st7789: work in progress on display refactor

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

.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 +1,108 @@
+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**

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.

README.md

@@ -3,7 +3,7 @@
 [![PkgGoDev](https://pkg.go.dev/badge/tinygo.org/x/drivers)](https://pkg.go.dev/tinygo.org/x/drivers) [![Build](https://github.com/tinygo-org/drivers/actions/workflows/build.yml/badge.svg?branch=dev)](https://github.com/tinygo-org/drivers/actions/workflows/build.yml)
 
 
-This package provides a collection of over 100 different hardware drivers for devices such as sensors, displays, wireless adaptors, and actuators, that can be used together with [TinyGo](https://tinygo.org).
+This package provides a collection of over 130 different hardware drivers for devices such as sensors, displays, wireless adaptors, and actuators, that can be used together with [TinyGo](https://tinygo.org).
 
 For the complete list, please see:
 https://tinygo.org/docs/reference/devices/

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
 }

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 || sam || (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
+)

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/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/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/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/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/si5351/main.go

@@ -0,0 +1,120 @@
+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)
+
+	// Verify device wired properly
+	connected, err := clockgen.Connected()
+	if err != nil {
+		println("Unable to read device status")
+		time.Sleep(time.Second)
+	}
+	if !connected {
+		for {
+			println("Unable to detect si5351 device")
+			time.Sleep(time.Second)
+		}
+	}
+
+	// Initialise device
+	clockgen.Configure()
+
+	// Now configue the PLLs and clock outputs.
+	// The PLLs can be configured with a multiplier and division of the on-board
+	// 25mhz reference crystal.  For example configure PLL A to 900mhz by multiplying
+	// by 36.  This uses an integer multiplier which is more accurate over time
+	// but allows less of a range of frequencies compared to a fractional
+	// multiplier shown next.
+	clockgen.ConfigurePLL(si5351.PLL_A, 36, 0, 1) // Multiply 25mhz by 36
+	println("PLL A frequency: 900mhz")
+
+	// And next configure PLL B to 616.6667mhz by multiplying 25mhz by 24.667 using
+	// the fractional multiplier configuration.  Notice you specify the integer
+	// multiplier and then a numerator and denominator as separate values, i.e.
+	// numerator 2 and denominator 3 means 2/3 or 0.667.  This fractional
+	// configuration is susceptible to some jitter over time but can set a larger
+	// range of frequencies.
+	clockgen.ConfigurePLL(si5351.PLL_B, 24, 2, 3) // Multiply 25mhz by 24.667 (24 2/3)
+	println("PLL B frequency: 616.6667mhz")
+
+	// Now configure the clock outputs.  Each is driven by a PLL frequency as input
+	// and then further divides that down to a specific frequency.
+	// Configure clock 0 output to be driven by PLL A divided by 8, so an output
+	// of 112.5mhz (900mhz / 8).  Again this uses the most precise integer division
+	// but can't set as wide a range of values.
+	clockgen.ConfigureMultisynth(0, si5351.PLL_A, 8, 0, 1) // Divide by 8 (8 0/1)
+	println("Clock 0: 112.5mhz")
+
+	// Next configure clock 1 to be driven by PLL B divided by 45.5 to get
+	// 13.5531mhz (616.6667mhz / 45.5).  This uses fractional division and again
+	// notice the numerator and denominator are explicitly specified.  This is less
+	// precise but allows a large range of frequencies.
+	clockgen.ConfigureMultisynth(1, si5351.PLL_B, 45, 1, 2) // Divide by 45.5 (45 1/2)
+	println("Clock 1: 13.5531mhz")
+
+	// Finally configure clock 2 to be driven by PLL B divided once by 900 to get
+	// down to 685.15 khz and then further divided by a special R divider that
+	// divides 685.15 khz by 64 to get a final output of 10.706khz.
+	clockgen.ConfigureMultisynth(2, si5351.PLL_B, 900, 0, 1) // Divide by 900 (900 0/1)
+	// Set the R divider, this can be a value of:
+	//  - R_DIV_1: divider of 1
+	//  - R_DIV_2: divider of 2
+	//  - R_DIV_4: divider of 4
+	//  - R_DIV_8: divider of 8
+	//  - R_DIV_16: divider of 16
+	//  - R_DIV_32: divider of 32
+	//  - R_DIV_64: divider of 64
+	//  - R_DIV_128: divider of 128
+	clockgen.ConfigureRdiv(2, si5351.R_DIV_64)
+	println("Clock 2: 10.706khz")
+
+	// After configuring PLLs and clocks, enable the outputs.
+	clockgen.EnableOutputs()
+
+	time.Sleep(time.Second)
+
+	clockgen.DisableOutputs()
+	println("All outputs disabled for 5 seconds")
+	time.Sleep(5 * time.Second)
+
+	// Now use SetFrequency to re-set the frequencies of the outputs
+	on := false
+	for {
+		if on {
+			println("Setting Clock 0 output off")
+			clockgen.OutputEnable(0, false)
+			on = false
+		} else {
+			println("Setting Clock 0 output to 100mhz")
+			clockgen.SetFrequency(100*machine.MHz, 0, si5351.PLL_A)
+			on = true
+		}
+		time.Sleep(5 * 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/st7789/main.go

@@ -29,10 +29,10 @@ func main() {
 		Mode:      0,
 	})
 	display := st7789.New(machine.SPI0,
-		machine.P6, // TFT_RESET
-		machine.P7, // TFT_DC
-		machine.P8, // TFT_CS
-		machine.P9) // TFT_LITE
+		machine.TFT_RESET, // TFT_RESET
+		machine.TFT_DC,    // TFT_DC
+		machine.TFT_CS,    // TFT_CS
+		machine.TFT_LITE)  // TFT_LITE
 
 	display.Configure(st7789.Config{
 		Rotation:   st7789.NO_ROTATION,

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
+	}
+}

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.
 //

gps/gps.go

@@ -69,10 +69,16 @@ func NewUART(uart drivers.UART) Device {
 }
 
 // NewI2C creates a new I2C GPS connection.
+// Uses the default i2c address (0x42) for backward compatibility reasons.
 func NewI2C(bus drivers.I2C) Device {
+	return NewI2CWithAddress(bus, I2C_ADDRESS)
+}
+
+// NewI2CWithAddress creates a new I2C GPS connection on the provided address
+func NewI2CWithAddress(bus drivers.I2C, i2cAddress uint16) Device {
 	return Device{
 		bus:      bus,
-		address:  I2C_ADDRESS,
+		address:  i2cAddress,
 		buffer:   make([]byte, bufferSize),
 		bufIdx:   bufferSize,
 		sentence: strings.Builder{},

gps/gpsparser.go

@@ -96,7 +96,10 @@ func (parser *Parser) Parse(sentence string) (Fix, error) {
 		fix.Speed = findSpeed(fields[7])
 		fix.Heading = findHeading(fields[8])
 		date := findDate(fields[9])
-		fix.Time = fix.Time.AddDate(date.Year(), int(date.Month()), date.Day())
+		fix.Time = date.Add(time.Duration(fix.Time.Hour())*time.Hour +
+			time.Duration(fix.Time.Minute())*time.Minute +
+			time.Duration(fix.Time.Second())*time.Second +
+			time.Duration(fix.Time.Nanosecond())*time.Nanosecond)
 
 		return fix, nil
 	}

gps/gpsparser_test.go

@@ -70,15 +70,15 @@ func TestParseRMC(t *testing.T) {
 		t.Error("should have errInvalidRMCSentence error")
 	}
 
-	val = "$GPRMC,203522.00,A,5109.0262308,N,11401.8407342,W,0.004,133.4,130522,0.0,E,D*2B"
+	val = "$GPRMC,203522.00,A,5109.0262308,N,11401.8407342,W,0.004,133.4,010622,0.0,E,D*2B"
 	fix, err := p.Parse(val)
 	if err != nil {
 		t.Error("should have parsed")
 	}
 
 	c.Assert(fix.Time.Year(), qt.Equals, 2022)
-	c.Assert(fix.Time.Month(), qt.Equals, time.May)
-	c.Assert(fix.Time.Day(), qt.Equals, 13)
+	c.Assert(fix.Time.Month(), qt.Equals, time.June)
+	c.Assert(fix.Time.Day(), qt.Equals, 1)
 	c.Assert(fix.Time.Hour(), qt.Equals, 20)
 	c.Assert(fix.Time.Minute(), qt.Equals, 35)
 	c.Assert(fix.Time.Second(), qt.Equals, 22)

gps/registers.go

@@ -4,7 +4,11 @@ package gps
 
 // The I2C address which this device listens to.
 const (
-	I2C_ADDRESS = 0x42
+	// To ensure backward compatibility
+	I2C_ADDRESS = UBLOX_I2C_ADDRESS
+
+	UBLOX_I2C_ADDRESS   = 0x42
+	PA1010D_I2C_ADDRESS = 0x10
 )
 
 const (

hd44780/hd44780.go

@@ -210,7 +210,7 @@ func (d *Device) SendCommand(command byte) {
 	d.bus.SetCommandMode(true)
 	d.bus.Write([]byte{command})
 
-	for d.busy(command == DISPLAY_CLEAR || command == CURSOR_HOME) {
+	for d.isBusy(command == DISPLAY_CLEAR || command == CURSOR_HOME) {
 	}
 }
 
@@ -219,7 +219,7 @@ func (d *Device) sendData(data byte) {
 	d.bus.SetCommandMode(false)
 	d.bus.Write([]byte{data})
 
-	for d.busy(false) {
+	for d.isBusy(false) {
 	}
 }
 
@@ -231,9 +231,9 @@ func (d *Device) CreateCharacter(cgramAddr uint8, data []byte) {
 	}
 }
 
-// busy returns true when hd447890 is busy
+// isBusy returns true when hd447890 is isBusy
 // or after the timeout specified
-func (d *Device) busy(longDelay bool) bool {
+func (d *Device) isBusy(longDelay bool) bool {
 	if d.bus.WriteOnly() {
 		// Can't read busy flag if write only, so sleep a bit then return
 		if longDelay {
@@ -261,7 +261,7 @@ func (d *Device) busy(longDelay bool) bool {
 
 // Busy returns true when hd447890 is busy
 func (d *Device) Busy() bool {
-	return d.busy(false)
+	return d.isBusy(false)
 }
 
 // Size returns the current size of the display.

honeyhsc/hsc.go

@@ -0,0 +1,191 @@
+package honeyhsc
+
+import (
+	"errors"
+	"math"
+
+	"tinygo.org/x/drivers"
+)
+
+var (
+	errSensorMissing = errors.New("hsc: not connected")
+	errDiagnostic    = errors.New("hsc: diagnostic error")
+)
+
+const (
+	measuremask  = drivers.Pressure | drivers.Temperature
+	statusMask   = 0b1100_0000
+	statusOffset = 6
+)
+
+// DevI2C is the TruStability® High Accuracy Silicon Ceramic (HSC) Series is a piezoresistive silicon pressure sensor offering a ratiometric
+// analog or digital output for reading pressure over the specified full scale pressure span and temperature range.
+type DevI2C struct {
+	bus drivers.I2C
+	dev
+	addr uint8
+	buf  [6]byte
+}
+
+// NewDevI2C creates and returns a new DevI2C that communicates with an HSC device over the provided I2C bus.
+// Parameters:
+//   - bus: the I2C bus to use.
+//   - addr: the 7-bit I2C address of the sensor.
+//   - outMin, outMax: raw output code range (counts) corresponding to the pressure span. Depends on sensor model.
+//   - pMin, pMax: pressure range endpoints in millipascals (mPa). Depends on sensor model.
+//
+// The returned DevI2C will use these calibration parameters to convert raw bridge counts to pressure.
+func NewDevI2C(bus drivers.I2C, addr, outMin, outMax uint16, pMin, pMax int32) *DevI2C {
+	h := &DevI2C{
+		bus:  bus,
+		addr: uint8(addr),
+		dev: dev{
+			cmin: outMin,
+			cmax: outMax,
+			pmin: pMin,
+			pmax: pMax,
+		},
+	}
+	return h
+}
+
+// ReadTemperature reads and returns the temperature in milliKelvin (mC) from the I2C-attached HSC device.
+// It performs an Update internally to get the latest temperature value.
+func (h *DevI2C) ReadTemperature() (int32, error) {
+	err := h.Update(drivers.Temperature)
+	if err != nil {
+		return 0, err
+	}
+	return h.Temperature(), nil
+}
+
+// Update reads both temperature and pressure data from the I2C-attached HSC device when
+// the requested measurement mask includes pressure or temperature.
+// If neither pressure nor temperature is requested, Update is a no-op.
+func (d *DevI2C) Update(which drivers.Measurement) error {
+	// Update performs an I2C transaction to read 4 bytes, parses the status bits, 14-bit bridge data and
+	// temperature bits, and forwards them to the internal update routine. Any I2C transport error is returned,
+	// as well as errors produced by the internal update (e.g. errSensorMissing, errDiagnostic).
+	if which&measuremask == 0 {
+		return nil
+	}
+	rbuf := d.buf[:4]
+	wbuf := d.buf[4:6]
+	const reg = 0
+	value := (d.addr << 1) | 1
+	wbuf[0] = reg
+	wbuf[1] = value
+	err := d.bus.Tx(uint16(d.addr), wbuf, rbuf)
+	if err != nil {
+		return err
+	}
+	status := (rbuf[0] & statusMask) >> statusOffset
+	bridgeData := (uint16(rbuf[0]&^statusMask) << 8) | uint16(rbuf[1])
+	tempData := uint16(rbuf[2])<<8 | uint16(rbuf[3]&0xe0)>>5
+	return d.dev.update(status, bridgeData, tempData)
+}
+
+type pinout func(level bool)
+
+// DevI2C is the TruStability® High Accuracy Silicon Ceramic (HSC) Series is a piezoresistive silicon pressure sensor offering a ratiometric
+// analog or digital output for reading pressure over the specified full scale pressure span and temperature range.
+type DevSPI struct {
+	spi drivers.SPI
+	cs  pinout
+	dev
+	buf [4]byte
+}
+
+// NewDevSPI creates and returns a new DevSPI that communicates with an HSC device over SPI.
+// Parameters:
+//   - conn: the SPI connection to use.
+//   - cs: a chip-select function that drives the device select line low/high.
+//   - outMin, outMax: raw output code range (counts) corresponding to the pressure span. Depends on sensor model.
+//   - pMin, pMax: pressure range endpoints in millipascals (mPa). Depends on sensor model.
+//
+// The function returns the constructed DevSPI and an error value (currently always nil).
+func NewDevSPI(conn drivers.SPI, cs pinout, outMin, outMax uint16, pMin, pMax int32) (*DevSPI, error) {
+	h := &DevSPI{
+		spi: conn,
+		cs:  cs,
+		dev: dev{
+			cmin: outMin,
+			cmax: outMax,
+			pmin: pMin,
+			pmax: pMax,
+		},
+	}
+	return h, nil
+}
+
+// ReadTemperature reads and returns the temperature in milliKelvin (mC) from the SPI-attached HSC device.
+// It performs an Update internally to get the latest temperature value.
+func (h *DevSPI) ReadTemperature() (int32, error) {
+	err := h.Update(drivers.Temperature)
+	if err != nil {
+		return 0, err
+	}
+	return h.Temperature(), nil
+}
+
+// Update reads pressure and temperature data from the SPI-attached HSC device when the requested measurement mask includes
+// pressure or temperature. If neither pressure nor temperature is requested, Update is a no-op.
+func (h *DevSPI) Update(which drivers.Measurement) error {
+	// It toggles the provided chip-select, performs an SPI transfer to read 4 bytes, parses the status bits,
+	// 14-bit bridge data and temperature bits, and forwards them to the internal update routine. Any SPI
+	// transport error is returned, as well as errors produced by the internal update (e.g. errSensorMissing, errDiagnostic).
+	if which&measuremask == 0 {
+		return nil
+	}
+	buf := &h.buf
+	h.cs(false)
+	err := h.spi.Tx(nil, buf[:4])
+	h.cs(true)
+	if err != nil {
+		return err
+	}
+	// First two bits are status bits.
+	status := (buf[0] & statusMask) >> statusOffset
+	bridgeData := (uint16(buf[0]&^statusMask) << 8) | uint16(buf[1])
+
+	tempData := uint16(buf[2])<<8 | uint16(buf[3]&0xe0)>>5
+	return h.dev.update(status, bridgeData, tempData)
+}
+
+type dev struct {
+	pressure   int32
+	temp       int32
+	cmin, cmax uint16
+	pmin, pmax int32
+}
+
+// Pressure returns the most recently computed pressure value in millipascals (mPa).
+// The value is taken from the last successful Update.
+func (d *dev) Pressure() int32 {
+	return d.pressure
+}
+
+// Temperature returns the most recently read temperature value in milliKelvin (mC).
+// The value is taken from the last successful Update.
+func (d *dev) Temperature() int32 {
+	return d.temp + 273_150
+}
+
+// update interprets raw sensor fields (status, bridgeData, tempData) and updates the dev's stored
+// pressure and temperature. It returns errSensorMissing when the temperature raw value indicates no sensor
+// (tempData == math.MaxUint16), errDiagnostic when the status indicates a device diagnostic condition
+// (status == 3), or nil on success. Pressure is computed with integer arithmetic using the configured
+// cmin/cmax -> pmin/pmax linear mapping in order to avoid overflows.
+func (d *dev) update(status uint8, bridgeData, tempData uint16) error {
+	if tempData == math.MaxUint16 {
+		return errSensorMissing
+	} else if status == 3 {
+		return errDiagnostic
+	}
+
+	// Take care not to overflow here.
+	p := (int32(bridgeData)-int32(d.cmin))*(d.pmax-d.pmin)/int32(d.cmax-d.cmin) + d.pmin
+	d.temp = int32(tempData)
+	d.pressure = p
+	return nil
+}

internal/legacy/pinconfig.go

@@ -0,0 +1,62 @@
+package legacy
+
+import (
+	"errors"
+
+	"tinygo.org/x/drivers/internal/pin"
+)
+
+// The pingconfig group of files serve to abstract away
+// pin configuration calls on the machine.Pin type.
+// It was observed this way of developing drivers was
+// non-portable and unusable on "big" Go projects so
+// future projects should NOT configure pins in driver code.
+// Users must configure pins before passing them as arguments
+// to drivers.
+
+// ConfigurePinOut is a legacy function used to configure pins as outputs.
+//
+// Deprecated: Do not configure pins in drivers.
+// This is a legacy feature and should only be used by drivers that
+// previously configured pins in initialization to avoid breaking users.
+func ConfigurePinOut(po pin.Output) {
+	configurePinOut(po)
+}
+
+// ConfigurePinInput is a legacy function used to configure pins as inputs.
+//
+// Deprecated: Do not configure pins in drivers.
+// This is a legacy feature and should only be used by drivers that
+// previously configured pins in initialization to avoid breaking users.
+func ConfigurePinInputPulldown(pi pin.Input) {
+	configurePinInputPulldown(pi)
+}
+
+// ConfigurePinInput is a legacy function used to configure pins as inputs.
+//
+// Deprecated: Do not configure pins in drivers.
+// This is a legacy feature and should only be used by drivers that
+// previously configured pins in initialization to avoid breaking users.
+func ConfigurePinInput(pi pin.Input) {
+	configurePinInput(pi)
+}
+
+// ConfigurePinInput is a legacy function used to configure pins as inputs.
+//
+// Deprecated: Do not configure pins in drivers.
+// This is a legacy feature and should only be used by drivers that
+// previously configured pins in initialization to avoid breaking users.
+func ConfigurePinInputPullup(pi pin.Input) {
+	configurePinInputPullup(pi)
+}
+
+// PinIsNoPin returns true if the argument is a machine.Pin type and is the machine.NoPin predeclared type.
+//
+// Deprecated: Drivers do not require pin knowledge from now on.
+func PinIsNoPin(pin any) bool {
+	return pinIsNoPin(pin)
+}
+
+var (
+	ErrConfigBeforeInstantiated = errors.New("device must be instantiated with New before calling Configure method")
+)

internal/legacy/pinconfig_go.go

@@ -0,0 +1,15 @@
+//go:build !tinygo
+
+package legacy
+
+import "tinygo.org/x/drivers/internal/pin"
+
+// This file compiles for non-tinygo builds
+// for use with "big" or "upstream" Go where
+// there is no machine package.
+
+func configurePinOut(p pin.Output)          {}
+func configurePinInput(p pin.Input)         {}
+func configurePinInputPulldown(p pin.Input) {}
+func configurePinInputPullup(p pin.Input)   {}
+func pinIsNoPin(a any) bool                 { return false }

internal/legacy/pinconfig_nopulls.go

@@ -0,0 +1,10 @@
+//go:build baremetal && fe310
+
+package legacy
+
+import "machine"
+
+const (
+	pulldown = machine.PinInput
+	pullup   = machine.PinInput
+)

internal/legacy/pinconfig_pulls.go

@@ -0,0 +1,13 @@
+//go:build baremetal && !fe310
+
+package legacy
+
+import "machine"
+
+// If you are getting a build error here you then we missed adding
+// your CPU build tag to the list of CPUs that do not have pulldown/pullups.
+// Add it above and in pinhal_nopulls! You should also add a smoketest for it :)
+const (
+	pulldown = machine.PinInputPulldown
+	pullup   = machine.PinInputPullup
+)

internal/legacy/pinconfig_tinygo.go

@@ -0,0 +1,37 @@
+//go:build baremetal
+
+package legacy
+
+import (
+	"machine"
+
+	"tinygo.org/x/drivers/internal/pin"
+)
+
+func configurePinOut(po pin.Output) {
+	configurePin(po, machine.PinOutput)
+}
+
+func configurePinInputPulldown(pi pin.Input) {
+	configurePin(pi, pulldown) // some chips do not have pull down, in which case pulldown==machine.PinInput.
+}
+
+func configurePinInput(pi pin.Input) {
+	configurePin(pi, machine.PinInput)
+}
+
+func configurePinInputPullup(pi pin.Input) {
+	configurePin(pi, pullup) // some chips do not have pull up, in which case pullup==machine.PinInput.
+}
+
+func pinIsNoPin(a any) bool {
+	p, ok := a.(machine.Pin)
+	return ok && p == machine.NoPin
+}
+
+func configurePin(p any, mode machine.PinMode) {
+	machinePin, ok := p.(machine.Pin)
+	if ok {
+		machinePin.Configure(machine.PinConfig{Mode: mode})
+	}
+}

internal/pin/internalpin.go

@@ -0,0 +1,72 @@
+// package pin implements a TinyGo Pin HAL.
+// It serves to eliminate machine.Pin from driver constructors
+// so that drivers can be used in "big" Go projects where
+// there is no machine package.
+// This file contains both function and interface-style Pin HAL definitions.
+package pin
+
+// OutputFunc is hardware abstraction for a pin which outputs a
+// digital signal (high or low level).
+//
+//	// Code conversion demo: from machine.Pin to pin.OutputFunc
+//	led := machine.LED
+//	led.Configure(machine.PinConfig{Mode: machine.Output})
+//	var pin pin.OutputFunc = led.Set // Going from a machine.Pin to a pin.OutputFunc
+//
+// This is an alternative to [Output] which is an interface type.
+type OutputFunc func(level bool)
+
+// High sets the underlying pin's level to high. This is equivalent to calling PinOutput(true).
+func (setPin OutputFunc) High() {
+	setPin(true)
+}
+
+// Low sets the underlying pin's level to low. This is equivalent to calling PinOutput(false).
+func (setPin OutputFunc) Low() {
+	setPin(false)
+}
+
+// InputFunc is hardware abstraction for a pin which receives a
+// digital signal and reads it (high or low level).
+//
+//	// Code conversion demo: from machine.Pin to pin.InputFunc
+//	input := machine.LED
+//	input.Configure(machine.PinConfig{Mode: machine.PinInputPulldown}) // or use machine.PinInputPullup or machine.Input
+//	var pin pin.InputFunc = input.Get // Going from a machine.Pin to a pin.InputFunc
+//
+// This is an alternative to [Input] which is an interface type.
+type InputFunc func() (level bool)
+
+// // Below is an example on how to define a input/output pin HAL for a
+// // pin that must switch between input and output mode:
+//
+// 	var pinIsOutput bool
+// 	var po PinOutputFunc = func(b bool) {
+// 		if !pinIsOutput {
+// 			pin.Configure(outputMode)
+// 			pinIsOutput = true
+// 		}
+// 		pin.Set(b)
+// 	}
+//
+// 	var pi PinInputFunc = func() bool {
+// 		if pinIsOutput {
+// 			pin.Configure(inputMode)
+// 			pinIsOutput = false
+// 		}
+// 		return pin.Get()
+// 	}
+
+// Output interface represents a pin hardware abstraction layer for a pin that can output a digital signal.
+//
+// This is an alternative to [OutputFunc] abstraction which is a function type.
+type Output interface {
+	Set(level bool)
+}
+
+// Input interface represents a pin hardware abstraction layer for a pin that can read a digital signal.
+//
+// This is an alternative to [InputFunc] abstraction which is a function type.
+type Input interface {
+	Get() (level bool)
+}

