Sleep(time.Millisecond * 5000)
+
+	//Configure I2C (in this case, I2C0 on RPI Pico), and wire the module accordingly
+	machine.I2C0.Configure(machine.I2CConfig{
+		SCL: machine.GP1,
+		SDA: machine.GP0,
+	})
+
+	//Create sensor
+	sensor := mcp9808.New(machine.I2C0)
+	if !sensor.Connected() {
+		println("MCP9808 not found")
+		return
+	} else {
+		println("MCP9808 found")
+	}
+
+	time.Sleep(time.Millisecond * 1000)
+
+	//Set resolution
+	sensor.SetResolution(mcp9808.Maximum)
+
+	time.Sleep(time.Millisecond * 1000)
+
+	//Read temp.
+	temp, err := sensor.ReadTemperature()
+	if err != nil {
+		println("MCP9808 error reading temperature")
+		println(err.Error())
+		return
+	} else {
+		fmt.Printf("Temperature: %.2f \n", temp)
+	}
+	return
+}

examples/net/http-get/main.go

@@ -9,7 +9,7 @@
 //     examples/net/webclient (for HTTP)
 //     examples/net/tlsclient (for HTTPS)
 
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/net/http-head/main.go

@@ -9,7 +9,7 @@
 //     examples/net/webclient (for HTTP)
 //     examples/net/tlsclient (for HTTPS)
 
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/net/http-post/main.go

@@ -9,7 +9,7 @@
 //     examples/net/webclient (for HTTP)
 //     examples/net/tlsclient (for HTTPS)
 
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/net/http-postform/main.go

@@ -9,7 +9,7 @@
 //     examples/net/webclient (for HTTP)
 //     examples/net/tlsclient (for HTTPS)
 
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/net/mqttclient/natiu/main.go

@@ -4,7 +4,7 @@
 // Note: It may be necessary to increase the stack size when using
 // paho.mqtt.golang.  Use the -stack-size=4KB command line option.
 
-//go:build ninafw || wioterminal || challenger_rp2040
+//go:build ninafw || wioterminal || challenger_rp2040 || comboat_fw
 
 package main
 

examples/net/mqttclient/paho/main.go

@@ -4,7 +4,7 @@
 // Note: It may be necessary to increase the stack size when using
 // paho.mqtt.golang.  Use the -stack-size=4KB command line option.
 
-//go:build ninafw || wioterminal || challenger_rp2040
+//go:build ninafw || wioterminal || challenger_rp2040 || comboat_fw
 
 package main
 

examples/net/ntpclient/main.go

@@ -3,7 +3,7 @@
 // It creates a UDP connection to request the current time and parse the
 // response from a NTP server.  The system time is set to NTP time.
 
-//go:build ninafw || wioterminal || challenger_rp2040
+//go:build ninafw || wioterminal || challenger_rp2040 || comboat_fw
 
 package main
 

examples/net/snake/init.go

@@ -1,4 +1,4 @@
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/net/snake/main.go

@@ -31,7 +31,7 @@
 // func.  This forces segments to connect and run concurrently, which is a good
 // test of the underlying driver's ability to handle concurrent connections.
 
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/net/socket/main.go

@@ -4,7 +4,7 @@
 //
 // nc -lk 8080
 
-//go:build ninafw || wioterminal || challenger_rp2040
+//go:build ninafw || wioterminal || challenger_rp2040 || comboat_fw
 
 package main
 

examples/net/tcpclient/main.go

@@ -5,7 +5,7 @@
 //
 // nc -lk 8080
 
-//go:build ninafw || wioterminal || challenger_rp2040 || pico
+//go:build ninafw || wioterminal || challenger_rp2040 || comboat_fw
 
 package main
 

examples/net/tlsclient/main.go

@@ -5,7 +5,7 @@
 //
 // https://developer.mozilla.org/en-US/docs/Web/HTTP/Headers/Strict-Transport-Security
 
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/net/webclient/main.go

@@ -17,7 +17,7 @@
 // }
 // ---------------------------------------------------------------------------
 
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/net/websocket/dial/main.go

@@ -6,7 +6,7 @@
 // Note: It may be necessary to increase the stack size when using
 // "golang.org/x/net/websocket".  Use the -stack-size=4KB command line option.
 
-//go:build ninafw || wioterminal
+//go:build ninafw || wioterminal || comboat_fw
 
 package main
 

examples/pcf8591/main.go

@@ -0,0 +1,28 @@
+// Connects to a pcf8591 ADC via I2C.
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/pcf8591"
+)
+
+var (
+	i2c = machine.I2C0
+)
+
+func main() {
+	i2c.Configure(machine.I2CConfig{})
+	adc := pcf8591.New(i2c)
+	adc.Configure()
+
+	// get "CH0" aka "machine.ADC" interface to channel 0 from ADC.
+	p := adc.CH0
+
+	for {
+		val := p.Get()
+		println(val)
+		time.Sleep(50 * time.Millisecond)
+	}
+}

examples/sdcard/console/feather-m4.go

@@ -7,7 +7,7 @@ import (
 )
 
 func init() {
-	spi = &machine.SPI0
+	spi = machine.SPI0
 	sckPin = machine.SPI0_SCK_PIN
 	sdoPin = machine.SPI0_SDO_PIN
 	sdiPin = machine.SPI0_SDI_PIN

examples/sdcard/console/grandcentral-m4.go

@@ -7,7 +7,7 @@ import (
 )
 
 func init() {
-	spi = &machine.SPI1
+	spi = machine.SPI1
 	sckPin = machine.SDCARD_SCK_PIN
 	sdoPin = machine.SDCARD_SDO_PIN
 	sdiPin = machine.SDCARD_SDI_PIN

examples/sdcard/console/m0.go

@@ -7,7 +7,7 @@ import (
 )
 
 func init() {
-	spi = &machine.SPI0
+	spi = machine.SPI0
 	sckPin = machine.SPI0_SCK_PIN
 	sdoPin = machine.SPI0_SDO_PIN
 	sdiPin = machine.SPI0_SDI_PIN

examples/sdcard/console/p1am-100.go

@@ -7,7 +7,7 @@ import (
 )
 
