Release: v0.9.0

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

CHANGELOG.md

@@ -1,3 +1,63 @@
+0.9.0
+---
+- **new devices**
+    - net: shared implementation of net package for serial wifi devices
+    - shifter: add support for bit Parallel In Serial Out (PISO) shifter
+    - stepper: add support for dual stepper motor
+    - wifinina: add implementation for WiFiNINA firmware
+- **enhancements**
+    - st7735: improvements in st7735 driver
+    - st7789: improvements in st7789 driver
+    - ws2812: add support for 120Mhz Cortex-M4
+    - ws2812: added Feather M0 and Trinket M0 to build tags for WS2812
+    - ws2812: add support for simulation
+- **bugfixes**
+    - ws2812: fix "invalid symbol redefinition" error
+- **examples**
+    - Add examples for wifinina drivers
+
+0.8.0
+---
+- **new devices**
+    - mcp3008: add implementation for MCP3008 ADC with SPI interface
+    - semihosting: initial implementation of ARM semihosting
+- **enhancements**
+    - espat: refactor response processing for greater speed and efficiency
+    - espat: implement mqtt subscribe functionality via blocking select/channels (experiemental)
+- **bugfixes**
+    - st7789: fix index out of bounds error
+- **examples**
+    - Add espat driver example for mqtt subscribe
+
+0.7.0
+---
+- **new devices**
+    - veml6070: add Vishay UV light sensor
+- **enhancements**
+    - lis3dh: example uses I2C1 so requires config to specify pins since they are not default
+    - ssd1331: make SPI TX faster
+    - st7735: make SPI Tx faster
+- **docs**
+    - complete missing GoDocs for main and sub-packages
+- **core**
+    - add Version string for support purposes
+- **examples**
+    - Change all espat driver examples to use Arduino Nano33 IoT by default
+
+0.6.0
+---
+- **new devices**
+    - Support software SPI for APA102 (Itsy Bitsy M0 on-board "Dotstar" LED as example)
+
+0.5.0
+---
+- **new devices**
+    - LSM6DS3 accelerometer
+- **bugfixes**
+    - ws2812: fix timings for the nrf51
+- **enhancements**
+    - ws2812: Add build tag for Arduino Nano33 IoT
+
 0.4.0
 ---
 - **new devices**

Makefile

@@ -9,44 +9,97 @@ fmt-check:
 
 smoke-test:
 	@mkdir -p build
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/adxl345/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/apa102/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/at24cx/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/bh1750/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/blinkm/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/bmp180/main.go
-	tinygo build -size short -o ./build/test.elf -target=bluepill ./examples/ds1307/sram/main.go
-	tinygo build -size short -o ./build/test.elf -target=bluepill ./examples/ds1307/time/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/ds3231/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/easystepper/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/espat/espconsole/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/espat/esphub/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/espat/espstation/main.go
-	tinygo build -size short -o ./build/test.elf -target=feather-m0 ./examples/gps/i2c/main.go
-	tinygo build -size short -o ./build/test.elf -target=feather-m0 ./examples/gps/uart/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/hd44780/customchar/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/hd44780/text/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/hub75/main.go
-	tinygo build -size short -o ./build/test.elf -target=circuitplay-express ./examples/lis3dh/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/mag3110/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/microbitmatrix/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/mma8653/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/mpu6050/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/pcd8544/setbuffer/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/pcd8544/setpixel/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/sht3x/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/ssd1306/i2c_128x32/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/ssd1306/spi_128x64/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/ssd1331/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/st7735/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/st7789/main.go
-	tinygo build -size short -o ./build/test.elf -target=circuitplay-express ./examples/thermistor/main.go
-	tinygo build -size short -o ./build/test.elf -target=itsybitsy-m0 ./examples/vl53l1x/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/waveshare-epd/epd2in13/main.go
-	tinygo build -size short -o ./build/test.elf -target=microbit ./examples/waveshare-epd/epd2in13x/main.go
-	tinygo build -size short -o ./build/test.elf -target=circuitplay-express ./examples/ws2812/main.go
-	tinygo build -size short -o ./build/test.elf -target=trinket-m0 ./examples/bme280/main.go
-	tinygo build -size short -o ./build/test.elf -target=circuitplay-express ./examples/microphone/main.go
-	tinygo build -size short -o ./build/test.elf -target=circuitplay-express ./examples/buzzer/main.go
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adxl345/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/apa102/itsybitsy-m0/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/at24cx/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bh1750/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/blinkm/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp180/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/sram/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/time/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/ds3231/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/easystepper/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/espconsole/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/esphub/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/espat/espstation/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/gps/i2c/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/gps/uart/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/customchar/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/text/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hub75/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/lis3dh/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/lsm6ds3/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mag3110/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mcp3008/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/microbitmatrix/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mma8653/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/mpu6050/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setbuffer/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setpixel/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/shifter/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht3x/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/i2c_128x32/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1306/spi_128x64/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/ssd1331/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7735/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/st7789/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/thermistor/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/vl53l1x/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13x/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/tcpclient/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/wifinina/webclient/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/ws2812/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bme280/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/microphone/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=circuitplay-express ./examples/buzzer/main.go
+	@md5sum ./build/test.hex
+	tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/veml6070/main.go
+	@md5sum ./build/test.hex
 