internal/regmap/device8.go

@@ -0,0 +1,143 @@
+package regmap
+
+import (
+	"encoding/binary"
+	"io"
+
+	"tinygo.org/x/drivers"
+)
+
+// Device8 implements common logic to most 8-bit peripherals with an I2C or SPI bus.
+// All methods expect the target to support conventional register read and write operations
+// where the first byte sent is the register address being accessed.
+//
+// All methods use an internal buffer and perform no dynamic memory allocation.
+type Device8 struct {
+	buf [10]byte
+}
+
+// clear zeroes Device8's buffers.
+func (d *Device8) clear() {
+	d.buf = [10]byte{}
+}
+
+// I2C methods.
+
+// Read8I2C reads a single byte from register addr of the device at i2cAddr using the provided I2C bus.
+func (d *Device8) Read8I2C(bus drivers.I2C, i2cAddr uint16, addr uint8) (byte, error) {
+	d.buf[0] = addr
+	err := bus.Tx(i2cAddr, d.buf[0:1], d.buf[1:2])
+	return d.buf[1], err
+}
+
+// Read16I2C reads a 16-bit value from register addr of the device at i2cAddr using the provided I2C bus.
+// The byte order is specified by order.
+func (d *Device8) Read16I2C(bus drivers.I2C, i2cAddr uint16, addr uint8, order binary.ByteOrder) (uint16, error) {
+	d.buf[0] = addr
+	err := bus.Tx(i2cAddr, d.buf[0:1], d.buf[1:3])
+	return order.Uint16(d.buf[1:3]), err
+}
+
+// Read32I2C reads a 32-bit value from register addr of the device at i2cAddr using the provided I2C bus.
+// The byte order is specified by order.
+func (d *Device8) Read32I2C(bus drivers.I2C, i2cAddr uint16, addr uint8, order binary.ByteOrder) (uint32, error) {
+	d.buf[0] = addr
+	err := bus.Tx(i2cAddr, d.buf[0:1], d.buf[1:5])
+	return order.Uint32(d.buf[1:5]), err
+}
+
+// ReadDataI2C reads dataLength bytes from register addr of the device at i2cAddr using the provided I2C bus.
+// The data is stored in dataDestination.
+func (d *Device8) ReadDataI2C(bus drivers.I2C, i2cAddr uint16, addr uint8, dataDestination []byte) error {
+	d.buf[0] = addr
+	return bus.Tx(i2cAddr, d.buf[:1], dataDestination)
+}
+
+// Write8I2C writes a single byte value to register addr of the device at i2cAddr using the provided I2C bus.
+func (d *Device8) Write8I2C(bus drivers.I2C, i2cAddr uint16, addr, value uint8) error {
+	d.buf[0] = addr
+	d.buf[1] = value
+	return bus.Tx(i2cAddr, d.buf[:2], nil)
+}
+
+// Write16I2C writes a 16-bit value to register addr of the device at i2cAddr using the provided I2C bus.
+// The byte order is specified by order.
+func (d *Device8) Write16I2C(bus drivers.I2C, i2cAddr uint16, addr uint8, value uint16, order binary.ByteOrder) error {
+	d.buf[0] = addr
+	order.PutUint16(d.buf[1:3], value)
+	return bus.Tx(i2cAddr, d.buf[0:3], nil)
+}
+
+// Write32I2C writes a 32-bit value to register addr of the device at i2cAddr using the provided I2C bus.
+// The byte order is specified by order.
+func (d *Device8) Write32I2C(bus drivers.I2C, i2cAddr uint16, addr uint8, value uint32, order binary.ByteOrder) error {
+	d.buf[0] = addr
+	order.PutUint32(d.buf[1:5], value)
+	return bus.Tx(i2cAddr, d.buf[0:5], nil)
+}
+
+// SPI methods.
+
+// Read8SPI reads a single byte from register addr using the provided SPI bus.
+func (d *Device8) Read8SPI(bus drivers.SPI, addr uint8) (byte, error) {
+	d.clear()
+	d.buf[0] = addr
+	err := bus.Tx(d.buf[0:1], d.buf[1:2]) // We suppose data is returned after first byte in SPI.
+	return d.buf[1], err
+}
+
+// Read16SPI reads a 16-bit value from register addr using the provided SPI bus. The byte order is specified by order.
+func (d *Device8) Read16SPI(bus drivers.SPI, addr uint8, order binary.ByteOrder) (uint16, error) {
+	d.clear()
+	d.buf[0] = addr
+	err := bus.Tx(d.buf[0:3], d.buf[3:6]) // We suppose data is returned after first byte in SPI.
+	return order.Uint16(d.buf[4:6]), err
+}
+
+// Read32SPI reads a 32-bit value from register addr using the provided SPI bus. The byte order is specified by order.
+func (d *Device8) Read32SPI(bus drivers.SPI, addr uint8, order binary.ByteOrder) (uint32, error) {
+	d.clear()
+	d.buf[0] = addr
+	err := bus.Tx(d.buf[0:5], d.buf[5:10]) // We suppose data is returned after first byte in SPI.
+	return order.Uint32(d.buf[6:10]), err
+}
+
+// ReadDataSPI reads data from a 8bit device address. It assumes data at register address is sent back
+// from device after first byte is written as address.
+// It needs the auxiliary buffer length to be large enough to contain both the write and read portions of buffer,
+// so 2*(dataLength+1) < len(auxiliaryBuf) must hold.
+func (d *Device8) ReadDataSPI(bus drivers.SPI, addr uint8, dataLength int, auxiliaryBuf []byte) ([]byte, error) {
+	split := len(auxiliaryBuf) / 2
+	if split < dataLength+1 {
+		return nil, io.ErrShortBuffer
+	}
+
+	wbuf, rbuf := auxiliaryBuf[:split], auxiliaryBuf[split:]
+	wbuf[0] = addr
+	err := bus.Tx(wbuf, rbuf)
+	return rbuf[1:], err
+}
+
+// Write8SPI writes a single byte value to register addr using the provided SPI bus.
+func (d *Device8) Write8SPI(bus drivers.SPI, addr, value uint8) error {
+	d.clear()
+	d.buf[0] = addr
+	d.buf[1] = value
+	return bus.Tx(d.buf[:2], nil)
+}
+
+// Write16SPI writes a 16-bit value to register addr using the provided SPI bus. The byte order is specified by order.
+func (d *Device8) Write16SPI(bus drivers.SPI, addr uint8, value uint16, order binary.ByteOrder) error {
+	d.clear()
+	d.buf[0] = addr
+	order.PutUint16(d.buf[1:3], value)
+	return bus.Tx(d.buf[:3], nil)
+}
+
+// Write32SPI writes a 32-bit value to register addr using the provided SPI bus. The byte order is specified by order.
+func (d *Device8) Write32SPI(bus drivers.SPI, addr uint8, value uint32, order binary.ByteOrder) error {
+	d.clear()
+	d.buf[0] = addr
+	order.PutUint32(d.buf[1:5], value)
+	return bus.Tx(d.buf[:5], nil)
+}

internal/regmap/i2c-spi.go

@@ -0,0 +1,123 @@
+package regmap
+
+import (
+	"encoding/binary"
+
+	"tinygo.org/x/drivers"
+)
+
+// Device8SPI implements common logic to most 8-bit peripherals with an SPI bus.
+// All methods expect the target to support conventional register read and write operations
+// where the first byte sent is the register address being accessed.
+//
+// All methods use an internal buffer and perform no dynamic memory allocation.
+type Device8SPI struct {
+	bus   drivers.SPI
+	order binary.ByteOrder
+	d     Device8
+}
+
+// SetBus sets the SPI bus and byte order for the Device8SPI.
+//
+// As a hint, most SPI devices use big-endian (MSB) byte order.
+//   - Big endian: A value of 0x1234 is transmitted as 0x12 followed by 0x34.
+//   - Little endian: A value of 0x1234 is transmitted as 0x34 followed by 0x12.
+func (d *Device8SPI) SetBus(bus drivers.SPI, order binary.ByteOrder) {
+	d.bus = bus
+	d.order = order
+}
+
+// Read8 reads a single byte from register addr.
+func (d *Device8SPI) Read8(addr uint8) (byte, error) {
+	return d.d.Read8SPI(d.bus, addr)
+}
+
+// Read16 reads a 16-bit value from register addr.
+func (d *Device8SPI) Read16(addr uint8) (uint16, error) {
+	return d.d.Read16SPI(d.bus, addr, d.order)
+}
+
+// Read32 reads a 32-bit value from register addr.
+func (d *Device8SPI) Read32(addr uint8) (uint32, error) {
+	return d.d.Read32SPI(d.bus, addr, d.order)
+}
+
+// ReadData reads dataLength bytes from register addr. Due to the internal functioning of
+// SPI, an auxiliary buffer must be provided to perform the operation and avoid memory allocation.
+// The returned slice is a subslice of auxBuffer containing the read data.
+func (d *Device8SPI) ReadData(addr uint8, datalength int, auxBuffer []byte) ([]byte, error) {
+	return d.d.ReadDataSPI(d.bus, addr, datalength, auxBuffer)
+}
+
+// Write8 writes a single byte value to register addr.
+func (d *Device8SPI) Write8(addr, value uint8) error {
+	return d.d.Write8SPI(d.bus, addr, value)
+}
+
+// Write16 writes a 16-bit value to register addr.
+func (d *Device8SPI) Write16(addr uint8, value uint16) error {
+	return d.d.Write16SPI(d.bus, addr, value, d.order)
+}
+
+// Write32 writes a 32-bit value to register addr.
+func (d *Device8SPI) Write32(addr uint8, value uint32) error {
+	return d.d.Write32SPI(d.bus, addr, value, d.order)
+}
+
+// Device8I2C implements common logic to most 8-bit peripherals with an I2C bus.
+// All methods expect the target to support conventional register read and write operations
+// where the first byte sent is the register address being accessed.
+//
+// All methods use an internal buffer and perform no dynamic memory allocation.
+type Device8I2C struct {
+	bus     drivers.I2C
+	i2cAddr uint16
+	order   binary.ByteOrder
+	d       Device8
+}
+
+// SetBus sets the I2C bus, device address, and byte order for the Device8I2C.
+//
+// As a hint, most I2C devices use big-endian (MSB) byte order.
+//   - Big endian: A value of 0x1234 is transmitted as 0x12 followed by 0x34.
+//   - Little endian: A value of 0x1234 is transmitted as 0x34 followed by 0x12.
+func (d *Device8I2C) SetBus(bus drivers.I2C, i2cAddr uint16, order binary.ByteOrder) {
+	d.bus = bus
+	d.i2cAddr = i2cAddr
+	d.order = order
+}
+
+// Read8 reads a single byte from register addr.
+func (d *Device8I2C) Read8(addr uint8) (byte, error) {
+	return d.d.Read8I2C(d.bus, d.i2cAddr, addr)
+}
+
+// Read16 reads a 16-bit value from register addr.
+func (d *Device8I2C) Read16(addr uint8) (uint16, error) {
+	return d.d.Read16I2C(d.bus, d.i2cAddr, addr, d.order)
+}
+
+// Read32 reads a 32-bit value from register addr.
+func (d *Device8I2C) Read32(addr uint8) (uint32, error) {
+	return d.d.Read32I2C(d.bus, d.i2cAddr, addr, d.order)
+}
+
+// ReadData reads dataLength bytes from register addr.
+func (d *Device8I2C) ReadData(addr uint8, dataDestination []byte) error {
+	return d.d.ReadDataI2C(d.bus, d.i2cAddr, addr, dataDestination)
+}
+
+// Write8 writes a single byte value to register addr.
+func (d *Device8I2C) Write8(addr, value uint8) error {
+	return d.d.Write8I2C(d.bus, d.i2cAddr, addr, value)
+}
+
+// Write16 writes a 16-bit value to register addr.
+func (d *Device8I2C) Write16(addr uint8, value uint16) error {
+	return d.d.Write16I2C(d.bus, d.i2cAddr, addr, value, d.order)
+}
+
+// Write32 writes a 32-bit value to register addr.
+func (d *Device8I2C) Write32(addr uint8, value uint32) error {
+	return d.d.Write32I2C(d.bus, d.i2cAddr, addr, value, d.order)
+}

lis3dh/lis3dh.go

@@ -11,37 +11,57 @@ import (
 // Device wraps an I2C connection to a LIS3DH device.
 type Device struct {
 	bus     drivers.I2C
-	Address uint16
+	address uint16
 	r       Range
+	accel   [6]byte // stored acceleration data (from the Update call)
+}
+
+// Driver configuration, used for the Configure call. All fields are optional.
+type Config struct {
+	Address uint16
 }
 
 // New creates a new LIS3DH connection. The I2C bus must already be configured.
 //
 // This function only creates the Device object, it does not touch the device.
 func New(bus drivers.I2C) Device {
-	return Device{bus: bus, Address: Address0}
+	return Device{bus: bus, address: Address0}
 }
 
 // Configure sets up the device for communication
-func (d *Device) Configure() {
+func (d *Device) Configure(config Config) error {
+	if config.Address != 0 {
+		d.address = config.Address
+	}
+
 	// enable all axes, normal mode
-	legacy.WriteRegister(d.bus, uint8(d.Address), REG_CTRL1, []byte{0x07})
+	err := legacy.WriteRegister(d.bus, uint8(d.address), REG_CTRL1, []byte{0x07})
+	if err != nil {
+		return err
+	}
 
 	// 400Hz rate
-	d.SetDataRate(DATARATE_400_HZ)
+	err = d.SetDataRate(DATARATE_400_HZ)
+	if err != nil {
+		return err
+	}
 
 	// High res & BDU enabled
-	legacy.WriteRegister(d.bus, uint8(d.Address), REG_CTRL4, []byte{0x88})
+	err = legacy.WriteRegister(d.bus, uint8(d.address), REG_CTRL4, []byte{0x88})
+	if err != nil {
+		return err
+	}
 
 	// get current range
-	d.r = d.ReadRange()
+	d.r, err = d.ReadRange()
+	return err
 }
 
 // Connected returns whether a LIS3DH has been found.
 // It does a "who am I" request and checks the response.
 func (d *Device) Connected() bool {
 	data := []byte{0}
-	err := legacy.ReadRegister(d.bus, uint8(d.Address), WHO_AM_I, data)
+	err := legacy.ReadRegister(d.bus, uint8(d.address), WHO_AM_I, data)
 	if err != nil {
 		return false
 	}
@@ -49,46 +69,51 @@ func (d *Device) Connected() bool {
 }
 
 // SetDataRate sets the speed of data collected by the LIS3DH.
-func (d *Device) SetDataRate(rate DataRate) {
+func (d *Device) SetDataRate(rate DataRate) error {
 	ctl1 := []byte{0}
-	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CTRL1, ctl1)
+	err := legacy.ReadRegister(d.bus, uint8(d.address), REG_CTRL1, ctl1)
 	if err != nil {
-		println(err.Error())
+		return err
 	}
 	// mask off bits
 	ctl1[0] &^= 0xf0
 	ctl1[0] |= (byte(rate) << 4)
-	legacy.WriteRegister(d.bus, uint8(d.Address), REG_CTRL1, ctl1)
+	return legacy.WriteRegister(d.bus, uint8(d.address), REG_CTRL1, ctl1)
 }
 
 // SetRange sets the G range for LIS3DH.
-func (d *Device) SetRange(r Range) {
+func (d *Device) SetRange(r Range) error {
 	ctl := []byte{0}
-	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CTRL4, ctl)
+	err := legacy.ReadRegister(d.bus, uint8(d.address), REG_CTRL4, ctl)
 	if err != nil {
-		println(err.Error())
+		return err
 	}
 	// mask off bits
 	ctl[0] &^= 0x30
 	ctl[0] |= (byte(r) << 4)
-	legacy.WriteRegister(d.bus, uint8(d.Address), REG_CTRL4, ctl)
+	err = legacy.WriteRegister(d.bus, uint8(d.address), REG_CTRL4, ctl)
+	if err != nil {
+		return err
+	}
 
 	// store the new range
 	d.r = r
+
+	return nil
 }
 
 // ReadRange returns the current G range for LIS3DH.
-func (d *Device) ReadRange() (r Range) {
+func (d *Device) ReadRange() (r Range, err error) {
 	ctl := []byte{0}
-	err := legacy.ReadRegister(d.bus, uint8(d.Address), REG_CTRL4, ctl)
+	err = legacy.ReadRegister(d.bus, uint8(d.address), REG_CTRL4, ctl)
 	if err != nil {
-		println(err.Error())
+		return 0, err
 	}
 	// mask off bits
 	r = Range(ctl[0] >> 4)
 	r &= 0x03
 
-	return r
+	return r, nil
 }
 
 // ReadAcceleration reads the current acceleration from the device and returns
@@ -96,28 +121,17 @@ func (d *Device) ReadRange() (r Range) {
 // and the sensor is not moving the returned value will be around 1000000 or
 // -1000000.
 func (d *Device) ReadAcceleration() (int32, int32, int32, error) {
-	x, y, z := d.ReadRawAcceleration()
-	divider := float32(1)
-	switch d.r {
-	case RANGE_16_G:
-		divider = 1365
-	case RANGE_8_G:
-		divider = 4096
-	case RANGE_4_G:
-		divider = 8190
-	case RANGE_2_G:
-		divider = 16380
-	}
-
-	return int32(float32(x) / divider * 1000000), int32(float32(y) / divider * 1000000), int32(float32(z) / divider * 1000000), nil
+	rawX, rawY, rawZ := d.ReadRawAcceleration()
+	x, y, z := normalizeRange(rawX, rawY, rawZ, d.r)
+	return x, y, z, nil
 }
 
 // ReadRawAcceleration returns the raw x, y and z axis from the LIS3DH
 func (d *Device) ReadRawAcceleration() (x int16, y int16, z int16) {
-	legacy.WriteRegister(d.bus, uint8(d.Address), REG_OUT_X_L|0x80, nil)
+	legacy.WriteRegister(d.bus, uint8(d.address), REG_OUT_X_L|0x80, nil)
 
 	data := []byte{0, 0, 0, 0, 0, 0}
-	d.bus.Tx(d.Address, nil, data)
+	d.bus.Tx(d.address, nil, data)
 
 	x = int16((uint16(data[1]) << 8) | uint16(data[0]))
 	y = int16((uint16(data[3]) << 8) | uint16(data[2]))
@@ -125,3 +139,68 @@ func (d *Device) ReadRawAcceleration() (x int16, y int16, z int16) {
 
 	return
 }
+
+// Update the sensor values of the 'which' parameter. Only acceleration is
+// supported at the moment.
+func (d *Device) Update(which drivers.Measurement) error {
+	if which&drivers.Acceleration != 0 {
+		// Read raw acceleration values and store them in the driver.
+		err := legacy.WriteRegister(d.bus, uint8(d.address), REG_OUT_X_L|0x80, nil)
+		if err != nil {
+			return err
+		}
+		err = d.bus.Tx(d.address, nil, d.accel[:])
+		if err != nil {
+			return err
+		}
+	}
+	return nil
+}
+
+// Acceleration returns the last read acceleration in µg (micro-gravity).
+// When one of the axes is pointing straight to Earth and the sensor is not
+// moving the returned value will be around 1000000 or -1000000.
+func (d *Device) Acceleration() (x, y, z int32) {
+	// Extract the raw 16-bit values.
+	rawX := int16((uint16(d.accel[1]) << 8) | uint16(d.accel[0]))
+	rawY := int16((uint16(d.accel[3]) << 8) | uint16(d.accel[2]))
+	rawZ := int16((uint16(d.accel[5]) << 8) | uint16(d.accel[4]))
+
+	// Normalize these values, to be in µg (micro-gravity).
+	return normalizeRange(rawX, rawY, rawZ, d.r)
+}
+
+// Convert raw 16-bit values to normalized 32-bit values while avoiding floats
+// and divisions.
+func normalizeRange(rawX, rawY, rawZ int16, r Range) (x, y, z int32) {
+	// We're going to convert the 16-bit raw values to values in the range
+	// -1000_000..1000_000. For now we're going to assume a range of 16G, we'll
+	// adjust that range later.
+	// The formula is derived as follows, and carefully selected to avoid
+	// overflow and integer divisions (the division will be optimized to a
+	// bitshift):
+	//   x = x * 1000_000      / 2048
+	//   x = x * (1000_000/64) / (2048/64)
+	//   x = x * 15625         / 32
+	x = int32(rawX) * 15625 / 32
+	y = int32(rawY) * 15625 / 32
+	z = int32(rawZ) * 15625 / 32
+
+	// Now we need to normalize the three values, since we assumed 16G before.
+	shift := uint32(0)
+	switch r {
+	case RANGE_16_G:
+		shift = 0
+	case RANGE_8_G:
+		shift = 1
+	case RANGE_4_G:
+		shift = 2
+	case RANGE_2_G:
+		shift = 3
+	}
+	x >>= shift
+	y >>= shift
+	z >>= shift
+
+	return
+}

lsm303agr/lsm303agr.go

@@ -36,7 +36,7 @@ type Configuration struct {
 	MagDataRate    uint8
 }
 
-var errNotConnected = errors.New("lsm303agr: failed to communicate with either acel or magnet sensor")
+var errNotConnected = errors.New("lsm303agr: failed to communicate with either accel or magnet sensor")
 