 func init() {
-	spi = &machine.SDCARD_SPI
+	spi = machine.SDCARD_SPI
 	sckPin = machine.SDCARD_SCK_PIN
 	sdoPin = machine.SDCARD_SDO_PIN
 	sdiPin = machine.SDCARD_SDI_PIN

examples/sdcard/console/pygamer.go

@@ -7,7 +7,7 @@ import (
 )
 
 func init() {
-	spi = &machine.SPI0
+	spi = machine.SPI0
 	sckPin = machine.SPI0_SCK_PIN
 	sdoPin = machine.SPI0_SDO_PIN
 	sdiPin = machine.SPI0_SDI_PIN

examples/sdcard/console/pyportal.go

@@ -7,7 +7,7 @@ import (
 )
 
 func init() {
-	spi = &machine.SPI0
+	spi = machine.SPI0
 	sckPin = machine.SPI0_SCK_PIN
 	sdoPin = machine.SPI0_SDO_PIN
 	sdiPin = machine.SPI0_SDI_PIN

examples/sdcard/console/wioterminal.go

@@ -7,7 +7,7 @@ import (
 )
 
 func init() {
-	spi = &machine.SPI2
+	spi = machine.SPI2
 	sckPin = machine.SCK2
 	sdoPin = machine.SDO2
 	sdiPin = machine.SDI2

examples/seesaw/rotary-encoder/main.go

@@ -0,0 +1,35 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/seesaw"
+)
+
+// example reading the position of a rotary encoder (4991) powered by a seesaw
+// https://learn.adafruit.com/adafruit-i2c-qt-rotary-encoder/arduino
+func main() {
+	// This assumes you are using an Adafruit QT Py RP2040 for its Stemma QT connector
+	// https://www.adafruit.com/product/4900
+	i2c := machine.I2C1
+	i2c.Configure(machine.I2CConfig{
+		SCL: machine.I2C1_QT_SCL_PIN,
+		SDA: machine.I2C1_QT_SDA_PIN,
+	})
+
+	dev := seesaw.New(i2c)
+	dev.Address = 0x36
+
+	for {
+		time.Sleep(time.Second)
+
+		pos, err := dev.GetEncoderPosition(0, false)
+		if err != nil {
+			println(err)
+			continue
+		}
+
+		println(pos)
+	}
+}

examples/servo/servo.go

@@ -25,19 +25,25 @@ func main() {
 		return
 	}
 
-	println("setting to 0°")
-	s.SetMicroseconds(1000)
-	time.Sleep(3 * time.Second)
-
-	println("setting to 45°")
-	s.SetMicroseconds(1500)
-	time.Sleep(3 * time.Second)
-
-	println("setting to 90°")
-	s.SetMicroseconds(2000)
-	time.Sleep(3 * time.Second)
-
 	for {
-		time.Sleep(time.Second)
+		println("setting to 0°")
+		s.SetAngle(0)
+		time.Sleep(3 * time.Second)
+
+		println("setting to 45°")
+		s.SetAngle(45)
+		time.Sleep(3 * time.Second)
+
+		println("setting to 90°")
+		s.SetAngle(90)
+		time.Sleep(3 * time.Second)
+
+		println("setting to 135°")
+		s.SetAngle(135)
+		time.Sleep(3 * time.Second)
+
+		println("setting to 180°")
+		s.SetAngle(180)
+		time.Sleep(3 * time.Second)
 	}
 }

examples/sharpmem/main.go

@@ -0,0 +1,90 @@
+package main
+
+import (
+	"image/color"
+	"machine"
+	"math/rand/v2"
+	"time"
+
+	"tinygo.org/x/drivers/sharpmem"
+)
+
+var (
+	// example wiring using a nice!view and nice!nano:
+	// (view)   (nano)
+	// MOSI --> P0.24
+	// SCK ---> P0.22
+	// GND ---> GND
+	// VCC ---> 3.3V
+	// CS ----> P0.06
+
+	spi = machine.SPI0
+
+	sckPin = machine.SPI0_SCK_PIN // SCK
+	sdoPin = machine.SPI0_SDO_PIN // MOSI
+	sdiPin = machine.SPI0_SDI_PIN // (any pin)
+
+	csPin = machine.P0_06 // CS
+)
+
+func main() {
+	time.Sleep(time.Second)
+
+	err := spi.Configure(machine.SPIConfig{
+		Frequency: 2000000,
+		SCK:       sckPin,
+		SDO:       sdoPin,
+		SDI:       sdiPin,
+		Mode:      0,
+		LSBFirst:  true,
+	})
+	if err != nil {
+		println("spi.Configure() failed, error:", err.Error())
+		return
+	}
+
+	csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+
+	display := sharpmem.New(spi, csPin)
+
+	cfg := sharpmem.ConfigLS011B7DH03
+	display.Configure(cfg)
+
+	// clear the display before first use
+	err = display.Clear()
+	if err != nil {
+		println("display.Clear() failed, error:", err.Error())
+		return
+	}
+
+	// random boxes pop into and out of existence
+	for {
+		x0 := int16(rand.IntN(int(cfg.Width - 7)))
+		y0 := int16(rand.IntN(int(cfg.Height - 7)))
+
+		for x2 := int16(0); x2 < 16; x2++ {
+			x2 := x2
+			c := color.RGBA{R: 255, G: 255, B: 255, A: 255}
+
+			if x2 >= 8 {
+				// effectively erases the box after it showed up
+				x2 = x2 - 8
+				c = color.RGBA{R: 0, G: 0, B: 0, A: 255}
+			}
+
+			for x := int16(0); x < x2; x++ {
+				for y := int16(0); y < 8; y++ {
+					display.SetPixel(x0+x, y0+y, c)
+				}
+			}
+
+			err = display.Display()
+			if err != nil {
+				println("display.Display() failed, error:", err.Error())
+				continue
+			}
+
+			time.Sleep(33 * time.Millisecond)
+		}
+	}
+}