 test: clean fmt-check smoke-test

README.md

@@ -52,6 +52,8 @@ func main() {
 
 ## Currently supported devices
 
+The following 34 devices are supported.
+
 | Device Name | Interface Type |
 |----------|-------------|
 | [ADXL345 accelerometer](http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf) | I2C |
@@ -65,22 +67,27 @@ func main() {
 | [DS1307 real time clock](https://datasheets.maximintegrated.com/en/ds/DS1307.pdf) | I2C |
 | [DS3231 real time clock](https://datasheets.maximintegrated.com/en/ds/DS3231.pdf) | I2C |
 | ["Easystepper" stepper motor controller](https://en.wikipedia.org/wiki/Stepper_motor) | GPIO |
+| [ESP32 as WiFi Coprocessor with Arduino nina-fw](https://github.com/arduino/nina-fw) | SPI |
 | [ESP8266/ESP32 AT Command set for WiFi/TCP/UDP](https://github.com/espressif/esp32-at) | UART |
 | [GPS module](https://www.u-blox.com/en/product/neo-6-series) | I2C/UART |
 | [HUB75 RGB led matrix](https://cdn-learn.adafruit.com/downloads/pdf/32x16-32x32-rgb-led-matrix.pdf) | SPI |
 | [LIS3DH accelerometer](https://www.st.com/resource/en/datasheet/lis3dh.pdf) | I2C |
+| [LSM6DS3 accelerometer](https://www.st.com/resource/en/datasheet/lsm6ds3.pdf) | I2C |
 | [MAG3110 magnetometer](https://www.nxp.com/docs/en/data-sheet/MAG3110.pdf) | I2C |
+| [MCP3008 analog to digital converter (ADC)](http://ww1.microchip.com/downloads/en/DeviceDoc/21295d.pdf) | SPI |
 | [BBC micro:bit LED matrix](https://github.com/bbcmicrobit/hardware/blob/master/SCH_BBC-Microbit_V1.3B.pdf) | GPIO |
 | [Microphone - PDM](https://cdn-learn.adafruit.com/assets/assets/000/049/977/original/MP34DT01-M.pdf) | I2S/PDM |
 | [MMA8653 accelerometer](https://www.nxp.com/docs/en/data-sheet/MMA8653FC.pdf) | I2C |
 | [MPU6050 accelerometer/gyroscope](https://store.invensense.com/datasheets/invensense/MPU-6050_DataSheet_V3%204.pdf) | I2C |
 | [PCD8544 display](http://eia.udg.edu/~forest/PCD8544_1.pdf) | SPI |
+| [Shift register](https://en.wikipedia.org/wiki/Shift_register#Parallel-in_serial-out_\(PISO\)) | GPIO |
 | [SHT3x Digital Humidity Sensor](https://www.sensirion.com/fileadmin/user_upload/customers/sensirion/Dokumente/0_Datasheets/Humidity/Sensirion_Humidity_Sensors_SHT3x_Datasheet_digital.pdf) | I2C |
 | [SSD1306 OLED display](https://cdn-shop.adafruit.com/datasheets/SSD1306.pdf) | I2C / SPI |
 | [SSD1331 TFT color display](https://www.crystalfontz.com/controllers/SolomonSystech/SSD1331/381/) | SPI |
 | [ST7735 TFT color display](https://www.crystalfontz.com/controllers/Sitronix/ST7735R/319/) | SPI |
 | [ST7789 TFT color display](https://cdn-shop.adafruit.com/product-files/3787/3787_tft_QT154H2201__________20190228182902.pdf) | SPI |
 | [Thermistor](https://www.farnell.com/datasheets/33552.pdf) | ADC |
+| [VEML6070 UV light sensor](https://www.vishay.com/docs/84277/veml6070.pdf) | I2C |
 | [VL53L1X time-of-flight distance sensor](https://www.st.com/resource/en/datasheet/vl53l1x.pdf) | I2C |
 | [Waveshare 2.13" e-paper display](https://www.waveshare.com/w/upload/e/e6/2.13inch_e-Paper_Datasheet.pdf) | SPI |
 | [Waveshare 2.13" (B & C) e-paper display](https://www.waveshare.com/w/upload/d/d3/2.13inch-e-paper-b-Specification.pdf) | SPI |

apa102/apa102.go

@@ -21,15 +21,28 @@ const (
 
 // Device wraps APA102 SPI LEDs.
 type Device struct {
-	bus   machine.SPI
+	bus   SPI
 	Order int
 }
 