 // New creates a new LSM303AGR connection. The I2C bus must already be configured.
 //

lsm303dlhc/lsm303dlhc.go

@@ -0,0 +1,214 @@
+// Package lsm303dlhc implements a driver for the LSM303dlhc,
+// a 3 axis accelerometer/magnetic sensor typically available on breakout boards.
+//
+// Datasheet: https://www.st.com/resource/en/datasheet/lsm303dlhc.pdf
+
+package lsm303dlhc // import "tinygo.org/x/drivers/lsm303dlhc"
+
+import (
+	"math"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+)
+
+// Device wraps an I2C connection to a LSM303dlhc device.
+type Device struct {
+	bus            drivers.I2C
+	AccelAddress   uint8
+	MagAddress     uint8
+	AccelPowerMode uint8
+	AccelRange     uint8
+	AccelDataRate  uint8
+	MagPowerMode   uint8
+	MagSystemMode  uint8
+	MagDataRate    uint8
+	buf            [6]uint8
+}
+
+// Configuration for LSM303dlhc device.
+type Configuration struct {
+	AccelPowerMode uint8
+	AccelRange     uint8
+	AccelDataRate  uint8
+	MagPowerMode   uint8
+	MagSystemMode  uint8
+	MagDataRate    uint8
+}
+
+// New creates a new LSM303DLHC connection. The I2C bus must already be configured.
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C) *Device {
+	return &Device{
+		bus:          bus,
+		AccelAddress: ACCEL_ADDRESS,
+		MagAddress:   MAG_ADDRESS,
+	}
+}
+
+// Configure sets up the LSM303dlhc device for communication.
+func (d *Device) Configure(cfg Configuration) (err error) {
+
+	if cfg.AccelDataRate != 0 {
+		d.AccelDataRate = cfg.AccelDataRate
+	} else {
+		d.AccelDataRate = ACCEL_DATARATE_100HZ
+	}
+
+	if cfg.AccelPowerMode != 0 {
+		d.AccelPowerMode = cfg.AccelPowerMode
+	} else {
+		d.AccelPowerMode = ACCEL_POWER_NORMAL
+	}
+
+	if cfg.AccelRange != 0 {
+		d.AccelRange = cfg.AccelRange
+	} else {
+		d.AccelRange = ACCEL_RANGE_2G
+	}
+
+	if cfg.MagPowerMode != 0 {
+		d.MagPowerMode = cfg.MagPowerMode
+	} else {
+		d.MagPowerMode = MAG_POWER_NORMAL
+	}
+
+	if cfg.MagDataRate != 0 {
+		d.MagDataRate = cfg.MagDataRate
+	} else {
+		d.MagDataRate = MAG_DATARATE_10HZ
+	}
+
+	if cfg.MagSystemMode != 0 {
+		d.MagSystemMode = cfg.MagSystemMode
+	} else {
+		d.MagSystemMode = MAG_SYSTEM_CONTINUOUS
+	}
+
+	data := d.buf[:1]
+
+	data[0] = byte(d.AccelDataRate<<4 | d.AccelPowerMode | 0x07)
+	err = legacy.WriteRegister(d.bus, uint8(d.AccelAddress), ACCEL_CTRL_REG1_A, data)
+	if err != nil {
+		return
+	}
+
+	data[0] = byte(0x80 | d.AccelRange<<4)
+	err = legacy.WriteRegister(d.bus, uint8(d.AccelAddress), ACCEL_CTRL_REG4_A, data)
+	if err != nil {
+		return
+	}
+
+	data[0] = byte(0xC0)
+	err = legacy.WriteRegister(d.bus, uint8(d.AccelAddress), CRA_REG_M, data)
+	if err != nil {
+		return
+	}
+
+	// Temperature compensation is on for magnetic sensor
+	data[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
+	err = legacy.WriteRegister(d.bus, uint8(d.MagAddress), MAG_MR_REG_M, data)
+	if err != nil {
+		return
+	}
+
+	return nil
+}
+
+// ReadAcceleration reads the current acceleration from the device and returns
+// it in µg (micro-gravity). When one of the axes is pointing straight to Earth
+// and the sensor is not moving the returned value will be around 1000000 or
+// -1000000.
+func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
+	data := d.buf[:6]
+	err = legacy.ReadRegister(d.bus, uint8(d.AccelAddress), ACCEL_OUT_AUTO_INC, data)
+	if err != nil {
+		return
+	}
+
+	rangeFactor := int16(0)
+	switch d.AccelRange {
+	case ACCEL_RANGE_2G:
+		rangeFactor = 1
+	case ACCEL_RANGE_4G:
+		rangeFactor = 2
+	case ACCEL_RANGE_8G:
+		rangeFactor = 4
+	case ACCEL_RANGE_16G:
+		rangeFactor = 12 // the readings in 16G are a bit lower
+	}
+
+	x = int32(int32(int16((uint16(data[1])<<8|uint16(data[0])))>>4*rangeFactor) * 1000000 / 1024)
+	y = int32(int32(int16((uint16(data[3])<<8|uint16(data[2])))>>4*rangeFactor) * 1000000 / 1024)
+	z = int32(int32(int16((uint16(data[5])<<8|uint16(data[4])))>>4*rangeFactor) * 1000000 / 1024)
+	return
+}
+
+// ReadPitchRoll reads the current pitch and roll angles from the device and
+// returns it in micro-degrees. When the z axis is pointing straight to Earth
+// the returned values of pitch and roll would be zero.
+func (d *Device) ReadPitchRoll() (pitch, roll int32, err error) {
+
+	x, y, z, err := d.ReadAcceleration()
+	if err != nil {
+		return
+	}
+	xf, yf, zf := float64(x), float64(y), float64(z)
+	pitch = int32((math.Round(math.Atan2(yf, math.Sqrt(math.Pow(xf, 2)+math.Pow(zf, 2)))*(180/math.Pi)*100) / 100) * 1000000)
+	roll = int32((math.Round(math.Atan2(xf, math.Sqrt(math.Pow(yf, 2)+math.Pow(zf, 2)))*(180/math.Pi)*100) / 100) * 1000000)
+	return
+
+}
+
+// ReadMagneticField reads the current magnetic field from the device and returns
+// it in mG (milligauss). 1 mG = 0.1 µT (microtesla).
+func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
+
+	if d.MagSystemMode == MAG_SYSTEM_SINGLE {
+		cmd := d.buf[:1]
+		cmd[0] = byte(0x80 | d.MagPowerMode<<4 | d.MagDataRate<<2 | d.MagSystemMode)
+		err = legacy.WriteRegister(d.bus, uint8(d.MagAddress), MAG_MR_REG_M, cmd)
+		if err != nil {
+			return
+		}
+	}
+
+	data := d.buf[0:6]
+	legacy.ReadRegister(d.bus, uint8(d.MagAddress), MAG_OUT_AUTO_INC, data)
+
+	x = int32(int16((uint16(data[1])<<8 | uint16(data[0]))))
+	y = int32(int16((uint16(data[3])<<8 | uint16(data[2]))))
+	z = int32(int16((uint16(data[5])<<8 | uint16(data[4]))))
+	return
+}
+
+// ReadCompass reads the current compass heading from the device and returns
+// it in micro-degrees. When the z axis is pointing straight to Earth and
+// the y axis is pointing to North, the heading would be zero.
+//
+// However, the heading may be off due to electronic compasses would be effected
+// by strong magnetic fields and require constant calibration.
+func (d *Device) ReadCompass() (h int32, err error) {
+
+	x, y, _, err := d.ReadMagneticField()
+	if err != nil {
+		return
+	}
+	xf, yf := float64(x), float64(y)
+	h = int32(float32((180/math.Pi)*math.Atan2(yf, xf)) * 1000000)
+	return
+}
+
+// ReadTemperature returns the temperature in Celsius milli degrees (°C/1000)
+func (d *Device) ReadTemperature() (t int32, err error) {
+
+	data := d.buf[:2]
+	err = legacy.ReadRegister(d.bus, uint8(d.MagAddress), TEMP_OUT_AUTO_INC, data)
+	if err != nil {
+		return
+	}
+
+	r := int16((uint16(data[1])<<8 | uint16(data[0]))) >> 4 // temperature offset from 25 °C
+	t = 25000 + int32((float32(r)/8)*1000)
+	return
+}

lsm303dlhc/registers.go

@@ -0,0 +1,75 @@
+package lsm303dlhc
+
+const (
+
+	// Constants/addresses used for I2C.
+	ACCEL_ADDRESS = 0x19
+	MAG_ADDRESS   = 0x1E
+
+	// i2C 8-bit subaddress (SUB): the 7 LSb represent the actual register address
+	// while the MSB enables address auto increment.
+	// If the MSb of the SUB field is 1, the SUB (register address) is
+	// automatically increased to allow multiple data read/writes.
+	ADDR_AUTO_INC_MASK = 0x80
+
+	// accelerometer registers.
+	ACCEL_CTRL_REG1_A  = 0x20
+	ACCEL_CTRL_REG4_A  = 0x23
+	ACCEL_OUT_X_L_A    = 0x28
+	ACCEL_OUT_X_H_A    = 0x29
+	ACCEL_OUT_Y_L_A    = 0x2A
+	ACCEL_OUT_Y_H_A    = 0x2B
+	ACCEL_OUT_Z_L_A    = 0x2C
+	ACCEL_OUT_Z_H_A    = 0x2D
+	ACCEL_OUT_AUTO_INC = ACCEL_OUT_X_L_A | ADDR_AUTO_INC_MASK
+
+	// magnetic sensor registers.
+	MAG_MR_REG_M     = 0x02
+	MAG_OUT_X_L_M    = 0x68
+	MAG_OUT_X_H_M    = 0x69
+	MAG_OUT_Y_L_M    = 0x6A
+	MAG_OUT_Y_H_M    = 0x6B
+	MAG_OUT_Z_L_M    = 0x6C
+	MAG_OUT_Z_H_M    = 0x6D
+	MAG_OUT_AUTO_INC = MAG_OUT_X_L_M | ADDR_AUTO_INC_MASK
+
+	// temperature sensor registers.
+	CRA_REG_M         = 0x80
+	TEMP_OUT_L_M      = 0x32
+	TEMP_OUT_H_M      = 0x31
+	TEMP_OUT_AUTO_INC = TEMP_OUT_L_M | ADDR_AUTO_INC_MASK
+
+	// accelerometer power mode.
+	ACCEL_POWER_NORMAL = 0x00 // default
+	ACCEL_POWER_LOW    = 0x08
+
+	// accelerometer range.
+	ACCEL_RANGE_2G  = 0x00 // default
+	ACCEL_RANGE_4G  = 0x01
+	ACCEL_RANGE_8G  = 0x02
+	ACCEL_RANGE_16G = 0x03
+
+	// accelerometer data rate.
+	ACCEL_DATARATE_1HZ    = 0x01
+	ACCEL_DATARATE_10HZ   = 0x02
+	ACCEL_DATARATE_25HZ   = 0x03
+	ACCEL_DATARATE_50HZ   = 0x04
+	ACCEL_DATARATE_100HZ  = 0x05 // default
+	ACCEL_DATARATE_200HZ  = 0x06
+	ACCEL_DATARATE_400HZ  = 0x07
+	ACCEL_DATARATE_1344HZ = 0x09 // 5376Hz in low-power mode
+
+	// magnetic sensor power mode.
+	MAG_POWER_NORMAL = 0x00 // default
+	MAG_POWER_LOW    = 0x01
+
+	// magnetic sensor operate mode.
+	MAG_SYSTEM_CONTINUOUS = 0x00 // default
+	MAG_SYSTEM_SINGLE     = 0x01
+
+	// magnetic sensor data rate
+	MAG_DATARATE_10HZ  = 0x00 // default
+	MAG_DATARATE_20HZ  = 0x01
+	MAG_DATARATE_50HZ  = 0x02
+	MAG_DATARATE_100HZ = 0x03
+)

lsm6ds3tr/lsm6ds3tr.go

@@ -8,7 +8,6 @@ import (
 	"errors"
 
 	"tinygo.org/x/drivers"
-	"tinygo.org/x/drivers/internal/legacy"
 )
 
 type AccelRange uint8
@@ -26,7 +25,7 @@ type Device struct {
 	accelSampleRate AccelSampleRate
 	gyroRange       GyroRange
 	gyroSampleRate  GyroSampleRate
-	buf             [6]uint8
+	buf             [7]uint8 // up to 6 bytes for read + 1 byte for the register address
 }
 
 // Configuration for LSM6DS3TR device.
@@ -84,30 +83,20 @@ func (d *Device) doConfigure(cfg Configuration) (err error) {
 		d.gyroSampleRate = GYRO_SR_104
 	}
 
-	data := d.buf[:1]
-
 	// Configure accelerometer
-	data[0] = uint8(d.accelRange) | uint8(d.accelSampleRate)
-	err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL1_XL, data)
+	err = d.writeByte(CTRL1_XL, uint8(d.accelRange)|uint8(d.accelSampleRate))
 	if err != nil {
 		return
 	}
 
-	// Set ODR bit
-	err = legacy.ReadRegister(d.bus, uint8(d.Address), CTRL4_C, data)
-	if err != nil {
-		return
-	}
-	data[0] = data[0] &^ BW_SCAL_ODR_ENABLED
-	data[0] |= BW_SCAL_ODR_ENABLED
-	err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL4_C, data)
+	// Enable ODR scaling
+	err = d.setBits(CTRL4_C, BW_SCAL_ODR_ENABLED)
 	if err != nil {
 		return
 	}
 
 	// Configure gyroscope
-	data[0] = uint8(d.gyroRange) | uint8(d.gyroSampleRate)
-	err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL2_G, data)
+	err = d.writeByte(CTRL2_G, uint8(d.gyroRange)|uint8(d.gyroSampleRate))
 	if err != nil {
 		return
 	}
@@ -118,8 +107,10 @@ func (d *Device) doConfigure(cfg Configuration) (err error) {
 // Connected returns whether a LSM6DS3TR has been found.
 // It does a "who am I" request and checks the response.
 func (d *Device) Connected() bool {
-	data := d.buf[:1]
-	legacy.ReadRegister(d.bus, uint8(d.Address), WHO_AM_I, data)
+	data, err := d.readBytes(WHO_AM_I, 1)
+	if err != nil {
+		return false
+	}
 	return data[0] == 0x6A
 }
 
@@ -128,8 +119,7 @@ func (d *Device) Connected() bool {
 // and the sensor is not moving the returned value will be around 1000000 or
 // -1000000.
 func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
-	data := d.buf[:6]
-	err = legacy.ReadRegister(d.bus, uint8(d.Address), OUTX_L_XL, data)
+	data, err := d.readBytes(OUTX_L_XL, 6)
 	if err != nil {
 		return
 	}
@@ -153,8 +143,7 @@ func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
 // rotation along one axis and while doing so integrate all values over time,
 // you would get a value close to 360000000.
 func (d *Device) ReadRotation() (x, y, z int32, err error) {
-	data := d.buf[:6]
-	err = legacy.ReadRegister(d.bus, uint8(d.Address), OUTX_L_G, data)
+	data, err := d.readBytes(OUTX_L_G, 6)
 	if err != nil {
 		return
 	}
@@ -177,8 +166,7 @@ func (d *Device) ReadRotation() (x, y, z int32, err error) {
 
 // ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
 func (d *Device) ReadTemperature() (t int32, err error) {
-	data := d.buf[:2]
-	err = legacy.ReadRegister(d.bus, uint8(d.Address), OUT_TEMP_L, data)
+	data, err := d.readBytes(OUT_TEMP_L, 2)
 	if err != nil {
 		return
 	}
@@ -187,3 +175,26 @@ func (d *Device) ReadTemperature() (t int32, err error) {
 	t = 25000 + (int32(int16((int16(data[1])<<8)|int16(data[0])))*125)/32
 	return
 }
+
+func (d *Device) readBytes(reg, size uint8) ([]byte, error) {
+	d.buf[0] = reg
+	err := d.bus.Tx(d.Address, d.buf[0:1], d.buf[1:size+1])
+	if err != nil {
+		return nil, err
+	}
+	return d.buf[1 : size+1], nil
+}
+
+func (d *Device) writeByte(reg, value uint8) error {
+	d.buf[0] = reg
+	d.buf[1] = value
+	return d.bus.Tx(d.Address, d.buf[0:2], nil)
+}
+
+func (d *Device) setBits(reg, bits uint8) error {
+	data, err := d.readBytes(reg, 1)
+	if err != nil {
+		return err
+	}
+	return d.writeByte(reg, (data[0]&^bits)|bits)
+}

lsm9ds1/lsm9ds1.go

@@ -7,7 +7,6 @@ import (
 	"errors"
 
 	"tinygo.org/x/drivers"
-	"tinygo.org/x/drivers/internal/legacy"
 )
 
 type AccelRange uint8
@@ -28,7 +27,7 @@ type Device struct {
 	accelMultiplier int32
 	gyroMultiplier  int32
 	magMultiplier   int32
-	buf             [6]uint8
+	buf             [7]uint8 // up to 6 bytes for read + 1 byte for the register address
 }
 
 // Configuration for LSM9DS1 device.
@@ -61,10 +60,15 @@ func New(bus drivers.I2C) *Device {
 // Case of boolean false and error nil means I2C is up,
 // but "who am I" responses have unexpected values.
 func (d *Device) Connected() bool {
-	data1, data2 := d.buf[:1], d.buf[1:2]
-	legacy.ReadRegister(d.bus, d.AccelAddress, WHO_AM_I, data1)
-	legacy.ReadRegister(d.bus, d.MagAddress, WHO_AM_I_M, data2)
-	return data1[0] == 0x68 && data2[0] == 0x3D
+	data, err := d.readBytes(d.AccelAddress, WHO_AM_I, 1)
+	if err != nil || data[0] != 0x68 {
+		return false
+	}
+	data, err = d.readBytes(d.MagAddress, WHO_AM_I_M, 1)
+	if err != nil || data[0] != 0x3D {
+		return false
+	}
+	return true
 }
 
 // ReadAcceleration reads the current acceleration from the device and returns
@@ -72,8 +76,7 @@ func (d *Device) Connected() bool {
 // and the sensor is not moving the returned value will be around 1000000 or
 // -1000000.
 func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
-	data := d.buf[:6]
-	err = legacy.ReadRegister(d.bus, uint8(d.AccelAddress), OUT_X_L_XL, data)
+	data, err := d.readBytes(d.AccelAddress, OUT_X_L_XL, 6)
 	if err != nil {
 		return
 	}
@@ -88,8 +91,7 @@ func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
 // rotation along one axis and while doing so integrate all values over time,
 // you would get a value close to 360000000.
 func (d *Device) ReadRotation() (x, y, z int32, err error) {
-	data := d.buf[:6]
-	err = legacy.ReadRegister(d.bus, uint8(d.AccelAddress), OUT_X_L_G, data)
+	data, err := d.readBytes(d.AccelAddress, OUT_X_L_G, 6)
 	if err != nil {
 		return
 	}
@@ -102,8 +104,7 @@ func (d *Device) ReadRotation() (x, y, z int32, err error) {
 // ReadMagneticField reads the current magnetic field from the device and returns
 // it in nT (nanotesla). 1 G (gauss) = 100_000 nT (nanotesla).
 func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
-	data := d.buf[:6]
-	err = legacy.ReadRegister(d.bus, uint8(d.MagAddress), OUT_X_L_M, data)
+	data, err := d.readBytes(d.MagAddress, OUT_X_L_M, 6)
 	if err != nil {
 		return
 	}
@@ -115,8 +116,7 @@ func (d *Device) ReadMagneticField() (x, y, z int32, err error) {
 
 // ReadTemperature returns the temperature in Celsius milli degrees (°C/1000)
 func (d *Device) ReadTemperature() (t int32, err error) {
-	data := d.buf[:2]
-	err = legacy.ReadRegister(d.bus, uint8(d.AccelAddress), OUT_TEMP_L, data)
+	data, err := d.readBytes(d.AccelAddress, OUT_TEMP_L, 2)
 	if err != nil {
 		return
 	}
@@ -167,20 +167,16 @@ func (d *Device) doConfigure(cfg Configuration) (err error) {
 		d.magMultiplier = 58
 	}
 
-	data := d.buf[:1]
-
 	// Configure accelerometer
 	// Sample rate & measurement range
-	data[0] = uint8(cfg.AccelSampleRate)<<5 | uint8(cfg.AccelRange)<<3
-	err = legacy.WriteRegister(d.bus, d.AccelAddress, CTRL_REG6_XL, data)
+	err = d.writeByte(d.AccelAddress, CTRL_REG6_XL, uint8(cfg.AccelSampleRate)<<5|uint8(cfg.AccelRange)<<3)
 	if err != nil {
 		return
 	}
 
 	// Configure gyroscope
 	// Sample rate & measurement range
-	data[0] = uint8(cfg.GyroSampleRate)<<5 | uint8(cfg.GyroRange)<<3
-	err = legacy.WriteRegister(d.bus, d.AccelAddress, CTRL_REG1_G, data)
+	err = d.writeByte(d.AccelAddress, CTRL_REG1_G, uint8(cfg.GyroSampleRate)<<5|uint8(cfg.GyroRange)<<3)
 	if err != nil {
 		return
 	}
@@ -190,33 +186,44 @@ func (d *Device) doConfigure(cfg Configuration) (err error) {
 	// Temperature compensation enabled
 	// High-performance mode XY axis
 	// Sample rate
-	data[0] = 0b10000000 | 0b01000000 | uint8(cfg.MagSampleRate)<<2
-	err = legacy.WriteRegister(d.bus, d.MagAddress, CTRL_REG1_M, data)
+	err = d.writeByte(d.MagAddress, CTRL_REG1_M, 0b10000000|0b01000000|uint8(cfg.MagSampleRate)<<2)
 	if err != nil {
 		return
 	}
 
 	// Measurement range
-	data[0] = uint8(cfg.MagRange) << 5
-	err = legacy.WriteRegister(d.bus, d.MagAddress, CTRL_REG2_M, data)
+	err = d.writeByte(d.MagAddress, CTRL_REG2_M, uint8(cfg.MagRange)<<5)
 	if err != nil {
 		return
 	}
 
 	// Continuous-conversion mode
 	// https://electronics.stackexchange.com/questions/237397/continuous-conversion-vs-single-conversion-mode
-	data[0] = 0b00000000
-	err = legacy.WriteRegister(d.bus, d.MagAddress, CTRL_REG3_M, data)
+	err = d.writeByte(d.MagAddress, CTRL_REG3_M, 0b00000000)
 	if err != nil {
 		return
 	}
 
 	// High-performance mode Z axis
-	data[0] = 0b00001000
-	err = legacy.WriteRegister(d.bus, d.MagAddress, CTRL_REG4_M, data)
+	err = d.writeByte(d.MagAddress, CTRL_REG4_M, 0b00001000)
 	if err != nil {
 		return
 	}
 
 	return nil
 }
+
+func (d *Device) readBytes(addr, reg, size uint8) ([]byte, error) {
+	d.buf[0] = reg
+	err := d.bus.Tx(uint16(addr), d.buf[0:1], d.buf[1:size+1])
+	if err != nil {
+		return nil, err
+	}
+	return d.buf[1 : size+1], nil
+}
+
+func (d *Device) writeByte(addr, reg, value uint8) error {
+	d.buf[0] = reg
+	d.buf[1] = value
+	return d.bus.Tx(uint16(addr), d.buf[0:2], nil)
+}

max6675/max6675.go

@@ -3,9 +3,9 @@ package max6675
 
 import (
 	"errors"
-	"machine"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 // ErrThermocoupleOpen is returned when the thermocouple input is open.
@@ -14,16 +14,16 @@ var ErrThermocoupleOpen = errors.New("thermocouple input open")
 
 type Device struct {
 	bus drivers.SPI
-	cs  machine.Pin
+	cs  pin.OutputFunc
 }
 
 // Create a new Device to read from a MAX6675 thermocouple.
 // Pins must be configured before use.  Frequency for SPI
 // should be 4.3MHz maximum.
-func NewDevice(bus drivers.SPI, cs machine.Pin) *Device {
+func NewDevice(bus drivers.SPI, cs pin.Output) *Device {
 	return &Device{
 		bus: bus,
-		cs:  cs,
+		cs:  cs.Set,
 	}
 }
 

max72xx/max72xx.go

@@ -3,31 +3,36 @@
 package max72xx
 
 import (
-	"machine"
-
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 type Device struct {
-	bus drivers.SPI
-	cs  machine.Pin
+	bus           drivers.SPI
+	cs            pin.OutputFunc
+	configurePins func()
 }
 
 // NewDriver creates a new max7219 connection. The SPI wire must already be configured
 // The SPI frequency must not be higher than 10MHz.
 // parameter cs: the datasheet also refers to this pin as "load" pin.
-func NewDevice(bus drivers.SPI, cs machine.Pin) *Device {
+func NewDevice(bus drivers.SPI, cs pin.Output) *Device {
 	return &Device{
 		bus: bus,
-		cs:  cs,
+		cs:  cs.Set,
+		configurePins: func() {
+			legacy.ConfigurePinOut(cs)
+		},
 	}
 }
 
 // Configure setups the pins.
 func (driver *Device) Configure() {
-	outPutConfig := machine.PinConfig{Mode: machine.PinOutput}
-
-	driver.cs.Configure(outPutConfig)
+	if driver.configurePins == nil {
+		panic(legacy.ErrConfigBeforeInstantiated)
+	}
+	driver.configurePins()
 }
 
 // SetScanLimit sets the scan limit. Maximum is 8.

mcp2515/mcp2515.go

@@ -8,18 +8,20 @@ package mcp2515 // import "tinygo.org/x/drivers/mcp2515"
 import (
 	"errors"
 	"fmt"
-	"machine"
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 // Device wraps MCP2515 SPI CAN Module.
 type Device struct {
-	spi     SPI
-	cs      machine.Pin
-	msg     *CANMsg
-	mcpMode byte
+	spi           SPI
+	cs            pin.OutputFunc
+	msg           *CANMsg
+	mcpMode       byte
+	configurePins func()
 }
 
 // CANMsg stores CAN message fields.
@@ -36,15 +38,18 @@ const (
 )
 
 // New returns a new MCP2515 driver. Pass in a fully configured SPI bus.
-func New(b drivers.SPI, csPin machine.Pin) *Device {
+func New(b drivers.SPI, csPin pin.Output) *Device {
 	d := &Device{
 		spi: SPI{
 			bus: b,
 			tx:  make([]byte, 0, bufferSize),
 			rx:  make([]byte, 0, bufferSize),
 		},
-		cs:  csPin,
+		cs:  csPin.Set,
 		msg: &CANMsg{},
+		configurePins: func() {
+			legacy.ConfigurePinOut(csPin)
+		},
 	}
 
 	return d
@@ -52,7 +57,10 @@ func New(b drivers.SPI, csPin machine.Pin) *Device {
 
 // Configure sets up the device for communication.
 func (d *Device) Configure() {
-	d.cs.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	if d.configurePins == nil {
+		panic(legacy.ErrConfigBeforeInstantiated)
+	}
+	d.configurePins()
 }
 
 const beginTimeoutValue int = 10

pcd8544/pcd8544.go

@@ -6,18 +6,18 @@ package pcd8544 // import "tinygo.org/x/drivers/pcd8544"
 import (
 	"errors"
 	"image/color"
-	"machine"
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 // Device wraps an SPI connection.
 type Device struct {
 	bus        drivers.SPI
-	dcPin      machine.Pin
-	rstPin     machine.Pin
-	scePin     machine.Pin
+	dcPin      pin.OutputFunc
+	rstPin     pin.OutputFunc
+	scePin     pin.OutputFunc
 	buffer     []byte
 	width      int16
 	height     int16
@@ -30,12 +30,12 @@ type Config struct {
 }
 