examples/si5351/main.go

@@ -0,0 +1,88 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/si5351"
+)
+
+// Simple demo of the SI5351 clock generator.
+// This is like the Arduino library example:
+//   https://github.com/adafruit/Adafruit_Si5351_Library/blob/master/examples/si5351/si5351.ino
+// Which will configure the chip with:
+//  - PLL A at 900mhz
+//  - PLL B at 616.66667mhz
+//  - Clock 0 at 112.5mhz, using PLL A as a source divided by 8
+//  - Clock 1 at 13.5531mhz, using PLL B as a source divided by 45.5
+//  - Clock 2 at 10.76khz, using PLL B as a source divided by 900 and further divided with an R divider of 64.
+
+func main() {
+	time.Sleep(5 * time.Second)
+
+	println("Si5351 Clockgen Test")
+	println()
+
+	// Configure I2C bus
+	machine.I2C0.Configure(machine.I2CConfig{})
+
+	// Create driver instance
+	clockgen := si5351.New(machine.I2C0)
+
+	// Initialize device
+	cnf := si5351.Config{
+		Capacitance: si5351.CrystalLoad10PF,
+	}
+
+	if err := clockgen.Configure(cnf); err != nil {
+		println("Failed to configure Si5351:", err.Error())
+		return
+	}
+	println("Si5351 configured")
+
+	// Now configure the clock outputs.
+	clockgen.SetFrequency(si5351.Clock0, 112_500_000)
+	println("Clock 0: 112.5mhz")
+
+	// Next configure clock 1 for 13.5531mhz (616.6667mhz / 45.5).
+	// This uses fractional division.
+	clockgen.SetFrequency(si5351.Clock1, 13_553_125)
+	println("Clock 1: 13.5531mhz")
+
+	// Finally configure clock 2 to output of 10.706khz.
+	clockgen.SetFrequency(si5351.Clock2, 10_706)
+	println("Clock 2: 10.706khz")
+
+	// After configuring the clocks enable the outputs.
+	clockgen.EnableOutput(si5351.Clock0, true)
+	clockgen.EnableOutput(si5351.Clock1, true)
+	clockgen.EnableOutput(si5351.Clock2, true)
+	println("All outputs enabled")
+
+	time.Sleep(time.Second)
+
+	clockgen.EnableOutput(si5351.Clock0, false)
+	clockgen.EnableOutput(si5351.Clock1, false)
+	clockgen.EnableOutput(si5351.Clock2, false)
+	println("All outputs disabled for 5 seconds")
+	time.Sleep(5 * time.Second)
+
+	// Now turn clock outputs on and off repeatedly
+	on := false
+	for {
+		if on {
+			println("Setting clock outputs off")
+			clockgen.EnableOutput(si5351.Clock0, false)
+			clockgen.EnableOutput(si5351.Clock1, false)
+			clockgen.EnableOutput(si5351.Clock2, false)
+			on = false
+		} else {
+			println("Setting clock outputs on")
+			clockgen.EnableOutput(si5351.Clock0, true)
+			clockgen.EnableOutput(si5351.Clock1, true)
+			clockgen.EnableOutput(si5351.Clock2, true)
+			on = true
+		}
+		time.Sleep(1 * time.Second)
+	}
+}

examples/ssd1289/main.go

@@ -5,6 +5,7 @@ import (
 	"machine"
 	"math/rand"
 
+	"tinygo.org/x/drivers/internal/pin"
 	"tinygo.org/x/drivers/ssd1289"
 )
 
@@ -16,7 +17,7 @@ func main() {
 	//consider creating a more efficient bus implementation that uses
 	//your microcontrollers built in "ports"
 	//see rp2040bus.go for an example for the rapsberry pi pico
-	bus := ssd1289.NewPinBus([16]machine.Pin{
+	bus := ssd1289.NewPinBus([16]pin.Output{
 		machine.GP4,  //DB0
 		machine.GP5,  //DB1
 		machine.GP6,  //DB2

examples/ssd1306/i2c_128x32/main.go

@@ -1,51 +0,0 @@
-package main
-
-import (
-	"machine"
-
-	"image/color"
-	"time"
-
-	"tinygo.org/x/drivers/ssd1306"
-)
-
-func main() {
-	machine.I2C0.Configure(machine.I2CConfig{
-		Frequency: machine.TWI_FREQ_400KHZ,
-	})
-
-	display := ssd1306.NewI2C(machine.I2C0)
-	display.Configure(ssd1306.Config{
-		Address: ssd1306.Address_128_32,
-		Width:   128,
-		Height:  32,
-	})
-
-	display.ClearDisplay()
-
-	x := int16(0)
-	y := int16(0)
-	deltaX := int16(1)
-	deltaY := int16(1)
-	for {
-		pixel := display.GetPixel(x, y)
-		c := color.RGBA{255, 255, 255, 255}
-		if pixel {
-			c = color.RGBA{0, 0, 0, 255}
-		}
-		display.SetPixel(x, y, c)
-		display.Display()
-
-		x += deltaX
-		y += deltaY
-
-		if x == 0 || x == 127 {
-			deltaX = -deltaX
-		}
-
-		if y == 0 || y == 31 {
-			deltaY = -deltaY
-		}
-		time.Sleep(1 * time.Millisecond)
-	}
-}

examples/ssd1306/i2c_128x64/main.go

@@ -1,60 +0,0 @@
-// This example shows how to use 128x64 display over I2C
-// Tested on Seeeduino XIAO Expansion Board https://wiki.seeedstudio.com/Seeeduino-XIAO-Expansion-Board/
-//
-// According to manual, I2C address of the display is 0x78, but that's 8-bit address.
-// TinyGo operates on 7-bit addresses and respective 7-bit address would be 0x3C, which we use below.
-//
-// To learn more about different types of I2C addresses, please see following page
-// https://www.totalphase.com/support/articles/200349176-7-bit-8-bit-and-10-bit-I2C-Slave-Addressing
-
-package main
-
-import (
-	"machine"
-
-	"image/color"
-	"time"
-
-	"tinygo.org/x/drivers/ssd1306"
-)
-
-func main() {
-	machine.I2C0.Configure(machine.I2CConfig{
-		Frequency: machine.TWI_FREQ_400KHZ,
-	})
-
-	display := ssd1306.NewI2C(machine.I2C0)
-	display.Configure(ssd1306.Config{
-		Address: 0x3C,
-		Width:   128,
-		Height:  64,
-	})
-
-	display.ClearDisplay()
-
-	x := int16(0)
-	y := int16(0)
-	deltaX := int16(1)
-	deltaY := int16(1)
-	for {
-		pixel := display.GetPixel(x, y)
-		c := color.RGBA{255, 255, 255, 255}
-		if pixel {
-			c = color.RGBA{0, 0, 0, 255}
-		}
-		display.SetPixel(x, y, c)
-		display.Display()
-
-		x += deltaX
-		y += deltaY
-
-		if x == 0 || x == 127 {
-			deltaX = -deltaX
-		}
-
-		if y == 0 || y == 63 {
-			deltaY = -deltaY
-		}
-		time.Sleep(1 * time.Millisecond)
-	}
-}

examples/ssd1306/main.go

@@ -0,0 +1,59 @@
+package main
+
+// This example shows how to use SSD1306 OLED display driver over I2C and SPI.
+//
+// Check the `newSSD1306Display()` functions for I2C and SPI initializations.
+
+import (
+	"runtime"
+
+	"image/color"
+	"time"
+)
+
+func main() {
+
+	display := newSSD1306Display()
+	display.ClearDisplay()
+
+	w, h := display.Size()
+	x := int16(0)
+	y := int16(0)
+	deltaX := int16(1)
+	deltaY := int16(1)
+
+	traceTime := time.Now().UnixMilli() + 1000
+	frames := 0
+	ms := runtime.MemStats{}
+
+	for {
+		pixel := display.GetPixel(x, y)
+		c := color.RGBA{255, 255, 255, 255}
+		if pixel {
+			c = color.RGBA{0, 0, 0, 255}
+		}
+		display.SetPixel(x, y, c)
+		display.Display()
+
+		x += deltaX
+		y += deltaY
+
+		if x == 0 || x == w-1 {
+			deltaX = -deltaX
+		}
+
+		if y == 0 || y == h-1 {
+			deltaY = -deltaY
+		}
+
+		frames++
+		now := time.Now().UnixMilli()
+		if now >= traceTime {
+			runtime.ReadMemStats(&ms)
+			println("TS", now, "| FPS", frames, "| HeapInuse", ms.HeapInuse)
+			traceTime = now + 1000
+			frames = 0
+		}
+	}
+
+}

examples/ssd1306/main_i2c_xiao-ble.go

@@ -0,0 +1,38 @@
+//go:build xiao_ble
+
+// This initializes SSD1306 OLED display driver over I2C.
+//
+// Seeed XIAO BLE board + SSD1306 128x32 I2C OLED display.
+//
+// Wiring:
+// - XIAO GND      -> OLED GND
+// - XIAO 3v3      -> OLED VCC
+// - XIAO D4 (SDA) -> OLED SDA
+// - XIAO D5 (SCL) -> OLED SCK
+//
+// For your case:
+// - Connect the display to I2C pins on your board.
+// - Adjust I2C address and display size as needed.
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ssd1306"
+)
+
+func newSSD1306Display() *ssd1306.Device {
+	machine.I2C0.Configure(machine.I2CConfig{
+		Frequency: 400 * machine.KHz,
+		SDA:       machine.SDA0_PIN,
+		SCL:       machine.SCL0_PIN,
+	})
+	display := ssd1306.NewI2C(machine.I2C0)
+	display.Configure(ssd1306.Config{
+		Address: ssd1306.Address_128_32, // or ssd1306.Address
+		Width:   128,
+		Height:  32, // or 64
+	})
+	return display
+}

examples/ssd1306/main_spi_thumby.go

@@ -0,0 +1,27 @@
+//go:build thumby
+
+// This initializes SSD1306 OLED display driver over SPI.
+//
+// Thumby board has a tiny built-in 72x40 display.
+//
+// As the display is built-in, no wiring is needed.
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ssd1306"
+)
+
+func newSSD1306Display() *ssd1306.Device {
+	machine.SPI0.Configure(machine.SPIConfig{})
+	display := ssd1306.NewSPI(machine.SPI0, machine.THUMBY_DC_PIN, machine.THUMBY_RESET_PIN, machine.THUMBY_CS_PIN)
+	display.Configure(ssd1306.Config{
+		Width:     72,
+		Height:    40,
+		ResetCol:  ssd1306.ResetValue{28, 99},
+		ResetPage: ssd1306.ResetValue{0, 5},
+	})
+	return display
+}

examples/ssd1306/main_spi_xiao-rp2040.go

@@ -0,0 +1,40 @@
+//go:build xiao_rp2040
+
+// This initializes SSD1306 OLED display driver over SPI.
+//
+// Seeed XIAO RP2040 board + SSD1306 128x64 SPI OLED display.
+//
+// Wiring:
+// - XIAO GND       -> OLED GND
+// - XIAO 3v3       -> OLED VCC
+// - XIAO D8 (SCK)  -> OLED D0
+// - XIAO D10 (SDO) -> OLED D1
+// - XIAO D4        -> OLED RES
+// - XIAO D5        -> OLED DC
+// - XIAO D6        -> OLED CS
+//
+// For your case:
+// - Connect the display to SPI pins on your board.
+// - Adjust RES, DC and CS pins as needed.
+// - Adjust SPI frequency as needed.
+// - Adjust display size as needed.
+
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/ssd1306"
+)
+
+func newSSD1306Display() *ssd1306.Device {
+	machine.SPI0.Configure(machine.SPIConfig{
+		Frequency: 50 * machine.MHz,
+	})
+	display := ssd1306.NewSPI(machine.SPI0, machine.D5, machine.D4, machine.D6)
+	display.Configure(ssd1306.Config{
+		Width:  128,
+		Height: 64,
+	})
+	return display
+}