 // New creates a new PCD8544 connection. The SPI bus must already be configured.
-func New(bus drivers.SPI, dcPin, rstPin, scePin machine.Pin) *Device {
+func New(bus drivers.SPI, dcPin, rstPin, scePin pin.Output) *Device {
 	return &Device{
 		bus:    bus,
-		dcPin:  dcPin,
-		rstPin: rstPin,
-		scePin: scePin,
+		dcPin:  dcPin.Set,
+		rstPin: rstPin.Set,
+		scePin: scePin.Set,
 	}
 }
 

pixel/image.go

@@ -149,6 +149,20 @@ func (img Image[T]) setPixel(index int, c T) {
 		}
 
 		return
+	case zeroColor.BitsPerPixel() == 2:
+		// Grayscale2bit.
+		offset := index / 4      // 4 pixels per byte
+		shift := 6 - (index%4)*2 // bits: 6, 4, 2, 0
+
+		ptr := (*byte)(unsafe.Add(img.data, offset))
+
+		raw := *(*uint8)(unsafe.Pointer(&c))
+		gray := raw & 0b11
+
+		mask := byte(0b11 << shift)
+		*ptr = (*ptr &^ mask) | (gray << shift)
+		return
+
 	case zeroColor.BitsPerPixel()%8 == 0:
 		// Each color starts at a whole byte offset.
 		// This is the easy case.
@@ -206,6 +220,13 @@ func (img Image[T]) Get(x, y int) T {
 		ptr := (*byte)(unsafe.Add(img.data, offset))
 		c = ((*ptr >> (7 - uint8(bits))) & 0x1) > 0
 		return any(c).(T)
+	case zeroColor.BitsPerPixel() == 2:
+		// Grayscale2bit.
+		offset := index / 4      // 4 pixels per byte
+		shift := 6 - (index%4)*2 // bits: 6, 4, 2, 0
+		ptr := (*byte)(unsafe.Add(img.data, offset))
+		value := ((*ptr) >> shift) & 0b11
+		return any(Grayscale2bit(value)).(T)
 	case zeroColor.BitsPerPixel()%8 == 0:
 		// Colors like RGB565, RGB888, etc.
 		offset := index * int(unsafe.Sizeof(zeroColor))

pixel/image_test.go

@@ -9,9 +9,30 @@ import (
 	"tinygo.org/x/drivers/pixel"
 )
 
+func TestImageRGB888(t *testing.T) {
+	image := pixel.NewImage[pixel.RGB888](5, 3)
+	if width, height := image.Size(); width != 5 || height != 3 {
+		t.Errorf("image.Size(): expected 5, 3 but got %d, %d", width, height)
+	}
+	for _, c := range []color.RGBA{
+		{R: 0xff, A: 0xff},
+		{G: 0xff, A: 0xff},
+		{B: 0xff, A: 0xff},
+		{R: 0x10, A: 0xff},
+		{G: 0x10, A: 0xff},
+		{B: 0x10, A: 0xff},
+	} {
+		image.Set(4, 2, pixel.NewColor[pixel.RGB888](c.R, c.G, c.B))
+		c2 := image.Get(4, 2).RGBA()
+		if c2 != c {
+			t.Errorf("failed to roundtrip color: expected %v but got %v", c, c2)
+		}
+	}
+}
+
 func TestImageRGB565BE(t *testing.T) {
 	image := pixel.NewImage[pixel.RGB565BE](5, 3)
-	if width, height := image.Size(); width != 5 && height != 3 {
+	if width, height := image.Size(); width != 5 || height != 3 {
 		t.Errorf("image.Size(): expected 5, 3 but got %d, %d", width, height)
 	}
 	for _, c := range []color.RGBA{
@@ -30,9 +51,30 @@ func TestImageRGB565BE(t *testing.T) {
 	}
 }
 
+func TestImageRGB555(t *testing.T) {
+	image := pixel.NewImage[pixel.RGB555](5, 3)
+	if width, height := image.Size(); width != 5 || height != 3 {
+		t.Errorf("image.Size(): expected 5, 3 but got %d, %d", width, height)
+	}
+	for _, c := range []color.RGBA{
+		{R: 0xff, A: 0xff},
+		{G: 0xff, A: 0xff},
+		{B: 0xff, A: 0xff},
+		{R: 0x10, A: 0xff},
+		{G: 0x10, A: 0xff},
+		{B: 0x10, A: 0xff},
+	} {
+		image.Set(4, 2, pixel.NewColor[pixel.RGB555](c.R, c.G, c.B))
+		c2 := image.Get(4, 2).RGBA()
+		if c2 != c {
+			t.Errorf("failed to roundtrip color: expected %v but got %v", c, c2)
+		}
+	}
+}
+
 func TestImageRGB444BE(t *testing.T) {
 	image := pixel.NewImage[pixel.RGB444BE](5, 3)
-	if width, height := image.Size(); width != 5 && height != 3 {
+	if width, height := image.Size(); width != 5 || height != 3 {
 		t.Errorf("image.Size(): expected 5, 3 but got %d, %d", width, height)
 	}
 	for _, c := range []color.RGBA{
@@ -65,9 +107,69 @@ func TestImageRGB444BE(t *testing.T) {
 	}
 }
 
+func TestImageGrayscale2bit(t *testing.T) {
+	image := pixel.NewImage[pixel.Grayscale2bit](128, 64)
+
+	if width, height := image.Size(); width != 128 || height != 64 {
+		t.Errorf("image.Size(): expected 128, 64 but got %d, %d", width, height)
+	}
+
+	// Define test colors representing 4 Grayscale levels.
+	testColors := []color.RGBA{
+		{R: 0x00, G: 0x00, B: 0x00, A: 0xff}, // black
+		{R: 0x55, G: 0x55, B: 0x55, A: 0xff}, // dark gray
+		{R: 0xaa, G: 0xaa, B: 0xaa, A: 0xff}, // light gray
+		{R: 0xff, G: 0xff, B: 0xff, A: 0xff}, // white
+	}
+
+	// Single pixel roundtrip test at a fixed coordinate.
+	for _, c := range testColors {
+		encoded := pixel.NewColor[pixel.Grayscale2bit](c.R, c.G, c.B)
+		image.Set(5, 3, encoded)
+		actual := image.Get(5, 3).RGBA()
+		if actual != c {
+			t.Errorf("failed to roundtrip color: expected %v but got %v", c, actual)
+		}
+	}
+
+	// Multi-coordinate test across the image.
+	for x := 0; x < 8; x++ {
+		for y, c := range testColors {
+			encoded := pixel.NewColor[pixel.Grayscale2bit](c.R, c.G, c.B)
+			image.Set(x, y, encoded)
+			actual := image.Get(x, y).RGBA()
+			if actual != c {
+				t.Errorf("Set/Get mismatch at (%d,%d): expected %v but got %v", x, y, c, actual)
+			}
+		}
+	}
+}
+
+func TestNewGrayscale2bitMapping(t *testing.T) {
+	testCases := []struct {
+		input  color.RGBA
+		expect pixel.Grayscale2bit
+	}{
+		{color.RGBA{R: 0x00, G: 0x00, B: 0x00}, 0}, // 0
+		{color.RGBA{R: 0x3F, G: 0x3F, B: 0x3F}, 0}, // 63
+		{color.RGBA{R: 0x40, G: 0x40, B: 0x40}, 1}, // 64
+		{color.RGBA{R: 0x7F, G: 0x7F, B: 0x7F}, 1}, // 127
+		{color.RGBA{R: 0x80, G: 0x80, B: 0x80}, 2}, // 128
+		{color.RGBA{R: 0xBF, G: 0xBF, B: 0xBF}, 2}, // 191
+		{color.RGBA{R: 0xC0, G: 0xC0, B: 0xC0}, 3}, // 192
+		{color.RGBA{R: 0xFF, G: 0xFF, B: 0xFF}, 3}, // 255
+	}
+	for _, tc := range testCases {
+		actual := pixel.NewColor[pixel.Grayscale2bit](tc.input.R, tc.input.G, tc.input.B)
+		if actual != tc.expect {
+			t.Errorf("NewGrayscale2bit(%#v) = %d, want %d", tc.input, actual, tc.expect)
+		}
+	}
+}
+
 func TestImageMonochrome(t *testing.T) {
 	image := pixel.NewImage[pixel.Monochrome](128, 64)
-	if width, height := image.Size(); width != 128 && height != 64 {
+	if width, height := image.Size(); width != 128 || height != 64 {
 		t.Errorf("image.Size(): expected 128, 64 but got %d, %d", width, height)
 	}
 	for _, expected := range []color.RGBA{
@@ -194,6 +296,9 @@ func TestImageNoise(t *testing.T) {
 	t.Run("RGB444BE", func(t *testing.T) {
 		testImageNoiseN[pixel.RGB444BE](t)
 	})
+	t.Run("Grayscale2bit", func(t *testing.T) {
+		testImageNoiseN[pixel.Grayscale2bit](t)
+	})
 	t.Run("Monochrome", func(t *testing.T) {
 		testImageNoiseN[pixel.Monochrome](t)
 	})

pixel/pixel.go

@@ -16,7 +16,7 @@ import (
 // particular display. Each pixel is at least 1 byte in size.
 // The color format is sRGB (or close to it) in all cases except for 1-bit.
 type Color interface {
-	RGB888 | RGB565BE | RGB555 | RGB444BE | Monochrome
+	RGB888 | RGB565BE | RGB555 | RGB444BE | Grayscale2bit | Monochrome
 
 	BaseColor
 }
@@ -50,6 +50,8 @@ func NewColor[T Color](r, g, b uint8) T {
 		return any(NewRGB555(r, g, b)).(T)
 	case RGB444BE:
 		return any(NewRGB444BE(r, g, b)).(T)
+	case Grayscale2bit:
+		return any(NewGrayscale2bit(r, g, b)).(T)
 	case Monochrome:
 		return any(NewMonochrome(r, g, b)).(T)
 	default:
@@ -161,9 +163,9 @@ func (c RGB555) BitsPerPixel() int {
 
 func (c RGB555) RGBA() color.RGBA {
 	color := color.RGBA{
-		R: uint8(c>>10) << 3,
-		G: uint8(c>>5) << 3,
-		B: uint8(c) << 3,
+		R: (uint8(c) & 0x1F) << 3,
+		G: (uint8(c>>5) & 0x1F) << 3,
+		B: (uint8(c>>10) & 0x1F) << 3,
 		A: 255,
 	}
 	// Correct color rounding, so that 0xff roundtrips back to 0xff.
@@ -204,6 +206,34 @@ func (c RGB444BE) RGBA() color.RGBA {
 	return color
 }
 
+// Grayscale2bit represents a 2-bit Grayscale value (4 levels: black, dark gray, light gray, white).
+type Grayscale2bit uint8
+
+func NewGrayscale2bit(r, g, b uint8) Grayscale2bit {
+	// Convert RGB to luminance using standard weights (approximation of human perception)
+	// Use shift-based operations to reduce processing time.
+	// luminance := (299*uint32(r) + 587*uint32(g) + 114*uint32(b)) / 1000
+	luminance := (77*uint32(r) + 150*uint32(g) + 29*uint32(b)) >> 8
+	// Map to 2-bit value: 0–63 => 0, 64–127 => 1, 128–191 => 2, 192–255 => 3
+	return Grayscale2bit((luminance >> 6) & 0b11)
+}
+
+func (c Grayscale2bit) BitsPerPixel() int {
+	return 2
+}
+
+func (c Grayscale2bit) RGBA() color.RGBA {
+	// Expand 2-bit Grayscale back to 8-bit (0–255) using multiplication
+	// 0 → 0x00, 1 → 0x55, 2 → 0xAA, 3 → 0xFF (i.e., multiply by 85)
+	gray := uint8(c&0b11) * 85
+	return color.RGBA{
+		R: gray,
+		G: gray,
+		B: gray,
+		A: 255,
+	}
+}
+
 type Monochrome bool
 
 func NewMonochrome(r, g, b uint8) Monochrome {

scd4x/registers.go

@@ -22,4 +22,5 @@ const (
 	CmdStartLowPowerPeriodicMeasurement = 0x21AC
 	CmdStartPeriodicMeasurement         = 0x21B1
 	CmdStopPeriodicMeasurement          = 0x3F86
+	CmdMeasureSingleShot                = 0x219D
 )

scd4x/scd4x.go

@@ -82,6 +82,13 @@ func (d *Device) StartLowPowerPeriodicMeasurement() error {
 	return d.sendCommand(CmdStartLowPowerPeriodicMeasurement)
 }
 
+// MeasureSingleShot starts a single measurement cycle (SCD41 only). After this
+// command is complete, the caller should wait for 5000ms before trying to read
+// the result.
+func (d *Device) MeasureSingleShot() error {
+	return d.sendCommand(CmdMeasureSingleShot)
+}
+
 // ReadData reads the data from the sensor and caches it.
 func (d *Device) ReadData() error {
 	if err := d.sendCommandWithResult(CmdReadMeasurement, d.rx[0:9]); err != nil {
@@ -93,7 +100,18 @@ func (d *Device) ReadData() error {
 	return nil
 }
 
+// Update reads new data from the sensor (if new data is available) and caches
+// it for reading in the CO2, Temperature, and Humidity methods.
+func (d *Device) Update(measurements drivers.Measurement) error {
+	if measurements&(drivers.Temperature|drivers.Humidity|drivers.Concentration) != 0 {
+		return d.ReadData()
+	}
+	return nil
+}
+
 // ReadCO2 returns the CO2 concentration in PPM (parts per million).
+//
+// Deprecated: use Update() and CO2() instead.
 func (d *Device) ReadCO2() (co2 int32, err error) {
 	ok, err := d.DataReady()
 	if err != nil {
@@ -105,7 +123,14 @@ func (d *Device) ReadCO2() (co2 int32, err error) {
 	return int32(d.co2), err
 }
 
+// CO2 returns last read the CO2 concentration in PPM (parts per million).
+func (d *Device) CO2() int32 {
+	return int32(d.co2)
+}
+
 // ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
+//
+// Deprecated: use Update() and Temperature() instead.
 func (d *Device) ReadTemperature() (temperature int32, err error) {
 	ok, err := d.DataReady()
 	if err != nil {
@@ -114,8 +139,14 @@ func (d *Device) ReadTemperature() (temperature int32, err error) {
 	if ok {
 		err = d.ReadData()
 	}
+	return d.Temperature(), err
+}
+
+// Temperature returns the last read temperature in celsius milli degrees
+// (°C/1000).
+func (d *Device) Temperature() int32 {
 	// temp = -45 + 175 * value / 2¹⁶
-	return (-1 * 45000) + (21875 * (int32(d.temperature)) / 8192), err
+	return (-1 * 45000) + (21875 * (int32(d.temperature)) / 8192)
 }
 
 // ReadTempC returns the value in the temperature value in Celsius.
@@ -130,6 +161,11 @@ func (d *Device) ReadTempF() float32 {
 }
 
 // ReadHumidity returns the current relative humidity in %rH.
+//
+// Warning: the value returned here is less precise than the humidity returned
+// from Humidity()!
+//
+// Deprecated: use Update() and Temperature() instead.
 func (d *Device) ReadHumidity() (humidity int32, err error) {
 	ok, err := d.DataReady()
 	if err != nil {
@@ -142,18 +178,20 @@ func (d *Device) ReadHumidity() (humidity int32, err error) {
 	return (25 * int32(d.humidity)) / 16384, err
 }
 
+// Humidity returns the relative humidity in hundredths of a percent (in other
+// words, with a range 0..10_000).
+//
+// Warning: the value returned here is of a different scale (more precise) than
+// ReadHumidity()!
+func (d *Device) Humidity() int32 {
+	return (2500 * int32(d.humidity)) / 16384
+}
+
 func (d *Device) sendCommand(command uint16) error {
 	binary.BigEndian.PutUint16(d.tx[0:], command)
 	return d.bus.Tx(uint16(d.Address), d.tx[0:2], nil)
 }
 
-func (d *Device) sendCommandWithValue(command, value uint16) error {
-	binary.BigEndian.PutUint16(d.tx[0:], command)
-	binary.BigEndian.PutUint16(d.tx[2:], value)
-	d.tx[4] = crc8(d.tx[2:4])
-	return d.bus.Tx(uint16(d.Address), d.tx[0:5], nil)
-}
-
 func (d *Device) sendCommandWithResult(command uint16, result []byte) error {
 	binary.BigEndian.PutUint16(d.tx[0:], command)
 	if err := d.bus.Tx(uint16(d.Address), d.tx[0:2], nil); err != nil {

seesaw/encoder.go

@@ -0,0 +1,49 @@
+package seesaw
+
+import (
+	"errors"
+)
+
+var errInvalidEncoderNumber = errors.New("invalid encoder choice, 0-15 are supported")
+
+// GetEncoderPosition returns the absolute position (or delta since the previous call) of the specified rotary encoder.
+func (d *Device) GetEncoderPosition(encoder uint, asDelta bool) (int32, error) {
+	if encoder >= 16 {
+		return 0, errInvalidEncoderNumber
+	}
+
+	// The function address' upper nibble is the function, the lower nibble selects which encoder to communicate with
+	fnAddr := FunctionAddress(encoder)
+	if asDelta {
+		fnAddr |= FunctionEncoderDelta
+	} else {
+		fnAddr |= FunctionEncoderPosition
+	}
+
+	var buf [4]byte
+	err := d.Read(ModuleEncoderBase, fnAddr, buf[:])
+	if err != nil {
+		return 0, err
+	}
+
+	return int32(buf[0])<<24 | int32(buf[1])<<16 | int32(buf[2])<<8 | int32(buf[3]), nil
+}
+
+// SetEncoderPosition calibrate's the encoder's current absolute position to be whatever the provided position is.
+func (d *Device) SetEncoderPosition(encoder uint, position int32) error {
+	if encoder >= 16 {
+		return errInvalidEncoderNumber
+	}
+
+	// The function address' upper nibble is the function, the lower nibble selects which encoder to communicate with
+	fnAddr := FunctionEncoderPosition | FunctionAddress(encoder)
+
+	buf := [4]byte{
+		byte(position >> 24),
+		byte(position >> 16),
+		byte(position >> 8),
+		byte(position),
+	}
+
+	return d.Write(ModuleEncoderBase, fnAddr, buf[:])
+}

seesaw/registers.go

@@ -98,3 +98,13 @@ const (
 	FunctionKeypadCount    FunctionAddress = 0x04
 	FunctionKeypadFifo     FunctionAddress = 0x10
 )
+
+// encoder module function address registers
+// these are the defaults for encoder 0, change the lower nibble to address other encoders
+// see the Device.GetEncoderPosition and SetEncoderPosition methods for examples.
+const (
+	FunctionEncoderIntenset FunctionAddress = 0x10
+	FunctionEncoderIntenclr FunctionAddress = 0x20
+	FunctionEncoderPosition FunctionAddress = 0x30
+	FunctionEncoderDelta    FunctionAddress = 0x40
+)

si5351/registers.go

@@ -0,0 +1,79 @@
+package si5351
+
+// The I2C address which this device listens to.
+const AddressDefault = 0x60     // Assumes ADDR pin is low
+const AddressAlternative = 0x61 // Assumes ADDR pin is high
+
+const (
+	OUTPUT_ENABLE_CONTROL = 3
+
+	CLK0_CONTROL = 16
+	CLK1_CONTROL = 17
+	CLK2_CONTROL = 18
+	CLK3_CONTROL = 19
+	CLK4_CONTROL = 20
+	CLK5_CONTROL = 21
+	CLK6_CONTROL = 22
+	CLK7_CONTROL = 23
+
+	MULTISYNTH0_PARAMETERS_1 = 42
+	MULTISYNTH0_PARAMETERS_3 = 44
+	MULTISYNTH1_PARAMETERS_1 = 50
+	MULTISYNTH1_PARAMETERS_3 = 52
+	MULTISYNTH2_PARAMETERS_1 = 58
+	MULTISYNTH2_PARAMETERS_3 = 60
+
+	SPREAD_SPECTRUM_PARAMETERS = 149
+
+	PLL_RESET = 177
+
+	CRYSTAL_INTERNAL_LOAD_CAPACITANCE = 183
+)
+
+const (
+	CRYSTAL_LOAD_6PF  = (1 << 6)
+	CRYSTAL_LOAD_8PF  = (2 << 6)
+	CRYSTAL_LOAD_10PF = (3 << 6)
+)
+
+const (
+	CRYSTAL_FREQ_25MHZ = 25000000
+	CRYSTAL_FREQ_27MHZ = 27000000
+)
+
+const (
+	PLL_A = iota
+	PLL_B
+)
+
+const (
+	R_DIV_1 = iota
+	R_DIV_2
+	R_DIV_4
+	R_DIV_8
+	R_DIV_16
+	R_DIV_32
+	R_DIV_64
+	R_DIV_128
+)
+
+const (
+	MULTISYNTH_DIV_4 = 4
+	MULTISYNTH_DIV_6 = 6
+	MULTISYNTH_DIV_8 = 8
+)
+
+// Frequency constants (in Hz)
+const (
+	CLKOUT_MIN_FREQ        = 8000      // 8 kHz
+	CLKOUT_MAX_FREQ        = 150000000 // 150 MHz
+	MULTISYNTH_MAX_FREQ    = 150000000 // 150 MHz
+	MULTISYNTH_SHARE_MAX   = 100000000 // 100 MHz
+	MULTISYNTH_DIVBY4_FREQ = 150000000 // 150 MHz
+	PLL_VCO_MIN            = 600000000 // 600 MHz
+	PLL_VCO_MAX            = 900000000 // 900 MHz
+)
+
+const (
+	SI5351_PLL_C_MAX = 1048575
+)