examples/ssd1306/spi_128x64/main.go

@@ -1,48 +0,0 @@
-package main
-
-import (
-	"image/color"
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers/ssd1306"
-)
-
-func main() {
-	machine.SPI0.Configure(machine.SPIConfig{
-		Frequency: 8000000,
-	})
-	display := ssd1306.NewSPI(machine.SPI0, machine.P8, machine.P7, machine.P9)
-	display.Configure(ssd1306.Config{
-		Width:  128,
-		Height: 64,
-	})
-
-	display.ClearDisplay()
-
-	x := int16(64)
-	y := int16(32)
-	deltaX := int16(1)
-	deltaY := int16(1)
-	for {
-		pixel := display.GetPixel(x, y)
-		c := color.RGBA{255, 255, 255, 255}
-		if pixel {
-			c = color.RGBA{0, 0, 0, 255}
-		}
-		display.SetPixel(x, y, c)
-		display.Display()
-
-		x += deltaX
-		y += deltaY
-
-		if x == 0 || x == 127 {
-			deltaX = -deltaX
-		}
-
-		if y == 0 || y == 63 {
-			deltaY = -deltaY
-		}
-		time.Sleep(1 * time.Millisecond)
-	}
-}

examples/ssd1306/spi_thumby/main.go

@@ -1,50 +0,0 @@
-// This example using the SSD1306 OLED display over SPI on the Thumby board
-// A very tiny 72x40 display.
-package main
-
-import (
-	"image/color"
-	"machine"
-	"time"
-
-	"tinygo.org/x/drivers/ssd1306"
-)
-
-func main() {
-	machine.SPI0.Configure(machine.SPIConfig{})
-	display := ssd1306.NewSPI(machine.SPI0, machine.THUMBY_DC_PIN, machine.THUMBY_RESET_PIN, machine.THUMBY_CS_PIN)
-	display.Configure(ssd1306.Config{
-		Width:     72,
-		Height:    40,
-		ResetCol:  ssd1306.ResetValue{28, 99},
-		ResetPage: ssd1306.ResetValue{0, 5},
-	})
-
-	display.ClearDisplay()
-
-	x := int16(36)
-	y := int16(20)
-	deltaX := int16(1)
-	deltaY := int16(1)
-	for {
-		pixel := display.GetPixel(x, y)
-		c := color.RGBA{255, 255, 255, 255}
-		if pixel {
-			c = color.RGBA{0, 0, 0, 255}
-		}
-		display.SetPixel(x, y, c)
-		display.Display()
-
-		x += deltaX
-		y += deltaY
-
-		if x == 0 || x == 71 {
-			deltaX = -deltaX
-		}
-
-		if y == 0 || y == 39 {
-			deltaY = -deltaY
-		}
-		time.Sleep(1 * time.Millisecond)
-	}
-}

examples/tmc2209/main.go

@@ -0,0 +1,35 @@
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/tmc2209"
+)
+
+func main() {
+	uart := machine.UART0
+	comm := tmc2209.NewUARTComm(*uart, 0)
+	// Create an instance of the TMC2209 with UART communication
+	tmc := tmc2209.NewTMC2209(comm, 0x00) // Replace 0x00 with the appropriate address
+
+	// Set up the TMC2209 driver
+	err := tmc.Setup()
+	if err != nil {
+		println("Failed to set up TMC2209: ", err)
+	}
+
+	// Write to a register (example: setting a register value)
+	err = tmc.WriteRegister(0x10, 0x12345678) // Replace 0x10 with the register address and 0x12345678 with the value
+	if err != nil {
+		println("Failed to write register:", err)
+	}
+
+	// Read from a register (example: reading a register value)
+	value, err := tmc.ReadRegister(0x10)
+	if err != nil {
+		println("Failed to read register: ", err)
+	}
+
+	// Output the read value
+	println("Register value: ", value)
+}

examples/tmc5160/main.go

@@ -0,0 +1,61 @@
+// Connects to SPI1 on a RP2040 (Pico)
+package main
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/tmc5160"
+)
+
+func main() {
+	// Step 1. Setup your protocol.  SPI setup shown below
+	spi := machine.SPI1
+	spi.Configure(machine.SPIConfig{
+		Frequency: 12000000, // Upto 12 MHZ is pretty stable. Reduce to 5 or 6 Mhz if you are experiencing issues
+		Mode:      3,
+		LSBFirst:  false,
+	})
+	// Step 2. Set up all associated Pins
+	csPin0 := machine.GPIO13
+	csPin0.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	enn0 := machine.GPIO18
+	enn0.Configure(machine.PinConfig{Mode: machine.PinOutput})
+
+	// csPins is a map of all chip select pins in a multi driver setup.
+	//Only one pin csPin0 mapped to "0"is shown in this example, but add more mappings as required
+	csPins := map[uint8]machine.Pin{0: csPin0}
+	//bind csPin to driverAdddress
+	driverAddress := uint8(0) // Let's assume we are working with driver at address 0x01
+	// Step 3. Bind the communication interface to the protocol
+	comm := tmc5160.NewSPIComm(spi, csPins)
+	// Step 4. Define your stepper like this below
+	//stepper := tmc5160.NewStepper(angle , gearRatio  vSupply  rCoil , lCoil , iPeak , rSense , mSteps, fclk )
+	stepper := tmc5160.NewDefaultStepper() // Default Stepper should be used only for testing.
+	// Step 5. Instantiate your driver
+	driver := tmc5160.NewDriver(
+		comm,
+		driverAddress,
+		enn0,
+		stepper)
+
+	// Setting and getting mode
+	rampMode := tmc5160.NewRAMPMODE(comm, driverAddress)
+	err := rampMode.SetMode(tmc5160.PositioningMode)
+	if err != nil {
+		return
+	}
+	mode, err := rampMode.GetMode()
+	if err != nil {
+		println("Error getting mode:", err)
+	} else {
+		println("Current Mode:", mode)
+	}
+
+	// Read GCONF register
+	GCONF := tmc5160.NewGCONF()
+	gconfVal, err := driver.ReadRegister(tmc5160.GCONF)
+	// Uppack the register to get all the bits and bytes of the register
+	GCONF.Unpack(gconfVal)
+	//E.g. MultiStepFlit is retrieved from the GCONF register
+	println("GCONF:MultiStepFlit:", GCONF.MultistepFilt)
+}

examples/touch/capacitive/main.go

@@ -0,0 +1,69 @@
+// Capacitive touch sensing example.
+//
+// This capacitive touch sensor works by charging a normal GPIO pin, then slowly
+// discharging it through a 1MΩ resistor and seeing how long it takes to go from
+// high to low.
+//
+// Use as follows:
+//   - Change touchPin below as needed.
+//   - Connect this pin to some metal surface, like a piece of aluminimum foil.
+//     Make sure this surface is covered (using paper, Scotch tape, etc).
+//   - Also connect this same pin to ground through a 1MΩ resistor.
+//
+// This sensor is very sensitive to noise on the power source, so you should
+// probably try to limit it by running from a battery for example. Especially
+// phone chargers can produce a lot of noise.
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/touch/capacitive"
+)
+
+const touchPin = machine.GP16 // Raspberry Pi Pico
+
+func main() {
+	time.Sleep(time.Second * 2)
+	println("start")
+
+	led := machine.LED
+	led.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	led.Low()
+
+	// Configure the array of GPIO pins used for capacitive touch sensing.
+	// We're using only one pin.
+	array := capacitive.NewArray([]machine.Pin{touchPin})
+
+	// Use a dynamic threshold, meaning the GPIO pin is automatically calibrated
+	// and re-calibrated to adjust for varying environments (e.g. changing
+	// humidity).
+	array.SetDynamicThreshold(100)
+
+	wasTouching := false
+	for i := uint32(0); ; i++ {
+		// Update the GPIO pin. This must be called very often.
+		array.Update()
+		touching := array.Touching(0)
+
+		// Indicate whether the pin is touched via the LED.
+		led.Set(touching)
+
+		// Print something when the touch state changed.
+		if wasTouching != touching {
+			wasTouching = touching
+			if touching {
+				println("  touch!")
+			} else {
+				println("  release!")
+			}
+		}
+
+		// Print the current value, as a debugging aid. It's not really meant to
+		// be used directly.
+		if i%128 == 32 {
+			println("touch value:", array.RawValue(0))
+		}
+	}
+}

examples/uc8151/main.go

@@ -3,7 +3,9 @@ package main
 import (
 	"image/color"
 	"machine"
+	"time"
 
+	"tinygo.org/x/drivers"
 	"tinygo.org/x/drivers/uc8151"
 )
 
@@ -14,30 +16,56 @@ func main() {
 	led = machine.LED
 	led.Configure(machine.PinConfig{Mode: machine.PinOutput})
 	machine.SPI0.Configure(machine.SPIConfig{
-		Frequency: 12000000,
+		Frequency: 12 * machine.MHz,
 		SCK:       machine.EPD_SCK_PIN,
 		SDO:       machine.EPD_SDO_PIN,
 	})
 
 	display = uc8151.New(machine.SPI0, machine.EPD_CS_PIN, machine.EPD_DC_PIN, machine.EPD_RESET_PIN, machine.EPD_BUSY_PIN)
 	display.Configure(uc8151.Config{
-		Rotation: uc8151.ROTATION_270,
-		Speed:    uc8151.MEDIUM,
-		Blocking: true,
+		Rotation:    drivers.Rotation270,
+		Speed:       uc8151.TURBO,
+		FlickerFree: true,
+		Blocking:    false,
 	})
 	black := color.RGBA{1, 1, 1, 255}
 
-	display.ClearBuffer()
-	display.Display()
-	for i := int16(0); i < 37; i++ {
-		for j := int16(0); j < 16; j++ {
-			if (i+j)%2 == 0 {
-				showRect(i*8, j*8, 8, 8, black)
+	display.ClearDisplay()
+
+	mod := int16(1)
+	for {
+		// checkerboard
+		for i := int16(0); i < 11; i++ {
+			if mod == 1 {
+				mod = 0
+			} else {
+				mod = 1
+			}
+
+			display.ClearBuffer()
+			for i := int16(0); i < 37; i++ {
+				for j := int16(0); j < 16; j++ {
+					if (i+j)%2 == mod {
+						showRect(i*8, j*8, 8, 8, black)
+					}
+				}
+			}
+			display.Display()
+			time.Sleep(500 * time.Millisecond)
+		}
+
+		// moving line
+		for i := int16(16); i < 21; i++ {
+			display.ClearBuffer()
+			for j := int16(0); j < 16; j++ {
+				if (i+j)%2 == 0 {
+					showRect(i*8, j*8, 8, 8, black)
+				}
+				display.Display()
+				time.Sleep(250 * time.Millisecond)
 			}
 		}
 	}
-
-	display.Display()
 }
 
 func showRect(x int16, y int16, w int16, h int16, c color.RGBA) {

examples/unoqmatrix/main.go

@@ -0,0 +1,54 @@
+package main
+
+import (
+	"machine"
+
+	"image/color"
+	"math/rand"
+
+	"tinygo.org/x/drivers/unoqmatrix"
+)
+
+var on = color.RGBA{255, 255, 255, 255}
+
+func main() {
+	display := unoqmatrix.NewFromBasePin(machine.PF0)
+	display.ClearDisplay()
+
+	w, h := display.Size()
+	x := int16(0)
+	y := int16(0)
+	deltaX := int16(1)
+	deltaY := int16(1)
+
+	for {
+		pixel := display.GetPixel(x, y)
+		if pixel.R != 0 || pixel.G != 0 || pixel.B != 0 {
+			display.ClearDisplay()
+			x = 1 + int16(rand.Int31n(3))
+			y = 1 + int16(rand.Int31n(3))
+			deltaX = 1
+			deltaY = 1
+			if rand.Int31n(2) == 0 {
+				deltaX = -1
+			}
+			if rand.Int31n(2) == 0 {
+				deltaY = -1
+			}
+		}
+		display.SetPixel(x, y, on)
+
+		x += deltaX
+		y += deltaY
+
+		if x == 0 || x == w-1 {
+			deltaX = -deltaX
+		}
+
+		if y == 0 || y == h-1 {
+			deltaY = -deltaY
+		}
+
+		display.Display()
+	}
+}