si5351/si5351.go

@@ -0,0 +1,629 @@
+package si5351
+
+import (
+	"encoding/binary"
+	"errors"
+	"fmt"
+	"math"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/regmap"
+)
+
+// Device wraps an I2C connection to a SI5351 device.
+type Device struct {
+	bus     drivers.I2C
+	Address uint8
+
+	rw             regmap.Device8I2C
+	initialised    bool
+	crystalFreq    uint32
+	crystalLoad    uint8
+	pllaConfigured bool
+	pllaFreq       uint32
+	pllbConfigured bool
+	pllbFreq       uint32
+	lastRdivValue  [3]uint8
+}
+
+var ErrNotInitialised = errors.New("Si5351 not initialised")
+var ErrInvalidParameter = errors.New("Si5351 invalid parameter")
+
+// New creates a new SI5351 connection. The I2C bus must already be configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus drivers.I2C) Device {
+	rw := regmap.Device8I2C{}
+	rw.SetBus(bus, AddressDefault, binary.BigEndian)
+
+	return Device{
+		bus:         bus,
+		rw:          rw,
+		Address:     AddressDefault,
+		crystalFreq: CRYSTAL_FREQ_25MHZ,
+		crystalLoad: CRYSTAL_LOAD_10PF,
+	}
+}
+
+// Configure sets up the device for communication
+// TODO error handling
+func (d *Device) Configure() error {
+	// // Disable all outputs setting CLKx_DIS high
+	d.rw.Write8(OUTPUT_ENABLE_CONTROL, 0xFF)
+
+	// Set the load capacitance for the XTAL
+	d.rw.Write8(CRYSTAL_INTERNAL_LOAD_CAPACITANCE, d.crystalLoad)
+
+	// Power down all output drivers
+	buf := []byte{CLK0_CONTROL, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80}
+	d.bus.Tx(uint16(d.Address), buf, nil)
+
+	// Disable spread spectrum output.
+	if err := d.DisableSpreadSpectrum(); err != nil {
+		return err
+	}
+
+	d.initialised = true
+
+	return nil
+}
+
+// Connected returns whether a device at SI5351 address has been found.
+func (d *Device) Connected() (bool, error) {
+	if err := d.bus.Tx(uint16(d.Address), []byte{}, []byte{0}); err != nil {
+		return false, err
+	}
+	return true, nil
+}
+
+// EnableSpreadSpectrum enables spread spectrum modulation to reduce EMI.
+func (d *Device) EnableSpreadSpectrum() error {
+	data, err := d.rw.Read8(SPREAD_SPECTRUM_PARAMETERS)
+	if err != nil {
+		return err
+	}
+
+	data |= 0x80
+	return d.rw.Write8(SPREAD_SPECTRUM_PARAMETERS, data)
+}
+
+func (d *Device) DisableSpreadSpectrum() error {
+	data, err := d.rw.Read8(SPREAD_SPECTRUM_PARAMETERS)
+	if err != nil {
+		return err
+	}
+
+	data &^= 0x80
+	return d.rw.Write8(SPREAD_SPECTRUM_PARAMETERS, data)
+}
+
+func (d *Device) OutputEnable(output uint8, enable bool) error {
+	if !d.initialised {
+		return ErrNotInitialised
+	}
+
+	// Read the current value of the OUTPUT_ENABLE_CONTROL register
+	regVal, err := d.rw.Read8(OUTPUT_ENABLE_CONTROL)
+	if err != nil {
+		return err
+	}
+
+	// Modify regVal based on clk and enable
+	if enable {
+		regVal &= ^(1 << output)
+	} else {
+		regVal |= (1 << output)
+	}
+
+	// Write the modified value back to the OUTPUT_ENABLE_CONTROL register
+	return d.rw.Write8(OUTPUT_ENABLE_CONTROL, regVal)
+}
+
+func (d *Device) EnableOutputs() error {
+	if !d.initialised {
+		return ErrNotInitialised
+	}
+
+	return d.rw.Write8(OUTPUT_ENABLE_CONTROL, 0x00)
+}
+
+func (d *Device) DisableOutputs() error {
+	if !d.initialised {
+		return ErrNotInitialised
+	}
+	return d.rw.Write8(OUTPUT_ENABLE_CONTROL, 0xFF)
+}
+
+// packRegSet packs P1, P2, P3 values into the 8-byte register format
+// used by both PLL and Multisynth configuration.
+// For multisynth, rDivBits should contain the R divider value shifted left by 4.
+// For PLL, rDivBits should be 0.
+func packRegSet(p1, p2, p3 uint32, rDivBits uint8) [8]byte {
+	var data [8]byte
+	data[0] = uint8((p3 & 0xFF00) >> 8)
+	data[1] = uint8(p3 & 0xFF)
+	data[2] = uint8((p1&0x30000)>>16) | rDivBits
+	data[3] = uint8((p1 & 0xFF00) >> 8)
+	data[4] = uint8(p1 & 0xFF)
+	data[5] = uint8(((p3 & 0xF0000) >> 12) | ((p2 & 0xF0000) >> 16))
+	data[6] = uint8((p2 & 0xFF00) >> 8)
+	data[7] = uint8(p2 & 0xFF)
+	return data
+}
+
+// ConfigurePLL sets the multiplier for the specified PLL
+// pll   The PLL to configure, which must be one of the following:
+// - PLL_A
+// - PLL_B
+//
+// mult  The PLL integer multiplier (must be between 15 and 90)
+//
+// num   The 20-bit numerator for fractional output (0..1,048,575).
+// Set this to '0' for integer output.
+//
+// denom The 20-bit denominator for fractional output (1..1,048,575).
+// Set this to '1' or higher to avoid divider by zero errors.
+//
+// PLL Configuration
+// fVCO is the PLL output, and must be between 600..900MHz, where:
+//
+// fVCO = fXTAL * (a+(b/c))
+//
+// fXTAL = the crystal input frequency
+// a     = an integer between 15 and 90
+// b     = the fractional numerator (0..1,048,575)
+// c     = the fractional denominator (1..1,048,575)
+//
+// NOTE: Try to use integers whenever possible to avoid clock jitter
+// (only use the a part, setting b to '0' and c to '1').
+//
+// See: http://www.silabs.com/Support%20Documents/TechnicalDocs/AN619.pdf
+func (d *Device) ConfigurePLL(pll uint8, mult uint8, num uint32, denom uint32) error {
+	// Basic validation
+	switch {
+	case !d.initialised:
+		return ErrNotInitialised
+	// mult = 15..90
+	case !((mult > 14) && (mult < 91)):
+		return ErrInvalidParameter
+	// Avoid divide by zero
+	case !(denom > 0):
+		return ErrInvalidParameter
+	// 20-bit limit
+	case !(num <= 0xFFFFF):
+		return ErrInvalidParameter
+	// 20-bit limit
+	case !(denom <= 0xFFFFF):
+		return ErrInvalidParameter
+	}
+
+	// Calculate PLL register values
+	var p1, p2, p3 uint32
+	if num == 0 {
+		// Integer mode
+		p1 = 128*uint32(mult) - 512
+		p2 = num
+		p3 = denom
+	} else {
+		// Fractional mode
+		p1 = uint32(128*float64(mult) + math.Floor(128*(float64(num)/float64(denom))) - 512)
+		p2 = uint32(128*float64(num) - float64(denom)*math.Floor(128*(float64(num)/float64(denom))))
+		p3 = denom
+	}
+
+	// Get the appropriate starting point for the PLL registers
+	baseaddr := uint8(26)
+	if pll == PLL_B {
+		baseaddr = 34
+	}
+
+	// Pack and write registers
+	data := packRegSet(p1, p2, p3, 0)
+	if err := d.bus.Tx(uint16(baseaddr), data[:], nil); err != nil {
+		return err
+	}
+
+	// Reset both PLLs
+	if err := d.rw.Write8(PLL_RESET, (1<<7)|(1<<5)); err != nil {
+		return err
+	}
+
+	// Store the frequency settings for use with the Multisynth helper
+	fvco := float64(d.crystalFreq) * (float64(mult) + (float64(num) / float64(denom)))
+	if pll == PLL_A {
+		d.pllaConfigured = true
+		d.pllaFreq = uint32(math.Floor(fvco))
+	} else {
+		d.pllbConfigured = true
+		d.pllbFreq = uint32(math.Floor(fvco))
+	}
+	return nil
+}
+
+// ConfigureMultisynth divider, which determines the
+// output clock frequency based on the specified PLL input.
+//
+// output    The output channel to use (0..2)
+//
+// pll       The PLL input source to use, which must be one of:
+//   - PLL_A
+//   - PLL_B
+//
+// div       The integer divider for the Multisynth output.
+//
+//	If pure integer values are used, this value must be one of:
+//	- MULTISYNTH_DIV_4
+//	- MULTISYNTH_DIV_6
+//	- MULTISYNTH_DIV_8
+//	If fractional output is used, this value must be between 8 and 900.
+//
+// num       The 20-bit numerator for fractional output (0..1,048,575).
+//
+//	Set this to '0' for integer output.
+//
+// denom     The 20-bit denominator for fractional output (1..1,048,575).
+//
+//	Set this to '1' or higher to avoid divide by zero errors.
+//
+// # Output Clock Configuration
+//
+// The multisynth dividers are applied to the specified PLL output,
+// and are used to reduce the PLL output to a valid range (500kHz
+// to 160MHz). The relationship can be seen in this formula, where
+// fVCO is the PLL output frequency and MSx is the multisynth divider:
+//
+// fOUT = fVCO / MSx
+//
+// Valid multisynth dividers are 4, 6, or 8 when using integers,
+// or any fractional values between 8 + 1/1,048,575 and 900 + 0/1
+// The following formula is used for the fractional mode divider:
+//
+// a + b / c
+//
+// a = The integer value, which must be 4, 6 or 8 in integer mode (MSx_INT=1) or 8..900 in fractional mode (MSx_INT=0).
+// b = The fractional numerator (0..1,048,575)
+// c = The fractional denominator (1..1,048,575)
+//
+// NOTE: Try to use integers whenever possible to avoid clock jitter
+// NOTE: For output frequencies > 150MHz, you must set the divider
+//
+//	to 4 and adjust to PLL to generate the frequency (for example
+//	a PLL of 640 to generate a 160MHz output clock). This is not
+//	yet supported in the driver, which limits frequencies to 500kHz .. 150MHz.
+//
+// NOTE: For frequencies below 500kHz (down to 8kHz) Rx_DIV must be
+//
+//	used, but this isn't currently implemented in the driver.
+func (d *Device) ConfigureMultisynth(output uint8, pll uint8, div uint32, num uint32, denom uint32) error {
+	// Basic validation
+	switch {
+	case !d.initialised:
+		return ErrNotInitialised
+	// Channel range
+	case !(output < 3):
+		return fmt.Errorf("output channel must be between 0 and 2")
+	// Divider integer value
+	case !((div > 3) && (div < 2049)):
+		return ErrInvalidParameter
+	// Avoid divide by zero
+	case !(denom > 0):
+		return ErrInvalidParameter
+	// 20-bit limit
+	case !(num <= 0xFFFFF):
+		return ErrInvalidParameter
+	// 20-bit limit
+	case !(denom <= 0xFFFFF):
+		return ErrInvalidParameter
+		// Make sure the requested PLL has been initialised
+	case pll == PLL_A && !d.pllaConfigured:
+		return ErrInvalidParameter
+	case pll == PLL_B && !d.pllbConfigured:
+		return ErrInvalidParameter
+	}
+
+	// Calculate register values
+	var reg si5351RegSet
+	switch {
+	case num == 0:
+		// Integer mode
+		reg.p1 = 128*div - 512
+		reg.p2 = 0
+		reg.p3 = denom
+	case denom == 1:
+		// Fractional mode, simplified calculations
+		reg.p1 = 128*div + 128*num - 512
+		reg.p2 = 128*num - 128
+		reg.p3 = 1
+	default:
+		// Fractional mode
+		reg.p1 = uint32(128*float64(div) + math.Floor(128*(float64(num)/float64(denom))) - 512)
+		reg.p2 = uint32(128*float64(num) - float64(denom)*math.Floor(128*(float64(num)/float64(denom))))
+		reg.p3 = denom
+	}
+
+	// Determine if we should use integer mode
+	intMode := num == 0
+
+	// Use existing R divider value (0 if not previously set)
+	rDiv := d.lastRdivValue[output] >> 4
+
+	return d.setMS(output, reg, intMode, rDiv, pll)
+}
+
+func (d *Device) ConfigureRdiv(output uint8, div uint8) error {
+	// Channel range
+	if !(output < 3) {
+		return ErrInvalidParameter
+	}
+
+	var register uint8
+	switch output {
+	case 0:
+		register = MULTISYNTH0_PARAMETERS_3
+	case 1:
+		register = MULTISYNTH1_PARAMETERS_3
+	case 2:
+		register = MULTISYNTH2_PARAMETERS_3
+	}
+
+	data, err := d.rw.Read8(register)
+	if err != nil {
+		return err
+	}
+
+	d.lastRdivValue[output] = (div & 0x07) << 4
+	data = (data & 0x0F) | d.lastRdivValue[output]
+	return d.rw.Write8(register, data)
+}
+
+// si5351RegSet holds the register values for multisynth configuration
+type si5351RegSet struct {
+	p1 uint32
+	p2 uint32
+	p3 uint32
+}
+
+var ErrFrequencyOutOfRange = errors.New("Si5351 frequency out of range")
+var ErrClockConflict = errors.New("Si5351 clock conflict with existing configuration")
+
+// SetFrequency sets the clock frequency of the specified CLK output.
+// Frequency range is 8 kHz to 150 MHz.
+//
+// freq - Output frequency in Hz
+// output - Clock output (0, 1, or 2 for this driver)
+// pll - The PLL to use (PLL_A or PLL_B)
+func (d *Device) SetFrequency(freq uint64, output uint8, pll uint8) error {
+	switch {
+	case !d.initialised:
+		return ErrNotInitialised
+	case output > 2:
+		return ErrInvalidParameter
+	}
+
+	switch {
+	// Lower bounds check
+	case freq < CLKOUT_MIN_FREQ:
+		freq = CLKOUT_MIN_FREQ
+	// Upper bounds check
+	case freq > MULTISYNTH_MAX_FREQ:
+		freq = MULTISYNTH_MAX_FREQ
+	}
+
+	// Select the proper R divider value for low frequencies
+	rDiv := d.selectRDiv(&freq)
+
+	// Calculate PLL and multisynth parameters
+	var pllFreq uint64
+	switch {
+	case pll == PLL_A && d.pllaConfigured:
+		pllFreq = uint64(d.pllaFreq)
+	case pll == PLL_B && d.pllbConfigured:
+		pllFreq = uint64(d.pllbFreq)
+	default:
+		// PLL not configured, calculate optimal PLL frequency
+		pllFreq = d.calculatePLLFreq(freq)
+	}
+
+	// Calculate multisynth divider parameters
+	msReg := d.multisynthCalc(freq, pllFreq)
+
+	// Determine if we should use integer mode
+	intMode := msReg.p2 == 0
+
+	// Configure PLL if not already configured or if we need a new frequency
+	if (pll == PLL_A && !d.pllaConfigured) || (pll == PLL_B && !d.pllbConfigured) {
+		if err := d.setPLL(pllFreq, pll); err != nil {
+			return err
+		}
+	}
+
+	// Set multisynth registers
+	if err := d.setMS(output, msReg, intMode, rDiv, pll); err != nil {
+		return err
+	}
+
+	// Enable output
+	return d.OutputEnable(output, true)
+}
+
+// selectRDiv selects the appropriate R divider for low frequencies
+// and modifies the frequency accordingly
+func (d *Device) selectRDiv(freq *uint64) uint8 {
+	var rDiv uint8 = 0
+
+	if *freq >= CLKOUT_MIN_FREQ && *freq < CLKOUT_MIN_FREQ*2 {
+		rDiv = R_DIV_128
+		*freq *= 128
+	} else if *freq >= CLKOUT_MIN_FREQ*2 && *freq < CLKOUT_MIN_FREQ*4 {
+		rDiv = R_DIV_64
+		*freq *= 64
+	} else if *freq >= CLKOUT_MIN_FREQ*4 && *freq < CLKOUT_MIN_FREQ*8 {
+		rDiv = R_DIV_32
+		*freq *= 32
+	} else if *freq >= CLKOUT_MIN_FREQ*8 && *freq < CLKOUT_MIN_FREQ*16 {
+		rDiv = R_DIV_16
+		*freq *= 16
+	} else if *freq >= CLKOUT_MIN_FREQ*16 && *freq < CLKOUT_MIN_FREQ*32 {
+		rDiv = R_DIV_8
+		*freq *= 8
+	} else if *freq >= CLKOUT_MIN_FREQ*32 && *freq < CLKOUT_MIN_FREQ*64 {
+		rDiv = R_DIV_4
+		*freq *= 4
+	} else if *freq >= CLKOUT_MIN_FREQ*64 && *freq < CLKOUT_MIN_FREQ*128 {
+		rDiv = R_DIV_2
+		*freq *= 2
+	}
+
+	return rDiv
+}
+
+// calculatePLLFreq calculates an optimal PLL frequency for the given output frequency
+func (d *Device) calculatePLLFreq(freq uint64) uint64 {
+	// Try to find an integer divider that puts PLL in valid range (600-900 MHz)
+	// Start with a divider that gives us a PLL freq near 750 MHz (middle of range)
+	targetPLL := uint64(750000000)
+	divider := targetPLL / freq
+
+	// Ensure divider is in valid range (8-900 for fractional, 4/6/8 for integer)
+
+	switch {
+	case divider < 8:
+		divider = 8
+	case divider > 900:
+		divider = 900
+	}
+
+	pllFreq := freq * divider
+
+	// Ensure PLL frequency is in valid range
+	switch {
+	case pllFreq < PLL_VCO_MIN:
+		pllFreq = PLL_VCO_MIN
+	case pllFreq > PLL_VCO_MAX:
+		pllFreq = PLL_VCO_MAX
+	}
+
+	return pllFreq
+}
+
+// multisynthCalc calculates the multisynth register values
+func (d *Device) multisynthCalc(freq, pllFreq uint64) si5351RegSet {
+	var reg si5351RegSet
+
+	// Calculate the division ratio
+	// divider = pllFreq / freq
+	a := uint32(pllFreq / freq)
+	remainder := pllFreq % freq
+
+	// Calculate b and c for fractional part
+	// We use c = SI5351_PLL_C_MAX (max 20-bit value) for best resolution
+	c := uint32(SI5351_PLL_C_MAX)
+	b := uint32((uint64(remainder) * uint64(c)) / freq)
+
+	// Calculate P1, P2, P3
+	// P1 = 128 * a + floor(128 * b / c) - 512
+	// P2 = 128 * b - c * floor(128 * b / c)
+	// P3 = c
+	floor128bc := uint32((128 * uint64(b)) / uint64(c))
+
+	reg.p1 = 128*a + floor128bc - 512
+	reg.p2 = 128*b - c*floor128bc
+	reg.p3 = c
+
+	return reg
+}
+
+// setPLL configures the PLL with the specified frequency
+func (d *Device) setPLL(pllFreq uint64, pll uint8) error {
+	// Calculate PLL multiplier from crystal frequency
+	// pllFreq = crystalFreq * (a + b/c)
+	xtalFreq := uint64(d.crystalFreq)
+
+	a := uint32(pllFreq / xtalFreq)
+	remainder := pllFreq % xtalFreq
+
+	// Use max denominator for best resolution
+	c := uint32(SI5351_PLL_C_MAX)
+	b := uint32((remainder * uint64(c)) / xtalFreq)
+
+	return d.ConfigurePLL(pll, uint8(a), b, c)
+}
+
+// setMS sets the multisynth registers for the specified output
+func (d *Device) setMS(output uint8, reg si5351RegSet, intMode bool, rDiv uint8, pll uint8) error {
+	// Get the appropriate starting point for the registers
+	var baseaddr uint8
+	switch output {
+	case 0:
+		baseaddr = MULTISYNTH0_PARAMETERS_1
+	case 1:
+		baseaddr = MULTISYNTH1_PARAMETERS_1
+	case 2:
+		baseaddr = MULTISYNTH2_PARAMETERS_1
+	default:
+		return ErrInvalidParameter
+	}
+
+	// Store R divider value
+	d.lastRdivValue[output] = (rDiv & 0x07) << 4
+
+	// Pack and write registers
+	data := packRegSet(reg.p1, reg.p2, reg.p3, d.lastRdivValue[output])
+	if err := d.bus.Tx(uint16(baseaddr), data[:], nil); err != nil {
+		return err
+	}
+
+	// Configure the clk control register
+	clkControlReg := uint8(0x0F) // 8mA drive strength, powered up
+	if pll == PLL_B {
+		clkControlReg |= (1 << 5) // Use PLLB
+	}
+	if intMode {
+		clkControlReg |= (1 << 6) // Integer mode
+	}
+
+	var clkReg uint8
+	switch output {
+	case 0:
+		clkReg = CLK0_CONTROL
+	case 1:
+		clkReg = CLK1_CONTROL
+	case 2:
+		clkReg = CLK2_CONTROL
+	}
+
+	return d.rw.Write8(clkReg, clkControlReg)
+}
+
+// GetFreqStep returns the frequency step size of the radio in Hz.
+// This is the smallest frequency increment that can be achieved,
+// determined by the PLL frequency and denominator resolution.
+// If pll is PLL_A, uses PLLA settings; if PLL_B, uses PLLB settings.
+// Returns 0 if the specified PLL is not configured.
+func (d *Device) GetFreqStep(pll uint8) uint64 {
+	// The frequency step at the output is:
+	// step = pllFreq / (SI5351_PLL_C_MAX * multisynth_divider)
+	//
+	// However, since multisynth divider varies per output, we return
+	// the base step from the PLL, which is:
+	// step = pllFreq / SI5351_PLL_C_MAX
+
+	var pllFreq uint64
+
+	switch pll {
+	case PLL_A:
+		if !d.pllaConfigured {
+			return 0
+		}
+		pllFreq = uint64(d.pllaFreq)
+	case PLL_B:
+		if !d.pllbConfigured {
+			return 0
+		}
+		pllFreq = uint64(d.pllbFreq)
+	default:
+		return 0
+	}
+
+	return pllFreq / SI5351_PLL_C_MAX
+}

smoketest.sh

@@ -20,9 +20,11 @@ tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmi
 tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp180/main.go
 tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp280/main.go
 tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bmp388/main.go
+tinygo build -size short -o ./build/test.hex -target=metro-rp2350 ./examples/bno08x/i2c/main.go
 tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/sram/main.go
 tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/time/main.go
-tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/main.go
+tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/alarms/main.go
+tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/basic/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/easystepper/main.go
 tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/flash/console/spi
 tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/flash/console/qspi
@@ -44,6 +46,7 @@ tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341
 tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis3dh/main.go
 tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/lps22hb/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/lsm303agr/main.go
+tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/lsm303dlhc/main.go
 tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/lsm6ds3/main.go
 tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mag3110/main.go
 tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp23017/main.go
@@ -58,18 +61,20 @@ tinygo build -size short -o ./build/test.hex -target=p1am-100 ./examples/p1am/ma
 tinygo build -size short -o ./build/test.hex -target=pico ./examples/pca9685/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setbuffer/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setpixel/main.go
-tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/seesaw
+tinygo build -size short -o ./build/test.hex -target=feather-rp2040 ./examples/seesaw/soil-sensor
+tinygo build -size short -o ./build/test.hex -target=qtpy-rp2040 ./examples/seesaw/rotary-encoder
 tinygo build -size short -o ./build/test.hex -target=arduino ./examples/servo
 tinygo build -size short -o ./build/test.hex -target=pico     ./examples/sgp30
 tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/shifter/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht3x/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht4x/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/shtc3/main.go
-tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/i2c_128x32/main.go
-tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/spi_128x64/main.go
+tinygo build -size short -o ./build/test.hex -target=xiao-ble ./examples/ssd1306/
+tinygo build -size short -o ./build/test.hex -target=xiao-rp2040 ./examples/ssd1306/
+tinygo build -size short -o ./build/test.hex -target=thumby ./examples/ssd1306/
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1331/main.go
 tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7735/main.go
-tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7789/main.go
+tinygo build -size short -o ./build/test.hex -target=clue ./examples/st7789/main.go
 tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/thermistor/main.go
 tinygo build -size short -o ./build/test.hex -target=circuitplay-bluefruit ./examples/tone
 tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/tm1637/main.go
@@ -140,6 +145,9 @@ tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/tmc2209/mai
 tinygo build -size short -o ./build/test.hex -target=pico ./examples/tmc5160/main.go
 tinygo build -size short -o ./build/test.uf2 -target=nicenano ./examples/sharpmem/main.go
 tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/max6675/main.go
+tinygo build -size short -o ./build/test.hex -target=pico ./examples/ens160/main.go
+tinygo build -size short -o ./build/test.hex -target=pico ./examples/si5351/main.go
+tinygo build -size short -o ./build/test.hex -target=pico ./examples/w5500/main.go
 # network examples (espat)
 tinygo build -size short -o ./build/test.hex -target=challenger-rp2040 ./examples/net/ntpclient/
 # network examples (wifinina)

ssd1289/pinbus.go

@@ -1,15 +1,19 @@
 package ssd1289
 
-import "machine"
+import (
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
+)
 
 type pinBus struct {
-	pins [16]machine.Pin
+	pins [16]pin.Output
 }
 
-func NewPinBus(pins [16]machine.Pin) pinBus {
+func NewPinBus(pins [16]pin.Output) pinBus {
 
+	// configure GPIO pins (on baremetal targets only, for backwards compatibility)
 	for i := 0; i < 16; i++ {
-		pins[i].Configure(machine.PinConfig{Mode: machine.PinOutput})
+		legacy.ConfigurePinOut(pins[i])
 	}
 
 	return pinBus{
@@ -18,20 +22,7 @@ func NewPinBus(pins [16]machine.Pin) pinBus {
 }
 
 func (b pinBus) Set(data uint16) {
-	b.pins[15].Set((data & (1 << 15)) != 0)
-	b.pins[14].Set((data & (1 << 14)) != 0)
-	b.pins[13].Set((data & (1 << 13)) != 0)
-	b.pins[12].Set((data & (1 << 12)) != 0)
-	b.pins[11].Set((data & (1 << 11)) != 0)
-	b.pins[10].Set((data & (1 << 10)) != 0)
-	b.pins[9].Set((data & (1 << 9)) != 0)
-	b.pins[8].Set((data & (1 << 8)) != 0)
-	b.pins[7].Set((data & (1 << 7)) != 0)
-	b.pins[6].Set((data & (1 << 6)) != 0)
-	b.pins[5].Set((data & (1 << 5)) != 0)
-	b.pins[4].Set((data & (1 << 4)) != 0)
-	b.pins[3].Set((data & (1 << 3)) != 0)
-	b.pins[2].Set((data & (1 << 2)) != 0)
-	b.pins[1].Set((data & (1 << 1)) != 0)
-	b.pins[0].Set((data & (1 << 0)) != 0)
+	for i := 15; i >= 0; i-- {
+		b.pins[i].Set((data & (1 << i)) != 0)
+	}
 }

ssd1289/ssd1289.go

@@ -5,8 +5,10 @@ package ssd1289
 
 import (
 	"image/color"
-	"machine"
 	"time"
+
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 type Bus interface {
@@ -14,33 +16,34 @@ type Bus interface {
 }
 
 type Device struct {
-	rs  machine.Pin
-	wr  machine.Pin
-	cs  machine.Pin
-	rst machine.Pin
+	rs  pin.OutputFunc
+	wr  pin.OutputFunc
+	cs  pin.OutputFunc
+	rst pin.OutputFunc
 	bus Bus
 }
 
 const width = int16(240)
 const height = int16(320)
 