examples/w5500/main.go

@@ -0,0 +1,37 @@
+package main
+
+import (
+	"machine"
+	"net"
+	"net/netip"
+	"time"
+
+	"tinygo.org/x/drivers/netdev"
+	"tinygo.org/x/drivers/w5500"
+)
+
+func main() {
+	machine.SPI0.Configure(machine.SPIConfig{
+		Frequency: 33 * machine.MHz,
+	})
+	machine.GPIO17.Configure(machine.PinConfig{Mode: machine.PinOutput})
+
+	eth := w5500.New(machine.SPI0, machine.GPIO17)
+	eth.Configure(w5500.Config{
+		MAC:        net.HardwareAddr{0xee, 0xbe, 0xe9, 0xa9, 0xb6, 0x4f},
+		IP:         netip.AddrFrom4([4]byte{192, 168, 1, 2}),
+		SubnetMask: netip.AddrFrom4([4]byte{255, 255, 255, 0}),
+		Gateway:    netip.AddrFrom4([4]byte{192, 168, 1, 1}),
+	})
+	netdev.UseNetdev(eth)
+
+	for {
+		if eth.LinkStatus() != w5500.LinkStatusUp {
+			println("Waiting for link to be up")
+
+			time.Sleep(1 * time.Second)
+			continue
+		}
+		break
+	}
+}

examples/waveshare-epd/epd1in54/main.go

@@ -0,0 +1,36 @@
+package main
+
+import (
+	"image/color"
+	"machine"
+
+	"tinygo.org/x/drivers/waveshare-epd/epd1in54"
+	"tinygo.org/x/tinyfont"
+	"tinygo.org/x/tinyfont/gophers"
+)
+
+var (
+	spi0 = machine.SPI0
+	cs   = machine.D10
+	dc   = machine.D9
+	rst  = machine.D6
+	busy = machine.D5
+
+	black = color.RGBA{R: 1, G: 1, B: 1, A: 255}
+)
+
+func main() {
+	display := epd1in54.New(spi0, cs, dc, rst, busy)
+
+	display.LDirInit(epd1in54.Config{})
+	display.Clear()
+	display.ClearBuffer()
+
+	tinyfont.WriteLineRotated(&display, &gophers.Regular58pt, 150, 0, "A B C", black, tinyfont.ROTATION_90)
+	tinyfont.WriteLineRotated(&display, &gophers.Regular58pt, 100, 0, "D E F", black, tinyfont.ROTATION_90)
+	tinyfont.WriteLineRotated(&display, &gophers.Regular58pt, 50, 0, "G H I", black, tinyfont.ROTATION_90)
+	tinyfont.WriteLineRotated(&display, &gophers.Regular58pt, 0, 0, "J K L", black, tinyfont.ROTATION_90)
+
+	display.Display()
+	display.Sleep()
+}

examples/waveshare-epd/epd2in66b/main.go

@@ -0,0 +1,84 @@
+package main
+
+import (
+	"image/color"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/waveshare-epd/epd2in66b"
+	"tinygo.org/x/tinyfont"
+	"tinygo.org/x/tinyfont/freemono"
+)
+
+var (
+	black = color.RGBA{0, 0, 0, 0xff}
+	white = color.RGBA{0xff, 0xff, 0xff, 0xff}
+	red   = color.RGBA{0xff, 0, 0, 0xff}
+)
+
+func main() {
+	machine.Serial.Configure(machine.UARTConfig{})
+	time.Sleep(2 * time.Second)
+
+	machine.SPI1.Configure(machine.SPIConfig{
+		Frequency: epd2in66b.Baudrate,
+	})
+
+	println("started")
+
+	// in case you have a Pico module, you can directly use
+	// dev, err := epd2in66b.NewPicoModule()
+
+	display := epd2in66b.New(machine.SPI1)
+
+	cfg := epd2in66b.Config{
+		DataPin:       machine.GP8,
+		ChipSelectPin: machine.GP9,
+		ResetPin:      machine.GP12,
+		BusyPin:       machine.GP13,
+	}
+	err := display.Configure(cfg)
+	if err != nil {
+		panic(err)
+	}
+
+	err = display.Reset()
+	if err != nil {
+		panic(err)
+	}
+
+	println("draw checkerboard")
+	drawCheckerBoard(&display)
+
+	println("draw 'hello'")
+	tinyfont.WriteLineRotated(&display, &freemono.Bold24pt7b, 40, 10, "Hello!", white, tinyfont.ROTATION_90)
+	tinyfont.WriteLineRotated(&display, &freemono.Bold12pt7b, 10, 10, "tinygo rocks", white, tinyfont.ROTATION_90)
+	err = display.Display()
+	if err != nil {
+		panic(err)
+	}
+}
+
+func drawCheckerBoard(display drivers.Displayer) {
+	s := 8
+	width, height := display.Size()
+	for x := 0; x <= int(width)-s; x += s {
+		for y := 0; y <= int(height)-s; y += s {
+			c := red
+			if (x/s)%2 == (y/s)%2 {
+				c = black
+			}
+
+			showRect(display, x, y, s, s, c)
+		}
+	}
+}
+
+func showRect(display drivers.Displayer, x int, y int, w int, h int, c color.RGBA) {
+	for i := x; i < x+w; i++ {
+		for j := y; j < y+h; j++ {
+			display.SetPixel(int16(i), int16(j), c)
+		}
+	}
+}

examples/waveshare-epd/epd2in9v2/main.go

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

examples/ws2812/arduino.go

@@ -1,10 +1,11 @@
-//go:build arduino
+//go:build arduino || arduino_uno
 
 package main
 
 import "machine"
 
-// Replace neo and led in the code below to match the pin
-// that you are using if different.
-var neo = machine.D2
-var led = machine.LED
+func init() {
+	// Replace neo in the code below to match the pin
+	// that you are using if different.
+	neo = machine.D2
+}

examples/ws2812/digispark.go

@@ -4,8 +4,9 @@ package main
 
 import "machine"
 
-// This is the pin assignment for the Digispark only.
-// Replace neo and led in the code below to match the pin
-// that you are using if different.
-var neo machine.Pin = 0
-var led = machine.LED
+func init() {
+	// This is the pin assignment for the Digispark only.
+	// Replace neo and led in the code below to match the pin
+	// that you are using if different.
+	neo = machine.Pin(0)
+}

examples/ws2812/main.go

@@ -12,11 +12,12 @@ import (
 	"tinygo.org/x/drivers/ws2812"
 )
 