-func New(rs machine.Pin, wr machine.Pin, cs machine.Pin, rst machine.Pin, bus Bus) Device {
-	d := Device{
-		rs:  rs,
-		wr:  wr,
-		cs:  cs,
-		rst: rst,
+func New(rs, wr, cs, rst pin.Output, bus Bus) *Device {
+	d := &Device{
+		rs:  rs.Set,
+		wr:  wr.Set,
+		cs:  cs.Set,
+		rst: rst.Set,
 		bus: bus,
 	}
 
-	rs.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	wr.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	cs.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	rst.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	// configure GPIO pins (only on baremetal targets, for backwards compatibility)
+	legacy.ConfigurePinOut(rs)
+	legacy.ConfigurePinOut(wr)
+	legacy.ConfigurePinOut(cs)
+	legacy.ConfigurePinOut(rst)
 
-	cs.High()
-	rst.High()
-	wr.High()
+	d.cs.High()
+	d.rst.High()
+	d.wr.High()
 
 	return d
 }

ssd1306/ssd1306.go

@@ -6,11 +6,9 @@ package ssd1306 // import "tinygo.org/x/drivers/ssd1306"
 import (
 	"errors"
 	"image/color"
-	"machine"
 	"time"
 
 	"tinygo.org/x/drivers"
-	"tinygo.org/x/drivers/internal/legacy"
 	"tinygo.org/x/drivers/pixel"
 )
 
@@ -23,16 +21,15 @@ type ResetValue [2]byte
 
 // Device wraps I2C or SPI connection.
 type Device struct {
-	bus        Buser
-	buffer     []byte
-	width      int16
-	height     int16
-	bufferSize int16
-	vccState   VccMode
-	canReset   bool
-	resetCol   ResetValue
-	resetPage  ResetValue
-	rotation   drivers.Rotation
+	bus       Buser
+	buffer    []byte
+	width     int16
+	height    int16
+	vccState  VccMode
+	canReset  bool
+	resetCol  ResetValue
+	resetPage ResetValue
+	rotation  drivers.Rotation
 }
 
 // Config is the configuration for the display
@@ -51,51 +48,15 @@ type Config struct {
 	Rotation  drivers.Rotation
 }
 
-type I2CBus struct {
-	wire    drivers.I2C
-	Address uint16
-}
-
-type SPIBus struct {
-	wire     drivers.SPI
-	dcPin    machine.Pin
-	resetPin machine.Pin
-	csPin    machine.Pin
-}
-
 type Buser interface {
-	configure() error
-	tx(data []byte, isCommand bool) error
-	setAddress(address uint16) error
+	configure(address uint16, size int16) []byte // configure the bus and return the image buffer to use
+	command(cmd uint8) error                     // send a command to the display
+	flush() error                                // send the image to the display, faster than "tx()" in i2c case since avoids slice copy
+	tx(data []byte, isCommand bool) error        // generic transmit function
 }
 
 type VccMode uint8
 
-// NewI2C creates a new SSD1306 connection. The I2C wire must already be configured.
-func NewI2C(bus drivers.I2C) Device {
-	return Device{
-		bus: &I2CBus{
-			wire:    bus,
-			Address: Address,
-		},
-	}
-}
-
-// NewSPI creates a new SSD1306 connection. The SPI wire must already be configured.
-func NewSPI(bus drivers.SPI, dcPin, resetPin, csPin machine.Pin) Device {
-	dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	return Device{
-		bus: &SPIBus{
-			wire:     bus,
-			dcPin:    dcPin,
-			resetPin: resetPin,
-			csPin:    csPin,
-		},
-	}
-}
-
 // Configure initializes the display with default configuration
 func (d *Device) Configure(cfg Config) {
 	var zeroReset ResetValue
@@ -109,9 +70,6 @@ func (d *Device) Configure(cfg Config) {
 	} else {
 		d.height = 64
 	}
-	if cfg.Address != 0 {
-		d.bus.setAddress(cfg.Address)
-	}
 	if cfg.VccState != 0 {
 		d.vccState = cfg.VccState
 	} else {
@@ -127,11 +85,9 @@ func (d *Device) Configure(cfg Config) {
 	} else {
 		d.resetPage = ResetValue{0, uint8(d.height/8) - 1}
 	}
-	d.bufferSize = d.width * d.height / 8
-	d.buffer = make([]byte, d.bufferSize)
 	d.canReset = cfg.Address != 0 || d.width != 128 || d.height != 64 // I2C or not 128x64
 
-	d.bus.configure()
+	d.buffer = d.bus.configure(cfg.Address, d.width*d.height/8)
 
 	time.Sleep(100 * time.Nanosecond)
 	d.Command(DISPLAYOFF)
@@ -193,11 +149,22 @@ func (d *Device) Configure(cfg Config) {
 	d.Command(NORMALDISPLAY)
 	d.Command(DEACTIVATE_SCROLL)
 	d.Command(DISPLAYON)
+
+}
+
+// Command sends a command to the display
+func (d *Device) Command(command uint8) {
+	d.bus.command(command)
+}
+
+// Tx sends data to the display; if isCommand is false, this also updates the image buffer.
+func (d *Device) Tx(data []byte, isCommand bool) error {
+	return d.bus.tx(data, isCommand)
 }
 
 // ClearBuffer clears the image buffer
 func (d *Device) ClearBuffer() {
-	for i := int16(0); i < d.bufferSize; i++ {
+	for i := 0; i < len(d.buffer); i++ {
 		d.buffer[i] = 0
 	}
 }
@@ -223,7 +190,7 @@ func (d *Device) Display() error {
 		d.Command(d.resetPage[1])
 	}
 
-	return d.Tx(d.buffer, false)
+	return d.bus.flush()
 }
 
 // SetPixel enables or disables a pixel in the buffer
@@ -252,12 +219,10 @@ func (d *Device) GetPixel(x int16, y int16) bool {
 
 // SetBuffer changes the whole buffer at once
 func (d *Device) SetBuffer(buffer []byte) error {
-	if int16(len(buffer)) != d.bufferSize {
+	if len(buffer) != len(d.buffer) {
 		return errBufferSize
 	}
-	for i := int16(0); i < d.bufferSize; i++ {
-		d.buffer[i] = buffer[i]
-	}
+	copy(d.buffer, buffer)
 	return nil
 }
 
@@ -266,81 +231,6 @@ func (d *Device) GetBuffer() []byte {
 	return d.buffer
 }
 
-// Command sends a command to the display
-func (d *Device) Command(command uint8) {
-	d.bus.tx([]byte{command}, true)
-}
-
-// setAddress sets the address to the I2C bus
-func (b *I2CBus) setAddress(address uint16) error {
-	b.Address = address
-	return nil
-}
-
-// setAddress does nothing, but it's required to avoid reflection
-func (b *SPIBus) setAddress(address uint16) error {
-	// do nothing
-	println("trying to Configure an address on a SPI device")
-	return nil
-}
-
-// configure does nothing, but it's required to avoid reflection
-func (b *I2CBus) configure() error { return nil }
-
-// configure configures some pins with the SPI bus
-func (b *SPIBus) configure() error {
-	b.csPin.Low()
-	b.dcPin.Low()
-	b.resetPin.Low()
-
-	b.resetPin.High()
-	time.Sleep(1 * time.Millisecond)
-	b.resetPin.Low()
-	time.Sleep(10 * time.Millisecond)
-	b.resetPin.High()
-
-	return nil
-}
-
-// Tx sends data to the display
-func (d *Device) Tx(data []byte, isCommand bool) error {
-	return d.bus.tx(data, isCommand)
-}
-
-// tx sends data to the display (I2CBus implementation)
-func (b *I2CBus) tx(data []byte, isCommand bool) error {
-	if isCommand {
-		return legacy.WriteRegister(b.wire, uint8(b.Address), 0x00, data)
-	} else {
-		return legacy.WriteRegister(b.wire, uint8(b.Address), 0x40, data)
-	}
-}
-
-// tx sends data to the display (SPIBus implementation)
-func (b *SPIBus) tx(data []byte, isCommand bool) error {
-	var err error
-
-	if isCommand {
-		b.csPin.High()
-		time.Sleep(1 * time.Millisecond)
-		b.dcPin.Low()
-		b.csPin.Low()
-
-		err = b.wire.Tx(data, nil)
-		b.csPin.High()
-	} else {
-		b.csPin.High()
-		time.Sleep(1 * time.Millisecond)
-		b.dcPin.High()
-		b.csPin.Low()
-
-		err = b.wire.Tx(data, nil)
-		b.csPin.High()
-	}
-
-	return err
-}
-
 // Size returns the current size of the display.
 func (d *Device) Size() (w, h int16) {
 	return d.width, d.height

ssd1306/ssd1306_i2c.go

@@ -0,0 +1,52 @@
+package ssd1306
+
+import (
+	"tinygo.org/x/drivers"
+)
+
+type I2CBus struct {
+	wire    drivers.I2C
+	address uint16
+	buffer  []byte // buffer to avoid heap allocations
+}
+
+// NewI2C creates a new SSD1306 connection. The I2C wire must already be configured.
+func NewI2C(bus drivers.I2C) *Device {
+	return &Device{
+		bus: &I2CBus{
+			wire:    bus,
+			address: Address,
+		},
+	}
+}
+
+// configure address for the I2C bus and allocate the buffer
+func (b *I2CBus) configure(address uint16, size int16) []byte {
+	if address != 0 {
+		b.address = address
+	}
+	b.buffer = make([]byte, size+2) // +1 for the mode and +1 for a command
+	return b.buffer[2:]             // return the image buffer
+}
+
+// command sends a command to the display
+func (b *I2CBus) command(cmd uint8) error {
+	b.buffer[0] = 0x00 // Command mode
+	b.buffer[1] = cmd
+	return b.wire.Tx(b.address, b.buffer[:2], nil)
+}
+
+// flush sends the image to the display
+func (b *I2CBus) flush() error {
+	b.buffer[1] = 0x40 // Data mode
+	return b.wire.Tx(b.address, b.buffer[1:], nil)
+}
+
+// tx sends data to the display
+func (b *I2CBus) tx(data []byte, isCommand bool) error {
+	if isCommand {
+		return b.command(data[0])
+	}
+	copy(b.buffer[2:], data)
+	return b.flush()
+}

ssd1306/ssd1306_spi.go

@@ -0,0 +1,70 @@
+package ssd1306
+
+import (
+	"time"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
+)
+
+type SPIBus struct {
+	wire     drivers.SPI
+	dcPin    pin.OutputFunc
+	resetPin pin.OutputFunc
+	csPin    pin.OutputFunc
+	buffer   []byte // buffer to avoid heap allocations
+}
+
+// NewSPI creates a new SSD1306 connection. The SPI wire must already be configured.
+func NewSPI(bus drivers.SPI, dcPin, resetPin, csPin pin.Output) *Device {
+	// configure GPIO pins (on baremetal targets only, for backwards compatibility)
+	legacy.ConfigurePinOut(dcPin)
+	legacy.ConfigurePinOut(resetPin)
+	legacy.ConfigurePinOut(csPin)
+	return &Device{
+		bus: &SPIBus{
+			wire:     bus,
+			dcPin:    dcPin.Set,
+			resetPin: resetPin.Set,
+			csPin:    csPin.Set,
+		},
+	}
+}
+
+// configure pins with the SPI bus and allocate the buffer
+func (b *SPIBus) configure(address uint16, size int16) []byte {
+	b.csPin.Low()
+	b.dcPin.Low()
+	b.resetPin.Low()
+
+	b.resetPin.High()
+	time.Sleep(1 * time.Millisecond)
+	b.resetPin.Low()
+	time.Sleep(10 * time.Millisecond)
+	b.resetPin.High()
+
+	b.buffer = make([]byte, size+1) // +1 for a command
+	return b.buffer[1:]             // return the image buffer
+}
+
+// command sends a command to the display
+func (b *SPIBus) command(cmd uint8) error {
+	b.buffer[0] = cmd
+	return b.tx(b.buffer[:1], true)
+}
+
+// flush sends the image to the display
+func (b *SPIBus) flush() error {
+	return b.tx(b.buffer[1:], false)
+}
+
+// tx sends data to the display
+func (b *SPIBus) tx(data []byte, isCommand bool) error {
+	b.csPin.High()
+	b.dcPin(!isCommand)
+	b.csPin.Low()
+	err := b.wire.Tx(data, nil)
+	b.csPin.High()
+	return err
+}

ssd1331/ssd1331.go

@@ -5,12 +5,13 @@ package ssd1331 // import "tinygo.org/x/drivers/ssd1331"
 
 import (
 	"image/color"
-	"machine"
 
 	"errors"
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 type Model uint8
@@ -19,9 +20,9 @@ type Rotation uint8
 // Device wraps an SPI connection.
 type Device struct {
 	bus         drivers.SPI
-	dcPin       machine.Pin
-	resetPin    machine.Pin
-	csPin       machine.Pin
+	dcPin       pin.OutputFunc
+	resetPin    pin.OutputFunc
+	csPin       pin.OutputFunc
 	width       int16
 	height      int16
 	batchLength int16
@@ -36,15 +37,16 @@ type Config struct {
 }
 
 // New creates a new SSD1331 connection. The SPI wire must already be configured.
-func New(bus drivers.SPI, resetPin, dcPin, csPin machine.Pin) Device {
-	dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+func New(bus drivers.SPI, resetPin, dcPin, csPin pin.Output) Device {
+	// configure GPIO pins (on baremetal targets only, for backwards compatibility)
+	legacy.ConfigurePinOut(dcPin)
+	legacy.ConfigurePinOut(resetPin)
+	legacy.ConfigurePinOut(csPin)
 	return Device{
 		bus:      bus,
-		dcPin:    dcPin,
-		resetPin: resetPin,
-		csPin:    csPin,
+		dcPin:    dcPin.Set,
+		resetPin: resetPin.Set,
+		csPin:    csPin.Set,
 	}
 }
 
@@ -251,7 +253,7 @@ func (d *Device) Data(data uint8) {
 
 // Tx sends data to the display
 func (d *Device) Tx(data []byte, isCommand bool) {
-	d.dcPin.Set(!isCommand)
+	d.dcPin(!isCommand)
 	d.bus.Tx(data, nil)
 }
 

ssd1351/ssd1351.go

@@ -6,10 +6,11 @@ package ssd1351 // import "tinygo.org/x/drivers/ssd1351"
 import (
 	"errors"
 	"image/color"
-	"machine"
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 )
 
 var (
@@ -19,17 +20,18 @@ var (
 
 // Device wraps an SPI connection.
 type Device struct {
-	bus          drivers.SPI
-	dcPin        machine.Pin
-	resetPin     machine.Pin
-	csPin        machine.Pin
-	enPin        machine.Pin
-	rwPin        machine.Pin
-	width        int16
-	height       int16
-	rowOffset    int16
-	columnOffset int16
-	bufferLength int16
+	bus           drivers.SPI
+	dcPin         pin.OutputFunc
+	resetPin      pin.OutputFunc
+	csPin         pin.OutputFunc
+	enPin         pin.OutputFunc
+	rwPin         pin.OutputFunc
+	width         int16
+	height        int16
+	rowOffset     int16
+	columnOffset  int16
+	bufferLength  int16
+	configurePins func()
 }
 
 // Config is the configuration for the display
@@ -41,14 +43,21 @@ type Config struct {
 }
 
 // New creates a new SSD1351 connection. The SPI wire must already be configured.
-func New(bus drivers.SPI, resetPin, dcPin, csPin, enPin, rwPin machine.Pin) Device {
+func New(bus drivers.SPI, resetPin, dcPin, csPin, enPin, rwPin pin.Output) Device {
 	return Device{
 		bus:      bus,
-		dcPin:    dcPin,
-		resetPin: resetPin,
-		csPin:    csPin,
-		enPin:    enPin,
-		rwPin:    rwPin,
+		dcPin:    dcPin.Set,
+		resetPin: resetPin.Set,
+		csPin:    csPin.Set,
+		enPin:    enPin.Set,
+		rwPin:    rwPin.Set,
+		configurePins: func() {
+			legacy.ConfigurePinOut(dcPin)
+			legacy.ConfigurePinOut(resetPin)
+			legacy.ConfigurePinOut(csPin)
+			legacy.ConfigurePinOut(enPin)
+			legacy.ConfigurePinOut(rwPin)
+		},
 	}
 }
 
@@ -72,12 +81,8 @@ func (d *Device) Configure(cfg Config) {
 		d.bufferLength = d.height
 	}
 
-	// configure GPIO pins
-	d.dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	d.resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	d.csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	d.enPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	d.rwPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	// configure GPIO pins (on baremetal targets only, for backwards compatibility)
+	d.configurePins()
 
 	// reset the device
 	d.resetPin.High()
@@ -278,7 +283,7 @@ func (d *Device) Data(data uint8) {
 
 // Tx sends data to the display
 func (d *Device) Tx(data []byte, isCommand bool) {
-	d.dcPin.Set(!isCommand)
+	d.dcPin(!isCommand)
 	d.csPin.Low()
 	d.bus.Tx(data, nil)
 	d.csPin.High()

st7789/bus.go

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

st7789/registers.go

@@ -4,56 +4,63 @@ import "tinygo.org/x/drivers"
 
 // Registers
 const (
-	NOP        = 0x00
-	SWRESET    = 0x01
-	RDDID      = 0x04
-	RDDST      = 0x09
-	SLPIN      = 0x10
-	SLPOUT     = 0x11
-	PTLON      = 0x12
-	NORON      = 0x13
-	INVOFF     = 0x20
-	INVON      = 0x21
-	DISPOFF    = 0x28
-	DISPON     = 0x29
-	CASET      = 0x2A
-	RASET      = 0x2B
-	RAMWR      = 0x2C
-	RAMRD      = 0x2E
-	PTLAR      = 0x30
-	COLMOD     = 0x3A
-	MADCTL     = 0x36
-	MADCTL_MY  = 0x80
-	MADCTL_MX  = 0x40
-	MADCTL_MV  = 0x20
-	MADCTL_ML  = 0x10
-	MADCTL_RGB = 0x00
-	MADCTL_BGR = 0x08
-	MADCTL_MH  = 0x04
-	RDID1      = 0xDA
-	RDID2      = 0xDB
-	RDID3      = 0xDC
-	RDID4      = 0xDD
-	FRMCTR1    = 0xB1
-	RGBCTRL    = 0xB1
-	FRMCTR2    = 0xB2
-	PORCTRL    = 0xB2
-	FRMCTR3    = 0xB3
-	INVCTR     = 0xB4
-	DISSET5    = 0xB6
-	PWCTR1     = 0xC0
-	PWCTR2     = 0xC1
-	PWCTR3     = 0xC2
-	PWCTR4     = 0xC3
-	PWCTR5     = 0xC4
-	VMCTR1     = 0xC5
-	FRCTRL2    = 0xC6
-	PWCTR6     = 0xFC
-	GMCTRP1    = 0xE0
-	GMCTRN1    = 0xE1
-	GSCAN      = 0x45
-	VSCRDEF    = 0x33
-	VSCRSADD   = 0x37
+	NOP       = 0x00
+	SWRESET   = 0x01
+	RDDID     = 0x04
+	RDDST     = 0x09
+	SLPIN     = 0x10
+	SLPOUT    = 0x11
+	PTLON     = 0x12
+	NORON     = 0x13
+	INVOFF    = 0x20
+	INVON     = 0x21
+	DISPOFF   = 0x28
+	DISPON    = 0x29
+	CASET     = 0x2A
+	RASET     = 0x2B
+	RAMWR     = 0x2C
+	RAMRD     = 0x2E
+	PTLAR     = 0x30
+	VSCRDEF   = 0x33
+	TEOFF     = 0x34
+	TEON      = 0x35
+	VSCRSADD  = 0x37
+	COLMOD    = 0x3A
+	MADCTL    = 0x36
+	GSCAN     = 0x45
+	PWCTRL1   = 0xD0
+	RDID1     = 0xDA
+	RDID2     = 0xDB
+	RDID3     = 0xDC
+	RDID4     = 0xDD
+	RAMCTRL   = 0xB0
+	FRMCTR1   = 0xB1
+	RGBCTRL   = 0xB1
+	FRMCTR2   = 0xB2
+	PORCTRL   = 0xB2
+	FRMCTR3   = 0xB3
+	INVCTR    = 0xB4
+	DISSET5   = 0xB6
+	GCTRL     = 0xB7
+	VCOMS     = 0xBB
+	LCMCTRL   = 0xC0
+	PWCTR2    = 0xC1
+	VDVVRHEN  = 0xC2
+	VRHS      = 0xC3
+	VDVS      = 0xC4
+	VMCTR1    = 0xC5
+	FRCTRL2   = 0xC6
+	PVGAMCTRL = 0xE0
+	NVGAMCTRL = 0xE1
+	PWCTR6    = 0xFC
+
+	MADCTL_RGB       = 0x00
+	MADCTL_ROWORDER  = 0x80
+	MADCTL_COLORDER  = 0x40
+	MADCTL_SWAPXY    = 0x20
+	MADCTL_SCANORDER = 0x10
+	MADCTL_BGR       = 0x08
+	MADCTL_MH        = 0x04
 
 	ColorRGB444 ColorFormat = 0b011
 	ColorRGB565 ColorFormat = 0b101

st7789/st7789.go

@@ -7,13 +7,14 @@ package st7789 // import "tinygo.org/x/drivers/st7789"
 
 import (
 	"image/color"
-	"machine"
 	"math"
 	"time"
 
 	"errors"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 	"tinygo.org/x/drivers/pixel"
 )
 
@@ -45,11 +46,11 @@ type Device = DeviceOf[pixel.RGB565BE]
 // DeviceOf is a generic version of Device. It supports multiple different pixel
 // formats.
 type DeviceOf[T Color] struct {
-	bus             drivers.SPI
-	dcPin           machine.Pin
-	resetPin        machine.Pin
-	csPin           machine.Pin
-	blPin           machine.Pin
+	bus             Bus
+	dcPin           pin.OutputFunc
+	resetPin        pin.OutputFunc
+	csPin           pin.OutputFunc
+	blPin           pin.OutputFunc
 	width           int16
 	height          int16
 	columnOffsetCfg int16
@@ -68,13 +69,15 @@ type DeviceOf[T Color] struct {
 
 // Config is the configuration for the display
 type Config struct {
-	Width        int16
-	Height       int16
-	Rotation     drivers.Rotation
-	RowOffset    int16
-	ColumnOffset int16
-	FrameRate    FrameRate
-	VSyncLines   int16
+	Width            int16
+	Height           int16
+	Rotation         drivers.Rotation
+	RowOffset        int16
+	ColumnOffset     int16
+	FrameRate        FrameRate
+	VSyncLines       int16
+	IdleModePorch    byte
+	PartialModePorch byte
 
 	// Gamma control. Look in the LCD panel datasheet or provided example code
 	// to find these values. If not set, the defaults will be used.
@@ -83,23 +86,27 @@ type Config struct {
 }
 
 // New creates a new ST7789 connection. The SPI wire must already be configured.
-func New(bus drivers.SPI, resetPin, dcPin, csPin, blPin machine.Pin) Device {
+func New(bus Bus, resetPin, dcPin, csPin, blPin pin.Output) Device {
 	return NewOf[pixel.RGB565BE](bus, resetPin, dcPin, csPin, blPin)
 }
 