-var leds [10]color.RGBA
+var (
+	neo  machine.Pin
+	leds [10]color.RGBA
+)
 
 func main() {
-	led.Configure(machine.PinConfig{Mode: machine.PinOutput})
-
 	neo.Configure(machine.PinConfig{Mode: machine.PinOutput})
 
 	ws := ws2812.NewWS2812(neo)
@@ -35,7 +36,6 @@ func main() {
 		}
 
 		ws.WriteColors(leds[:])
-		led.Set(rg)
 		time.Sleep(100 * time.Millisecond)
 	}
 }

examples/ws2812/others.go

@@ -1,10 +1,11 @@
-//go:build !digispark && !arduino && !qtpy && !m5stamp_c3 && !thingplus_rp2040
+//go:build !digispark && !arduino && !arduino_uno
 
 package main
 
 import "machine"
 
-// Replace neo and led in the code below to match the pin
-// that you are using if different.
-var neo machine.Pin = machine.WS2812
-var led = machine.LED
+func init() {
+	// Replace neo in the code below to match the pin
+	// that you are using if different.
+	neo = machine.WS2812
+}

examples/ws2812/others_wo_led.go

@@ -1,10 +0,0 @@
-//go:build qtpy || m5stamp_c3
-
-package main
-
-import "machine"
-
-// Replace neo and led in the code below to match the pin
-// that you are using if different.
-var neo machine.Pin = machine.WS2812
-var led = machine.NoPin

examples/ws2812/thingplus-rp2040.go

@@ -1,12 +0,0 @@
-//go:build thingplus_rp2040
-
-package main
-
-import "machine"
-
-// This is the pin assignment for the internal neopixel of the
-// Sparkfun thingplus rp2040.
-// Replace neo and led in the code below to match the pin
-// that you are using if different.
-var neo machine.Pin = machine.GPIO8
-var led = machine.LED

flash/devices.go

@@ -46,6 +46,10 @@ var DefaultDeviceIdentifier = DeviceIdentifierFunc(func(id JedecID) Attrs {
 		return GD25Q16C()
 	case 0xC84017:
 		return GD25Q64C()
+	case 0x856015:
+		return P25Q16H()
+	case 0xEF4014:
+		return W25Q80DV()
 	case 0xEF4015:
 		return W25Q16JVIQ()
 	case 0xEF4016:
@@ -239,6 +243,24 @@ func GD25Q64C() Attrs {
 	}
 }
 
+// Settings for the Puya P25Q16H 2MiB SPI flash.
+// Datasheet: https://files.seeedstudio.com/wiki/github_weiruanexample/Flash_P25Q16H-UXH-IR_Datasheet.pdf
+func P25Q16H() Attrs {
+	return Attrs{
+		TotalSize:           1 << 21, // 2 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0x85, 0x60, 0x15},
+		MaxClockSpeedMHz:    55,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: true,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  true,
+		WriteStatusSplit:    true,
+		SingleStatusByte:    false,
+	}
+}
+
 // Settings for the Winbond W25Q16JV-IQ 2MiB SPI flash. Note that JV-IM has a
 // different .memory_type (0x70) Datasheet:
 // https://www.winbond.com/resource-files/w25q16jv%20spi%20revf%2005092017.pdf
@@ -380,6 +402,25 @@ func W25Q80DL() Attrs {
 		TotalSize:           1 << 20, // 1 MiB
 		StartUp:             5000 * time.Microsecond,
 		JedecID:             JedecID{0xEF, 0x60, 0x14},
+		MaxClockSpeedMHz:    80,
+		QuadEnableBitMask:   0x02,
+		HasSectorProtection: false,
+		SupportsFastRead:    true,
+		SupportsQSPI:        true,
+		SupportsQSPIWrites:  false,
+		WriteStatusSplit:    false,
+		SingleStatusByte:    false,
+	}
+}
+
+// Settings for the Winbond W25Q80DV 2MiB SPI flash.
+// Datasheet:
+// https://www.winbond.com/resource-files/w25q80dv%20dl_revh_10022015.pdf
+func W25Q80DV() Attrs {
+	return Attrs{
+		TotalSize:           1 << 21, // 2 MiB
+		StartUp:             5000 * time.Microsecond,
+		JedecID:             JedecID{0xEF, 0x40, 0x14},
 		MaxClockSpeedMHz:    104,
 		QuadEnableBitMask:   0x02,
 		HasSectorProtection: false,

ft6336/ft6336.go

@@ -1,3 +1,6 @@
+// Guarded because still unsure of how to deal with interrupt drivers.
+//go:build tinygo
+
 // Package ft6336 provides a driver for the FT6336 I2C Self-Capacitive touch
 // panel controller.
 //
@@ -80,7 +83,8 @@ func (d *Device) Read() []byte {
 func (d *Device) ReadTouchPoint() touch.Point {
 	d.Read()
 	z := 0xFFFFF
-	if d.buf[0] == 0 {
+	switch d.buf[0] {
+	case 0, 255:
 		z = 0
 	}
 

go.mod

@@ -1,20 +1,24 @@
 module tinygo.org/x/drivers
 
-go 1.18
+go 1.22.1
+
+toolchain go1.23.1
 
 require (
 	github.com/eclipse/paho.mqtt.golang v1.2.0
 	github.com/frankban/quicktest v1.10.2
 	github.com/google/shlex v0.0.0-20191202100458-e7afc7fbc510
+	github.com/orsinium-labs/tinymath v1.1.0
 	github.com/soypat/natiu-mqtt v0.5.1
-	golang.org/x/net v0.7.0
+	github.com/tinygo-org/pio v0.3.0
+	golang.org/x/exp v0.0.0-20241204233417-43b7b7cde48d
+	golang.org/x/net v0.33.0
 	tinygo.org/x/tinyfont v0.3.0
 	tinygo.org/x/tinyterm v0.1.0
 )
 
 require (
-	github.com/google/go-cmp v0.5.2 // indirect
+	github.com/google/go-cmp v0.6.0 // indirect
 	github.com/kr/pretty v0.2.1 // indirect
 	github.com/kr/text v0.1.0 // indirect
-	golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543 // indirect
 )