 // NewOf creates a new ST7789 connection with a particular pixel format. The SPI
 // wire must already be configured.
-func NewOf[T Color](bus drivers.SPI, resetPin, dcPin, csPin, blPin machine.Pin) DeviceOf[T] {
-	dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	blPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+func NewOf[T Color](bus Bus, resetPin, dcPin, csPin, blPin pin.Output) DeviceOf[T] {
+	// IMPORTANT: pin configuration should really be done outside of this
+	// driver, but for backwards compatibility with existing code, we do it
+	// here.
+	legacy.ConfigurePinOut(dcPin)
+	legacy.ConfigurePinOut(resetPin)
+	legacy.ConfigurePinOut(csPin)
+	legacy.ConfigurePinOut(blPin)
+
 	return DeviceOf[T]{
 		bus:      bus,
-		dcPin:    dcPin,
-		resetPin: resetPin,
-		csPin:    csPin,
-		blPin:    blPin,
+		dcPin:    dcPin.Set,
+		resetPin: resetPin.Set,
+		csPin:    csPin.Set,
+		blPin:    blPin.Set,
 	}
 }
 
@@ -129,7 +136,7 @@ func (d *DeviceOf[T]) Configure(cfg Config) {
 	if cfg.VSyncLines >= 2 && cfg.VSyncLines <= 254 {
 		d.vSyncLines = cfg.VSyncLines
 	} else {
-		d.vSyncLines = 16
+		d.vSyncLines = 0 // Default: no VSYNC pause
 	}
 
 	d.batchLength = int32(d.width)
@@ -139,21 +146,18 @@ func (d *DeviceOf[T]) Configure(cfg Config) {
 	d.batchLength += d.batchLength & 1
 
 	// Reset the device
-	d.resetPin.High()
-	time.Sleep(50 * time.Millisecond)
-	d.resetPin.Low()
-	time.Sleep(50 * time.Millisecond)
-	d.resetPin.High()
-	time.Sleep(50 * time.Millisecond)
+	d.Reset()
 
 	// Common initialization
 	d.startWrite()
 	d.sendCommand(SWRESET, nil) // Soft reset
 	d.endWrite()
-	time.Sleep(150 * time.Millisecond) //
-	d.startWrite()
 
-	d.sendCommand(SLPOUT, nil) // Exit sleep mode
+	time.Sleep(150 * time.Millisecond) //
+
+	d.startWrite()
+	// enable frame sync signal if used
+	d.sendCommand(TEON, nil)
 
 	// Memory initialization
 	var zeroColor T
@@ -164,54 +168,121 @@ func (d *DeviceOf[T]) Configure(cfg Config) {
 		// Use default RGB565 color format.
 		d.setColorFormat(ColorRGB565) // 16 bits per pixel
 	}
-	time.Sleep(10 * time.Millisecond)
-
-	d.setRotation(d.rotation) // Memory orientation
-
-	d.setWindow(0, 0, d.width, d.height)   // Full draw window
-	d.fillScreen(color.RGBA{0, 0, 0, 255}) // Clear screen
-
-	// Framerate
-	d.sendCommand(FRCTRL2, []byte{byte(d.frameRate)}) // Frame rate for normal mode (default 60Hz)
 
 	// Frame vertical sync and "porch"
 	//
 	// Front and back porch controls vertical scanline sync time before and after
 	// a frame, where memory can be safely written without tearing.
 	//
-	fp := uint8(d.vSyncLines / 2)         // Split the desired pause half and half
-	bp := uint8(d.vSyncLines - int16(fp)) // between front and back porch.
+	// TODO: is this correct? fp := uint8(d.vSyncLines / 2)         // Split the desired pause half and half
+	fp := byte(0x0c)
+	// TODO: is this correct? bp := uint8(d.vSyncLines - int16(fp)) // between front and back porch.
+	bp := byte(0x0c)
+	if cfg.IdleModePorch == 0 {
+		cfg.IdleModePorch = 0x22 // Default value
+	}
+	if cfg.PartialModePorch == 0 {
+		cfg.PartialModePorch = 0x22 // Default value
+	}
 
 	d.sendCommand(PORCTRL, []byte{
-		bp,   // Back porch 5bit     (0x7F max 0x08 default)
-		fp,   // Front porch 5bit    (0x7F max 0x08 default)
-		0x00, // Seprarate porch     (TODO: what is this?)
-		0x22, // Idle mode porch     (4bit-back 4bit-front 0x22 default)
-		0x22, // Partial mode porch  (4bit-back 4bit-front 0x22 default)
+		bp,                   // Back porch 5bit     (0x7F max 0x08 default)
+		fp,                   // Front porch 5bit    (0x7F max 0x08 default)
+		0x00,                 // Separate porch      (TODO: what is this?)
+		cfg.IdleModePorch,    // Idle mode porch     (4bit-back 4bit-front 0x22 default)
+		cfg.PartialModePorch, // Partial mode porch  (4bit-back 4bit-front 0x22 default)
 	})
 
-	// Ready to display
-	d.sendCommand(INVON, nil)         // Inversion ON
-	time.Sleep(10 * time.Millisecond) //
+	// LCM control, power on sequence
+	d.sendCommand(LCMCTRL, []byte{0x2C})
+
+	// VDV and VRH Command Enable - 0x01 power on sequence
+	d.sendCommand(VDVVRHEN, []byte{0x01})
+
+	// VRH Set - 0x12 5.3+( vcom+vcom offset+vdv)
+	d.sendCommand(VRHS, []byte{0x12})
+
+	// VDV Set - 0x20 0V
+	d.sendCommand(VDVS, []byte{0x20})
+
+	// PWCTRL1 Power control 1 - power on sequence
+	d.sendCommand(PWCTRL1, []byte{0xA4, 0xA1})
+
+	// Framerate
+	d.sendCommand(FRCTRL2, []byte{byte(d.frameRate)}) // Frame rate for normal mode (default 60Hz)
+
+	// As noted in https://github.com/pimoroni/pimoroni-pico/issues/1040
+	// this is required to avoid a weird light grey banding issue with low brightness green.
+	// The banding is not visible without tweaking gamma settings (GMCTRP1 & GMCTRN1) but
+	// it makes sense to fix it anyway.
+	d.sendCommand(RAMCTRL, []byte{0x00, 0xC0})
 
 	// Set gamma tables, if configured.
 	if len(cfg.PVGAMCTRL) == 14 {
-		d.sendCommand(GMCTRP1, cfg.PVGAMCTRL) // PVGAMCTRL: Positive Voltage Gamma Control
+		d.sendCommand(PVGAMCTRL, cfg.PVGAMCTRL) // PVGAMCTRL: Positive Voltage Gamma Control
 	}
 	if len(cfg.NVGAMCTRL) == 14 {
-		d.sendCommand(GMCTRN1, cfg.NVGAMCTRL) // NVGAMCTRL: Negative Voltage Gamma Control
+		d.sendCommand(NVGAMCTRL, cfg.NVGAMCTRL) // NVGAMCTRL: Negative Voltage Gamma Control
 	}
 
-	d.sendCommand(NORON, nil)         // Normal mode ON
-	time.Sleep(10 * time.Millisecond) //
+	switch {
+	case d.width == 240 && d.height == 240:
+		// 	command(reg::GCTRL, 1, "\x14");
+		// Gate Control - power on sequence for 240x240
+		d.sendCommand(GCTRL, []byte{0x35})
 
-	d.sendCommand(DISPON, nil)        // Screen ON
-	time.Sleep(10 * time.Millisecond) //
+		// command(reg::VCOMS, 1, "\x37");
+		// VCOM Setting
+		d.sendCommand(VCOMS, []byte{0x37})
 
+		// command(reg::GMCTRP1, 14, "\xD0\x04\x0D\x11\x13\x2B\x3F\x54\x4C\x18\x0D\x0B\x1F\x23");
+		d.sendCommand(PVGAMCTRL, []byte{0xD0, 0x04, 0x0D, 0x11, 0x13, 0x2B, 0x3F, 0x54, 0x4C, 0x18, 0x0D, 0x0B, 0x1F, 0x23})
+
+		// command(reg::GMCTRN1, 14, "\xD0\x04\x0C\x11\x13\x2C\x3F\x44\x51\x2F\x1F\x1F\x20\x23");
+		d.sendCommand(NVGAMCTRL, []byte{0xD0, 0x04, 0x0C, 0x11, 0x13, 0x2C, 0x3F, 0x44, 0x51, 0x2F, 0x1F, 0x1F, 0x20, 0x23})
+	case d.width == 320 && d.height == 240:
+		// Gate Control - power on sequence for 320x240
+		d.sendCommand(GCTRL, []byte{0x35})
+
+		// VCOM Setting - 0.875V
+		d.sendCommand(VCOMS, []byte{0x1f})
+
+		// command(reg::GMCTRP1, 14, "\xD0\x08\x11\x08\x0C\x15\x39\x33\x50\x36\x13\x14\x29\x2D");
+		d.sendCommand(PVGAMCTRL, []byte{0xD0, 0x08, 0x11, 0x08, 0x0C, 0x15, 0x39, 0x33, 0x50, 0x36, 0x13, 0x14, 0x29, 0x2D})
+
+		// command(reg::GMCTRN1, 14, "\xD0\x08\x10\x08\x06\x06\x39\x44\x51\x0B\x16\x14\x2F\x31");
+		d.sendCommand(NVGAMCTRL, []byte{0xD0, 0x08, 0x10, 0x08, 0x06, 0x06, 0x39, 0x44, 0x51, 0x0B, 0x16, 0x14, 0x2F, 0x31})
+	}
+
+	// Ready to display
+	d.sendCommand(INVON, nil)  // Inversion ON
+	d.sendCommand(SLPOUT, nil) // Exit sleep mode
+	d.sendCommand(DISPON, nil) // Screen ON
 	d.endWrite()
+
+	time.Sleep(100 * time.Millisecond)
+
+	d.startWrite()
+	d.setRotation(d.rotation)              // Memory orientation
+	d.setWindow(0, 0, d.width, d.height)   // Full draw window
+	d.fillScreen(color.RGBA{0, 0, 0, 255}) // Clear screen
+	d.endWrite()
+
+	time.Sleep(50 * time.Millisecond)
+
 	d.blPin.High() // Backlight ON
 }
 
+// Reset performs a hardware reset of the display.
+func (d *DeviceOf[T]) Reset() {
+	d.resetPin.High()
+	time.Sleep(50 * time.Millisecond)
+	d.resetPin.Low()
+	time.Sleep(50 * time.Millisecond)
+	d.resetPin.High()
+	time.Sleep(50 * time.Millisecond)
+}
+
 // Send a command with data to the display. It does not change the chip select
 // pin (it must be low when calling). The DC pin is left high after return,
 // meaning that data can be sent right away.
@@ -229,7 +300,7 @@ func (d *DeviceOf[T]) sendCommand(command uint8, data []byte) error {
 // startWrite must be called at the beginning of all exported methods to set the
 // chip select pin low.
 func (d *DeviceOf[T]) startWrite() {
-	if d.csPin != machine.NoPin {
+	if d.csPin != nil {
 		d.csPin.Low()
 	}
 }
@@ -237,7 +308,7 @@ func (d *DeviceOf[T]) startWrite() {
 // endWrite must be called at the end of all exported methods to set the chip
 // select pin high.
 func (d *DeviceOf[T]) endWrite() {
-	if d.csPin != machine.NoPin {
+	if d.csPin != nil {
 		d.csPin.High()
 	}
 }
@@ -509,18 +580,20 @@ func (d *DeviceOf[T]) setRotation(rotation Rotation) error {
 	madctl := uint8(0)
 	switch rotation % 4 {
 	case drivers.Rotation0:
+		madctl = MADCTL_COLORDER
+		madctl |= MADCTL_SWAPXY | MADCTL_SCANORDER
 		d.rowOffset = 0
 		d.columnOffset = 0
 	case drivers.Rotation90:
-		madctl = MADCTL_MX | MADCTL_MV
+		madctl = MADCTL_COLORDER | MADCTL_SWAPXY
 		d.rowOffset = 0
 		d.columnOffset = 0
 	case drivers.Rotation180:
-		madctl = MADCTL_MX | MADCTL_MY
+		madctl = MADCTL_COLORDER | MADCTL_ROWORDER
 		d.rowOffset = d.rowOffsetCfg
 		d.columnOffset = d.columnOffsetCfg
 	case drivers.Rotation270:
-		madctl = MADCTL_MY | MADCTL_MV
+		madctl = MADCTL_ROWORDER | MADCTL_SWAPXY
 		d.rowOffset = d.columnOffsetCfg
 		d.columnOffset = d.rowOffsetCfg
 	}

tmc2209/uartcomm.go

@@ -57,14 +57,10 @@ func (comm *UARTComm) WriteRegister(register uint8, value uint32, driverIndex ui
 		byte((value >> 16) & 0xFF), // Middle byte
 		byte((value >> 8) & 0xFF),  // Next byte
 		byte(value & 0xFF),         // LSB of value
+		0,                          // CRC
 	}
 
-	// Calculate checksum by XORing all bytes
-	checksum := byte(0)
-	for _, b := range buffer[:7] {
-		checksum ^= b
-	}
-	buffer[7] = checksum // Set checksum byte
+	buffer[7] = CalculateCRC(buffer[:7])
 
 	// Write the data to the TMC2209
 	done := make(chan error, 1)
@@ -86,10 +82,10 @@ func (comm *UARTComm) WriteRegister(register uint8, value uint32, driverIndex ui
 // ReadRegister sends a register read command to the TMC2209 with a timeout.
 func (comm *UARTComm) ReadRegister(register uint8, driverIndex uint8) (uint32, error) {
 	var writeBuffer [4]byte
-	writeBuffer[0] = 0x05                                             // Sync byte
-	writeBuffer[1] = 0x00                                             // Slave address
-	writeBuffer[2] = register & 0x7F                                  // Read command (MSB clear for read)
-	writeBuffer[3] = writeBuffer[0] ^ writeBuffer[1] ^ writeBuffer[2] // Checksum
+	writeBuffer[0] = 0x05            // Sync byte
+	writeBuffer[1] = 0x00            // Slave address
+	writeBuffer[2] = register & 0x7F // Read command (MSB clear for read)
+	writeBuffer[3] = CalculateCRC(writeBuffer[:3])
 
 	// Send the read command
 	done := make(chan []byte, 1)
@@ -103,11 +99,7 @@ func (comm *UARTComm) ReadRegister(register uint8, driverIndex uint8) (uint32, e
 	// Implementing timeout using a 100ms timer
 	select {
 	case readBuffer := <-done:
-		// Validate checksum
-		checksum := byte(0)
-		for i := 0; i < 7; i++ {
-			checksum ^= readBuffer[i]
-		}
+		checksum := CalculateCRC(readBuffer[:7])
 		if checksum != readBuffer[7] {
 			return 0, CustomError("checksum error")
 		}

uc8151/uc8151.go

@@ -8,10 +8,11 @@ package uc8151 // import "tinygo.org/x/drivers/uc8151"
 import (
 	"errors"
 	"image/color"
-	"machine"
 	"time"
 
 	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/legacy"
+	"tinygo.org/x/drivers/internal/pin"
 	"tinygo.org/x/drivers/pixel"
 )
 
@@ -31,10 +32,10 @@ type Config struct {
 
 type Device struct {
 	bus                      drivers.SPI
-	cs                       machine.Pin
-	dc                       machine.Pin
-	rst                      machine.Pin
-	busy                     machine.Pin
+	cs                       pin.OutputFunc
+	dc                       pin.OutputFunc
+	rst                      pin.OutputFunc
+	isBusy                   pin.InputFunc
 	width                    int16
 	height                   int16
 	buffer                   []uint8
@@ -49,17 +50,22 @@ type Device struct {
 type Speed uint8
 
 // New returns a new uc8151 driver. Pass in a fully configured SPI bus.
-func New(bus drivers.SPI, csPin, dcPin, rstPin, busyPin machine.Pin) Device {
-	csPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	rstPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	busyPin.Configure(machine.PinConfig{Mode: machine.PinInput})
+// Pins passed in must be configured beforehand.
+func New(bus drivers.SPI, csPin, dcPin, rstPin pin.Output, busyPin pin.Input) Device {
+	// For backwards compatibility.
+	// This driver used to configure pins,
+	// so leave in to not break users.
+	// May be removed in future so try not to depend on it!
+	legacy.ConfigurePinOut(csPin)
+	legacy.ConfigurePinOut(dcPin)
+	legacy.ConfigurePinOut(rstPin)
+	legacy.ConfigurePinInput(busyPin)
 	return Device{
-		bus:  bus,
-		cs:   csPin,
-		dc:   dcPin,
-		rst:  rstPin,
-		busy: busyPin,
+		bus:    bus,
+		cs:     csPin.Set,
+		dc:     dcPin.Set,
+		rst:    rstPin.Set,
+		isBusy: busyPin.Get,
 	}
 }
 
@@ -313,14 +319,14 @@ func (d *Device) ClearDisplay() {
 
 // WaitUntilIdle waits until the display is ready
 func (d *Device) WaitUntilIdle() {
-	for !d.busy.Get() {
+	for !d.isBusy() {
 		time.Sleep(10 * time.Millisecond)
 	}
 }
 
 // IsBusy returns the busy status of the display
 func (d *Device) IsBusy() bool {
-	return d.busy.Get()
+	return d.isBusy()
 }
 
 // ClearBuffer sets the buffer to 0xFF (white)

version.go

@@ -2,4 +2,4 @@ package drivers
 
 // Version returns a user-readable string showing the version of the drivers package for support purposes.
 // Update this value before release of new version of software.
-const Version = "0.30.0"
+const Version = "0.34.0"

w5500/io.go

@@ -0,0 +1,104 @@
+package w5500
+
+import "time"
+
+func (d *Device) irqPoll(sockn uint8, state uint8, deadline time.Time) uint8 {
+	waitTime := 500 * time.Microsecond
+	for {
+		if !deadline.IsZero() && time.Now().After(deadline) {
+			// If a deadline is set and it has passed, return 0.
+			return sockIntUnknown
+		}
+
+		irq := d.readByte(sockInt, sockAddr(sockn)) & 0b00011111
+		if got := irq & state; got != 0 {
+			// Acknowledge the interrupt.
+			d.writeByte(sockInt, sockAddr(sockn), got)
+
+			return got
+		}
+
+		d.mu.Unlock()
+
+		time.Sleep(waitTime)
+
+		// Exponential backoff for polling.
+		waitTime *= 2
+		if waitTime > 10*time.Millisecond {
+			waitTime = 10 * time.Millisecond
+		}
+
+		d.mu.Lock()
+	}
+}
+
+func (d *Device) read(addr uint16, bsb uint8, p []byte) {
+	d.cs(false)
+	if len(p) == 0 {
+		return
+	}
+
+	d.sendReadHeader(addr, bsb)
+	_ = d.bus.Tx(nil, p)
+	d.cs(true)
+}
+
+func (d *Device) readUint16(addr uint16, bsb uint8) uint16 {
+	d.cs(false)
+	d.sendReadHeader(addr, bsb)
+	buf := d.cmdBuf
+	_ = d.bus.Tx(nil, buf[:2])
+	d.cs(true)
+	return uint16(buf[1]) | uint16(buf[0])<<8
+}
+
+func (d *Device) readByte(addr uint16, bsb uint8) byte {
+	d.cs(false)
+	d.sendReadHeader(addr, bsb)
+	r, _ := d.bus.Transfer(byte(0))
+	d.cs(true)
+	return r
+}
+
+func (d *Device) write(addr uint16, bsb uint8, p []byte) {
+	d.cs(false)
+	if len(p) == 0 {
+		return
+	}
+	d.sendWriteHeader(addr, bsb)
+	_ = d.bus.Tx(p, nil)
+	d.cs(true)
+}
+
+func (d *Device) writeUint16(addr uint16, bsb uint8, v uint16) {
+	d.cs(false)
+	d.sendWriteHeader(addr, bsb)
+	buf := d.cmdBuf
+	buf[0] = byte(v >> 8)
+	buf[1] = byte(v & 0xff)
+	_ = d.bus.Tx(buf[:2], nil)
+	d.cs(true)
+}
+
+func (d *Device) writeByte(addr uint16, bsb uint8, b byte) {
+	d.cs(false)
+	d.sendWriteHeader(addr, bsb)
+	_, _ = d.bus.Transfer(b)
+	d.cs(true)
+}
+
+func (d *Device) sendReadHeader(addr uint16, bsb uint8) {
+	buf := d.cmdBuf
+	buf[0] = byte(addr >> 8)
+	buf[1] = byte(addr & 0xff)
+	buf[2] = bsb << 3
+	_ = d.bus.Tx(buf[:], nil)
+}
+
+func (d *Device) sendWriteHeader(addr uint16, bsb uint8) {
+	buf := d.cmdBuf
+	buf[0] = byte(addr >> 8)
+	buf[1] = byte(addr & 0xff)
+	buf[2] = bsb<<3 | 0b100
+	_ = d.bus.Tx(buf[:], nil)
+}

w5500/netdev.go

@@ -0,0 +1,445 @@
+package w5500
+
+import (
+	"errors"
+	"net"
+	"net/netip"
+	"os"
+	"runtime"
+	"time"
+
+	"tinygo.org/x/drivers/netdev"
+)
+
+type socket struct {
+	sockn    uint8
+	protocol uint8
+	port     uint16
+	inUse    bool
+	closed   bool
+}
+
+func (s *socket) setProtocol(proto byte) *socket {
+	s.protocol = proto
+	return s
+}
+
+func (s *socket) setPort(port uint16) *socket {
+	s.port = port
+	return s
+}
+
+func (s *socket) setInUse(inUse bool) *socket {
+	s.inUse = inUse
+	return s
+}
+
+func (s *socket) setClosed(closed bool) *socket {
+	s.closed = closed
+	return s
+}
+
+func (s *socket) reset() {
+	s.protocol = 0
+	s.port = 0
+	s.inUse = false
+	s.closed = false
+}
+
+// GetHostByName resolves the given host name to an IP address.
+func (d *Device) GetHostByName(name string) (netip.Addr, error) {
+	d.mu.Lock()
+	dns := d.dns
+	d.mu.Unlock()
+
+	if dns == nil {
+		return netip.Addr{}, netdev.ErrNotSupported
+	}
+	return dns(name)
+}
+
+func (d *Device) Socket(domain int, stype int, protocol int) (int, error) {
+	if domain != netdev.AF_INET {
+		return -1, netdev.ErrFamilyNotSupported
+	}
+	switch {
+	case stype == netdev.SOCK_STREAM && protocol == netdev.IPPROTO_TCP:
+	case stype == netdev.SOCK_DGRAM && protocol == netdev.IPPROTO_UDP:
+	default:
+		return -1, errors.New("unsupported combination of socket type and protocol")
+	}
+
+	var proto byte
+	switch protocol {
+	case netdev.IPPROTO_TCP:
+		proto = 1 // TCP
+	case netdev.IPPROTO_UDP:
+		proto = 2 // UDP
+	default:
+		return -1, netdev.ErrNotSupported
+	}
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	sockfd, sock, err := d.nextSocket()
+	if err != nil {
+		return -1, err
+	}
+
+	d.openSocket(sock.sockn, proto)
+
+	sock.setProtocol(proto).setInUse(true)
+	return sockfd, nil
+}
+
+func (d *Device) openSocket(sockn uint8, proto byte) {
+	d.writeByte(sockMode, sockAddr(sockn), proto&0x0F)
+}
+
+func (d *Device) Bind(sockfd int, ip netip.AddrPort) error {
+	// The IP address is irrelevant. The configured ip will always be used.
+	port := ip.Port()
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	sock, err := d.socket(sockfd)
+	if err != nil {
+		return err
+	}
+
+	if err = d.bindSocket(sock.sockn, port); err != nil {
+		return errors.New("could not set socket port: " + err.Error())
+	}
+
+	sock.setPort(port)
+	return nil
+}
+
+func (d *Device) bindSocket(sockn uint8, port uint16) error {
+	d.writeUint16(sockSrcPort, sockAddr(sockn), port)
+	d.socketSendCmd(sockn, sockCmdOpen)
+	if d.sockStatus(sockn) == sockStatusClosed {
+		return errors.New("socket is closed after binding")
+	}
+	return nil
+}
+
+// SetSockOpt sets the socket option for the given socket file descriptor.
+// It is not supported by the W5500, so it always returns an error.
+func (d *Device) SetSockOpt(int, int, int, any) error {
+	return netdev.ErrNotSupported
+}
+
+// Connect establishes a connection to the specified host and port or ip and port.
+//
+// If the host is an empty string, it will use the provided ip address and port,
+// otherwise it will resolve the host name to an IP address.
+func (d *Device) Connect(sockfd int, host string, ip netip.AddrPort) error {
+	destIP := ip.Addr()
+	if host != "" {
+		var err error
+		destIP, err = d.GetHostByName(host)
+		if err != nil {
+			return errors.New("could not resolve host " + host + ":" + err.Error())
+		}
+	}
+	if !destIP.IsValid() || !destIP.Is4() {
+		return errors.New("invalid destination IP address: " + destIP.String())
+	}
+	port := ip.Port()
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	sock, err := d.socket(sockfd)
+	if err != nil {
+		return err
+	}
+
+	d.write(sockDestIP, sockAddr(sock.sockn), destIP.AsSlice())
+	d.writeUint16(sockDestPort, sockAddr(sock.sockn), port)
+	d.socketSendCmd(sock.sockn, sockCmdOpen)
+	return nil
+}
+
+// Listen sets the socket to listen for incoming connections on the specified socket file descriptor.
+//
+// The backlog parameter is ignored, as the W5500 does not support it.
+func (d *Device) Listen(sockfd int, _ int) error {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	sock, err := d.socket(sockfd)
+	if err != nil {
+		return err
+	}
+
+	if sock.protocol != 1 { // Only TCP sockets can listen
+		return errors.New("not a TCP socket")
+	}
+
+	if err = d.listen(sock.sockn); err != nil {
+		return errors.New("could not send listen command: " + err.Error())
+	}
+	return nil
+}
+
+func (d *Device) listen(sockn uint8) error {
+	state := d.sockStatus(sockn)
+	if state != sockStatusInit {
+		return errors.New("socket is not in the initial state")
+	}
+	d.socketSendCmd(sockn, sockCmdListen)
+	return nil
+}
+
+// Accept waits for an incoming connection on the specified socket file descriptor.
+func (d *Device) Accept(sockfd int) (int, netip.AddrPort, error) {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	lsock, err := d.socket(sockfd)
+	if err != nil {
+		return -1, netip.AddrPort{}, errors.New("could not get socket: " + err.Error())
+	}
+
+	if err = d.waitForEstablished(lsock.sockn); err != nil {
+		return -1, netip.AddrPort{}, err
+	}
+
+	// Acquire a new socket for the listening connection.
+	csockfd, csock, err := d.nextSocket()
+	if err != nil {
+		return -1, netip.AddrPort{}, err
+	}
+	// Swap the socket numbers of the client and listening sockets.
+	lsock.sockn, csock.sockn = csock.sockn, lsock.sockn
+
+	// Rebind the listening socket to the local address and port and start listening.
+	d.openSocket(lsock.sockn, lsock.protocol)
+	if err = d.bindSocket(lsock.sockn, lsock.port); err != nil {
+		return -1, netip.AddrPort{}, errors.New("could not bind listening socket: " + err.Error())
+	}
+	if err = d.listen(lsock.sockn); err != nil {
+		return -1, netip.AddrPort{}, errors.New("could not set listening socket: " + err.Error())
+	}
+
+	csock.setInUse(true)
+
+	remoteIP := d.remoteIP(csock.sockn)
+	return csockfd, remoteIP, nil
+}
+
+func (d *Device) waitForEstablished(sockn uint8) error {
+	for {
+		status := d.sockStatus(sockn)
+		switch status {
+		case sockStatusEstablished:
+			return nil
+		case sockStatusClosed:
+			return net.ErrClosed
+		case sockStatusCloseWait:
+			// The server closed the connection, so we need to reset the socket
+			// and set it to listen again.
+			if err := d.listen(sockn); err != nil {
+				return errors.New("could not set socket to listen: " + err.Error())
+			}
+		}
+
+		d.irqPoll(sockn, sockIntConnect|sockIntDisconnect, time.Time{})
+	}
+}
+
+func (d *Device) remoteIP(sockn uint8) netip.AddrPort {
+	var rip [4]byte
+	d.read(sockDestIP, sockAddr(sockn), rip[:])
+
+	var rport [2]byte
+	d.read(sockDestPort, sockAddr(sockn), rport[:])
+
+	return netip.AddrPortFrom(netip.AddrFrom4(rip), uint16(rport[0])<<8|uint16(rport[1]))
+}
+
+// Send sends data to the socket with the given file descriptor.
+// It blocks until all data is sent or the deadline is reached.
+func (d *Device) Send(sockfd int, buf []byte, _ int, deadline time.Time) (int, error) {
+	bufLen := len(buf)
+	if bufLen <= d.maxSockSize {
+		// Fast path for small buffers.
+		return d.sendChunk(sockfd, buf, deadline)
+	}
+
+	var n int
+	for i := 0; i < bufLen; i += d.maxSockSize {
+		end := i + d.maxSockSize
+		if end > bufLen {
+			end = bufLen
+		}
+
+		sent, err := d.sendChunk(sockfd, buf[i:end], deadline)
+		if err != nil {
+			return n, errors.New("could not send chunk: " + err.Error())
+		}
+		n += sent
+	}
+	return n, nil
+}
+
+func (d *Device) sendChunk(sockfd int, buf []byte, deadline time.Time) (int, error) {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	sock, err := d.socket(sockfd)
+	if err != nil {
+		return 0, errors.New("could not get socket: " + err.Error())
+	}
+	if sock.closed {
+		return 0, os.ErrClosed
+	}
+
+	bufLen := uint16(len(buf))
+	if err = d.waitForFreeBuffer(sock.sockn, bufLen, deadline); err != nil {
+		return 0, err
+	}
+
+	sendPtr := d.readUint16(sockTXWritePtr, sockAddr(sock.sockn))
+
+	d.write(sendPtr, sock.sockn<<2|0b10, buf)
+	d.writeUint16(sockTXWritePtr, sockAddr(sock.sockn), sendPtr+bufLen)
+	d.writeByte(sockCmd, sockAddr(sock.sockn), sockCmdSend)
+
+	irq := d.irqPoll(sock.sockn, sockIntSendOK|sockIntDisconnect|sockIntTimeout, deadline)
+	switch {
+	case irq == sockIntUnknown:
+		return 0, os.ErrDeadlineExceeded
+	case irq&sockIntDisconnect != 0:
+		sock.setClosed(true)
+		return 0, net.ErrClosed
+	case irq&sockIntTimeout != 0:
+		return 0, netdev.ErrTimeout
+	default:
+		return int(bufLen), nil
+	}
+}
+
+func (d *Device) waitForFreeBuffer(sockn uint8, len uint16, deadline time.Time) error {
+	for {
+		freeSize := d.readUint16(sockTXFreeSize, sockAddr(sockn))
+		if freeSize >= len {
+			return nil
+		}
+
+		if !deadline.IsZero() && time.Now().After(deadline) {
+			return netdev.ErrTimeout
+		}
+
+		status := d.sockStatus(sockn)
+		switch status {
+		case sockStatusEstablished, sockStatusCloseWait:
+		default:
+			return errors.New("socket is not in a valid state for sending data")
+		}
+
+		d.mu.Unlock()
+
+		time.Sleep(time.Millisecond)
+
+		d.mu.Lock()
+	}
+}
+
+// Recv reads data from the socket with the given file descriptor into the provided buffer.
+// It blocks until data is available or the deadline is reached.
+func (d *Device) Recv(sockfd int, buf []byte, _ int, deadline time.Time) (int, error) {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	sock, err := d.socket(sockfd)
+	if err != nil {
+		return 0, errors.New("could not get socket: " + err.Error())
+	}
+	if sock.closed {
+		return 0, os.ErrClosed
+	}
+
+	size, err := d.waitForData(sock, deadline)
+	if err != nil {
+		return 0, err
+	}
+
+	recvPtr := d.readUint16(sockRXReadPtr, sockAddr(sock.sockn))
+
+	buf = buf[:min(size, len(buf))]
+	d.read(recvPtr, sock.sockn<<2|0b00011, buf)
+	d.writeUint16(sockRXReadPtr, sockAddr(sock.sockn), recvPtr+uint16(len(buf)))
+	d.socketSendCmd(sock.sockn, sockCmdRecv)
+
+	return len(buf), nil
+}
+
+func (d *Device) waitForData(sock *socket, deadline time.Time) (int, error) {
+	for {
+		recvdSize := d.readUint16(sockRXReceivedSize, sockAddr(sock.sockn))
+		if recvdSize > 0 {
+			return int(recvdSize), nil
+		}
+
+		irq := d.irqPoll(sock.sockn, sockIntReceive|sockIntDisconnect, deadline)
+		switch {
+		case irq == sockIntUnknown:
+			return 0, os.ErrDeadlineExceeded
+		case irq&sockIntDisconnect != 0:
+			sock.setClosed(true)
+			return 0, net.ErrClosed
+		}
+	}
+}
+
+// Close closes the socket with the given file descriptor.
+func (d *Device) Close(sockfd int) error {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	sock, err := d.socket(sockfd)
+	if err != nil {
+		return err
+	}
+
+	d.socketSendCmd(sock.sockn, sockCmdClose)
+	sock.reset()
+	return nil
+}
+
+func (d *Device) nextSocket() (int, *socket, error) {
+	for i, sock := range d.sockets {
+		if sock.inUse {
+			continue
+		}
+		return i, sock, nil
+	}
+	return -1, nil, netdev.ErrNoMoreSockets
+}
+
+func (d *Device) socket(sockfd int) (*socket, error) {
+	if sockfd < 0 || sockfd >= len(d.sockets) {
+		return nil, netdev.ErrInvalidSocketFd
+	}
+	return d.sockets[sockfd], nil
+}
+
+func (d *Device) socketSendCmd(sockn uint8, cmd byte) {
+	d.writeByte(sockCmd, sockAddr(sockn), cmd)
+	for d.readByte(sockCmd, sockAddr(sockn)) != 0 {
+		runtime.Gosched()
+	}
+}
+
+func (d *Device) sockStatus(sockn uint8) int {
+	return int(d.readByte(sockStatus, sockAddr(sockn)))
+}
+
+func sockAddr(sockn uint8) uint8 {
+	return sockn<<2 | 0b0001
+}

w5500/registers.go

@@ -0,0 +1,88 @@
+package w5500
+
+// Common Registers.
+const (
+	regMode        = 0x0000
+	regGatewayAddr = 0x0001
+	regSubnetMask  = 0x0005
+	regMAC         = 0x0009
+	regIPAddr      = 0x000F
+	regIntLevel    = 0x0013
+	regInt         = 0x0015
+	regIntMask     = 0x0016
+	regSockInt     = 0x0017
+	regSockIntMask = 0x0018
+	regRetryTime   = 0x0019
+	regRetryN      = 0x001B
+	// ... PPP registers, not needed
+	regPHYCfg  = 0x002E
+	regChipVer = 0x0039
+)
+
+// Socket Registers.
+const (
+	sockMode           = 0x0000
+	sockCmd            = 0x0001
+	sockInt            = 0x0002
+	sockStatus         = 0x0003
+	sockSrcPort        = 0x0004
+	sockDestMAC        = 0x0006
+	sockDestIP         = 0x000C
+	sockDestPort       = 0x0010
+	sockMaxSegSize     = 0x0012
+	sockIPTOS          = 0x0015
+	sockIPTTL          = 0x0016
+	sockRXBUFSize      = 0x001E
+	sockTXBUFSize      = 0x001F
+	sockTXFreeSize     = 0x0020
+	sockTXReadPtr      = 0x0022
+	sockTXWritePtr     = 0x0024
+	sockRXReceivedSize = 0x0026
+	sockRXReadPtr      = 0x0028
+	sockRXWritePtr     = 0x002A
+	sockIntMask        = 0x002C
+	sockKeepInt        = 0x002F
+)
+
+// Socket Commands.
+const (
+	sockCmdOpen       = 0x01
+	sockCmdClose      = 0x10
+	sockCmdListen     = 0x02
+	sockCmdConnect    = 0x04
+	sockCmdDisconnect = 0x08
+	sockCmdSend       = 0x20
+	sockCmdSendMacRaw = 0x21
+	sockCmdSendKeep   = 0x22
+	sockCmdRecv       = 0x40
+)
+
+// Socket Statuses.
+const (
+	sockStatusClosed      = 0x00
+	sockStatusInit        = 0x13
+	sockStatusListen      = 0x14
+	sockStatusEstablished = 0x17
+	sockStatusCloseWait   = 0x1C
+	sockStatusUdp         = 0x22
+	sockStatusMacRaw      = 0x42
+	// Temporary TCP states
+	sockStatusSynSent  = 0x15
+	sockStatusSynRecv  = 0x16
+	sockStatusFinWait  = 0x18
+	sockStatusClosing  = 0x1A
+	sockStatusTimeWait = 0x1B
+	sockStatusLastAck  = 0x1D
+	sockStatusUnknown  = 0xFF
+)
+
+// Socket Interrupts.
+const (
+	sockIntConnect uint8 = 1 << iota
+	sockIntDisconnect
+	sockIntReceive
+	sockIntTimeout
+	sockIntSendOK
+
+	sockIntUnknown uint8 = 0
+)

w5500/w5500.go

@@ -0,0 +1,248 @@
+// Package w5500 implements a driver for the W5500 Ethernet controller.
+//
+// The driver supports basic network functionality including TCP and UDP sockets.
+// It currently does not use the IRQ or RST pins.
+//
+// Datasheet: https://docs.wiznet.io/img/products/w5500/W5500_ds_v110e.pdf
+// Product Page: https://wiznet.io/products/ethernet-chips/w5500
+package w5500
+
+import (
+	"errors"
+	"net"
+	"net/netip"
+	"sync"
+
+	"tinygo.org/x/drivers"
+	"tinygo.org/x/drivers/internal/pin"
+	"tinygo.org/x/drivers/netdev"
+)
+
+var _ netdev.Netdever = &Device{}
+
+// Resolver is a function that resolves a hostname to an IP address.
+type Resolver func(host string) (netip.Addr, error)
+
+// Device is a driver for the W5500 Ethernet controller.
+type Device struct {
+	maxSockets  int
+	maxSockSize int
+
+	mu  sync.Mutex
+	bus drivers.SPI
+	cs  pin.OutputFunc
+	dns Resolver
+
+	sockets []*socket
+	laddr   netip.Addr
+
+	cmdBuf [3]byte
+}
+
+// New returns a new w5500 driver.
+func New(bus drivers.SPI, csPin pin.Output) *Device {
+	return &Device{
+		bus: bus,
+		cs:  csPin.Set,
+	}
+}
+
+// Config is the configuration for the device.
+//
+// The SPI bus must be fully configured.
+type Config struct {
+	DNS Resolver
+
+	MAC        net.HardwareAddr
+	IP         netip.Addr
+	SubnetMask netip.Addr
+	Gateway    netip.Addr
+
+	// Optional, default is 8.
+	MaxSockets int
+}
+
+// Configure sets up the device.
+//
+// MAC address must be provided. The other fields are optional.
+func (d *Device) Configure(cfg Config) error {
+	d.cs(true)
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	d.dns = cfg.DNS
+
+	d.reset()
+
+	if err := d.setupSockets(cfg.MaxSockets); err != nil {
+		return errors.New("could not setup sockets: " + err.Error())
+	}
+
+	// Set the MAC address and IP configuration.
+	d.write(regMAC, 0, cfg.MAC)
+	d.write(regIPAddr, 0, cfg.IP.AsSlice())
+	d.write(regSubnetMask, 0, cfg.SubnetMask.AsSlice())
+	d.write(regGatewayAddr, 0, cfg.Gateway.AsSlice())
+	d.laddr = cfg.IP
+
+	return nil
+}
+
+func (d *Device) setupSockets(maxSockets int) error {
+	if maxSockets == 0 {
+		maxSockets = 8 // Default to 8 sockets if not specified.
+	}
+	switch maxSockets {
+	case 1, 2, 4, 8:
+		// Valid socket counts.
+	default:
+		return errors.New("invalid number of sockets, must be one of 1, 2, 4, or 8")
+	}
+
+	socks := make([]*socket, maxSockets)
+	for i := range socks {
+		socks[i] = &socket{
+			sockn: uint8(i),
+		}
+	}
+
+	d.maxSockets = maxSockets
+	d.maxSockSize = 16 * 1024 / maxSockets
+	d.sockets = socks
+
+	// Set the RX and TX buffer sizes for each socket.
+	for i := 0; i < 8; i++ {
+		size := byte(d.maxSockSize >> 10)
+		if i >= maxSockets {
+			size = 0
+		}
+
+		d.writeByte(sockRXBUFSize, sockAddr(uint8(i)), size)
+		d.writeByte(sockTXBUFSize, sockAddr(uint8(i)), size)
+	}
+
+	mask := byte(0b11111111)
+	switch maxSockets {
+	case 1:
+		mask = 0b00000001
+	case 2:
+		mask = 0b00000011
+	case 4:
+		mask = 0b00001111
+	}
+	d.writeByte(regSockIntMask, 0, mask)
+	d.writeByte(regIntMask, 0, 0)
+	return nil
+}
+
+// Reset performs a soft reset.
+func (d *Device) Reset() {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	d.reset()
+}
+
+func (d *Device) reset() {
+	// RST is bit 7 of regMode.
+	d.writeByte(regMode, 0, 0x80)
+}
+
+// GetHardwareAddr returns the hardware address of the device.
+func (d *Device) GetHardwareAddr() (net.HardwareAddr, error) {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	mac := make([]byte, 6)
+	d.read(regMAC, 0, mac)
+	return mac, nil
+}
+
+// Addr returns the IP address of the device.
+func (d *Device) Addr() (netip.Addr, error) {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	var ip [4]byte
+	d.read(regIPAddr, 0, ip[:])
+	return netip.AddrFrom4(ip), nil
+}
+
+// SetAddr sets the IP address of the device.
+//
+// The IP address must be a valid IPv4 address.
+func (d *Device) SetAddr(ip netip.Addr) error {
+	if err := d.setAddress(regIPAddr, ip); err != nil {
+		return errors.New("could not set IP address: " + err.Error())
+	}
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	d.laddr = ip
+	return nil
+}
+
+// SetSubnetMask sets the subnet mask of the device.
+//
+// The subnet mask must be a valid IPv4 address.
+// It is not checked if the subnet mask is valid for the device's IP address.
+func (d *Device) SetSubnetMask(mask netip.Addr) error {
+	return d.setAddress(regSubnetMask, mask)
+}
+
+// SetGateway sets the gateway address of the device.
+//
+// The gateway must be a valid IPv4 address.
+// It is not checked if the gateway is in the same subnet as the device.
+func (d *Device) SetGateway(gateway netip.Addr) error {
+	return d.setAddress(regGatewayAddr, gateway)
+}
+
+func (d *Device) setAddress(addr uint16, ip netip.Addr) error {
+	if !ip.IsValid() || !ip.Is4() {
+		return errors.New("invalid IP address: " + ip.String())
+	}
+
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	d.write(addr, 0, ip.AsSlice())
+	return nil
+}
+
+// LinkStatus is the link status of the device.
+type LinkStatus = uint8
+
+// LinkStatus values.
+const (
+	LinkStatusDown LinkStatus = iota
+	LinkStatusUp
+)
+
+// LinkStatus returns the current link status of the device.
+func (d *Device) LinkStatus() LinkStatus {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	return d.readByte(regPHYCfg, 0) & 0b00000001
+}
+
+// LinkInfo returns the current link information of the device.
+func (d *Device) LinkInfo() string {
+	d.mu.Lock()
+	defer d.mu.Unlock()
+
+	linkInfo := d.readByte(regPHYCfg, 0) & 0b00000110
+
+	speed := "10Mbps"
+	if linkInfo&0b00000010 != 0 {
+		speed = "100Mbps"
+	}
+	duplex := "Half Duplex"
+	if linkInfo&0b00000100 != 0 {
+		duplex = "Full Duplex"
+	}
+	return speed + " " + duplex
+}

ws2812/ws2812-asm_cortexm.go

@@ -931,6 +931,356 @@ void ws2812_writeByte125(char c, uint32_t *portSet, uint32_t *portClear, uint32_
 	  [portClear]"m"(*portClear));
 }
 
+__attribute__((always_inline))
+void ws2812_writeByte150(char c, uint32_t *portSet, uint32_t *portClear, uint32_t maskSet, uint32_t maskClear) {
+	// Timings:
+	// T0H: 53 - 55 cycles or 353.3ns - 366.7ns
+	// T1H: 158 - 160 cycles or 1053.3ns - 1066.7ns
+	// TLD: 173 -    cycles or 1153.3ns -
+	uint32_t value = (uint32_t)c << 24;
+	char i = 8;
+	__asm__ __volatile__(
+		"1: @ send_bit\n"
+		"\t  str   %[maskSet], %[portSet]     @ [2]   T0H and T0L start here\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  lsls  %[value], #1               @ [1]\n"
+		"\t  bcs.n 2f                         @ [1/3] skip_store\n"
+		"\t  str   %[maskClear], %[portClear] @ [2]   T0H -> T0L transition\n"
+		"\t2: @ skip_store\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  str   %[maskClear], %[portClear] @ [2]   T1H -> T1L transition\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  subs  %[i], #1                   @ [1]\n"
+		"\t  beq.n 3f                         @ [1/3] end\n"
+		"\t  b     1b                         @ [1/3] send_bit\n"
+		"\t3: @ end\n"
+	: [value]"+r"(value),
+	  [i]"+r"(i)
+	: [maskSet]"r"(maskSet),
+	  [portSet]"m"(*portSet),
+	  [maskClear]"r"(maskClear),
+	  [portClear]"m"(*portClear));
+}
+
 __attribute__((always_inline))
 void ws2812_writeByte168(char c, uint32_t *portSet, uint32_t *portClear, uint32_t maskSet, uint32_t maskClear) {
 	// Timings:
@@ -1320,6 +1670,465 @@ void ws2812_writeByte168(char c, uint32_t *portSet, uint32_t *portClear, uint32_
 	  [maskClear]"r"(maskClear),
 	  [portClear]"m"(*portClear));
 }
+
+__attribute__((always_inline))
+void ws2812_writeByte200(char c, uint32_t *portSet, uint32_t *portClear, uint32_t maskSet, uint32_t maskClear) {
+	// Timings:
+	// T0H: 70 - 72 cycles or 350.0ns - 360.0ns
+	// T1H: 210 - 212 cycles or 1050.0ns - 1060.0ns
+	// TLD: 230 -    cycles or 1150.0ns -
+	uint32_t value = (uint32_t)c << 24;
+	char i = 8;
+	__asm__ __volatile__(
+		"1: @ send_bit\n"
+		"\t  str   %[maskSet], %[portSet]     @ [2]   T0H and T0L start here\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  lsls  %[value], #1               @ [1]\n"
+		"\t  bcs.n 2f                         @ [1/3] skip_store\n"
+		"\t  str   %[maskClear], %[portClear] @ [2]   T0H -> T0L transition\n"
+		"\t2: @ skip_store\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  str   %[maskClear], %[portClear] @ [2]   T1H -> T1L transition\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  nop\n"
+		"\t  subs  %[i], #1                   @ [1]\n"
+		"\t  beq.n 3f                         @ [1/3] end\n"
+		"\t  b     1b                         @ [1/3] send_bit\n"
+		"\t3: @ end\n"
+	: [value]"+r"(value),
+	  [i]"+r"(i)
+	: [maskSet]"r"(maskSet),
+	  [portSet]"m"(*portSet),
+	  [maskClear]"r"(maskClear),
+	  [portClear]"m"(*portClear));
+}
 */
 import "C"
 
@@ -1373,6 +2182,16 @@ func (d Device) writeByte125(c byte) {
 	interrupt.Restore(mask)
 }
 
+func (d Device) writeByte150(c byte) {
+	portSet, maskSet := d.Pin.PortMaskSet()
+	portClear, maskClear := d.Pin.PortMaskClear()
+
+	mask := interrupt.Disable()
+	C.ws2812_writeByte150(C.char(c), (*C.uint32_t)(unsafe.Pointer(portSet)), (*C.uint32_t)(unsafe.Pointer(portClear)), C.uint32_t(maskSet), C.uint32_t(maskClear))
+
+	interrupt.Restore(mask)
+}
+
 func (d Device) writeByte168(c byte) {
 	portSet, maskSet := d.Pin.PortMaskSet()
 	portClear, maskClear := d.Pin.PortMaskClear()
@@ -1382,3 +2201,13 @@ func (d Device) writeByte168(c byte) {
 
 	interrupt.Restore(mask)
 }
+
+func (d Device) writeByte200(c byte) {
+	portSet, maskSet := d.Pin.PortMaskSet()
+	portClear, maskClear := d.Pin.PortMaskClear()
+
+	mask := interrupt.Disable()
+	C.ws2812_writeByte200(C.char(c), (*C.uint32_t)(unsafe.Pointer(portSet)), (*C.uint32_t)(unsafe.Pointer(portClear)), C.uint32_t(maskSet), C.uint32_t(maskClear))
+
+	interrupt.Restore(mask)
+}