+// The SPI interface specifies the minimum functionality that a bus
+// implementation needs to provide for use by the APA102 driver.  Hardware
+// SPI from the TinyGo "machine" package implements this already.
+type SPI interface {
+	Tx(w, r []byte) error
+}
+
 // New returns a new APA102 driver. Pass in a fully configured SPI bus.
-func New(b machine.SPI) Device {
+func New(b SPI) Device {
 	return Device{bus: b, Order: BGR}
 }
 
+// NewSoftwareSPI returns a new APA102 driver that will use a software based
+// implementation of the SPI protocol.
+func NewSoftwareSPI(sckPin, mosiPin machine.Pin, delay uint32) Device {
+	return New(&bbSPI{SCK: sckPin, MOSI: mosiPin, Delay: delay})
+}
+
 // WriteColors writes the given RGBA color slice out using the APA102 protocol.
 // The A value (Alpha channel) is used for brightness, set to 0xff (255) for maximum.
 func (d Device) WriteColors(cs []color.RGBA) (n int, err error) {

apa102/softspi.go

@@ -0,0 +1,68 @@
+package apa102
+
+import "machine"
+
+// 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.
+// Note: making this unexported for now because it is probable not suitable
+// 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
+	MOSI  machine.Pin
+	Delay uint32
+}
+
+// Configure sets up the SCK and MOSI pins as outputs and sets them low
+func (s *bbSPI) Configure() {
+	s.SCK.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	s.MOSI.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	s.SCK.Low()
+	s.MOSI.Low()
+	if s.Delay == 0 {
+		s.Delay = 1
+	}
+}
+
+// Tx matches signature of machine.SPI.Tx() and is used to send multiple bytes.
+// The r slice is ignored and no error will ever be returned.
+func (s *bbSPI) Tx(w []byte, r []byte) error {
+	s.Configure()
+	for _, b := range w {
+		s.Transfer(b)
+	}
+	return nil
+}
+
+// delay represents a quarter of the clock cycle
+func (s *bbSPI) delay() {
+	for i := uint32(0); i < s.Delay; {
+		i++
+	}
+}
+
+// Transfer is used to send a single byte.
+func (s *bbSPI) Transfer(b byte) {
+	for i := uint8(0); i < 8; i++ {
+
+		// half clock cycle high to start
+		s.SCK.High()
+		s.delay()
+
+		// write the value to MOSI (MSB first)
+		if b&(1<<(7-i)) == 0 {
+			s.MOSI.Low()
+		} else {
+			s.MOSI.High()
+		}
+		s.delay()
+
+		// half clock cycle low
+		s.SCK.Low()
+		s.delay()
+
+		// for actual SPI would try to read the MISO value here
+		s.delay()
+
+	}
+}

drivers.go

@@ -1,5 +1,5 @@
-// Package drivers provides a collection of hardware drivers for devices that
-// can be used together with TinyGo (https://tinygo.org).
+// Package drivers provides a collection of hardware drivers for TinyGo (https://tinygo.org)
+// for devices such as sensors and displays.
 //
 // Here is an example in TinyGo that uses the BMP180 digital barometer:
 //
@@ -9,7 +9,7 @@
 //		"time"
 //		"machine"
 //
-// 		"github.com/tinygo-org/drivers/bmp180"
+// 		"tinygo.org/x/drivers/bmp180"
 // 	)
 //
 // 	func main() {

easystepper/easystepper.go

@@ -1,4 +1,4 @@
-// Simple driver to rotate a 4-wire stepper motor
+// Package easystepper provides a simple driver to rotate a 4-wire stepper motor.
 package easystepper // import "tinygo.org/x/drivers/easystepper"
 
 import (
@@ -10,47 +10,117 @@ import (
 type Device struct {
 	pins       [4]machine.Pin
 	stepDelay  int32
-	stepNumber int32
+	stepNumber uint8
+}
+
+// DualDevice holds information for controlling 2 motors
+type DualDevice struct {
+	devices [2]Device
 }
 
 // New returns a new easystepper driver given 4 pins numbers (not pin object),
 // number of steps and rpm
 func New(pin1, pin2, pin3, pin4 machine.Pin, steps int32, rpm int32) Device {
-	pin1.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	pin2.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	pin3.Configure(machine.PinConfig{Mode: machine.PinOutput})
-	pin4.Configure(machine.PinConfig{Mode: machine.PinOutput})
 	return Device{
 		pins:      [4]machine.Pin{pin1, pin2, pin3, pin4},
 		stepDelay: 60000000 / (steps * rpm),
 	}
 }
 
+// Configure configures the pins of the Device
+func (d *Device) Configure() {
+	for _, pin := range d.pins {
+		pin.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	}
+}
+
+// NewDual returns a new dual easystepper driver given 8 pins numbers (not pin object),
+// number of steps and rpm
+func NewDual(pin1, pin2, pin3, pin4, pin5, pin6, pin7, pin8 machine.Pin, steps int32, rpm int32) DualDevice {
+	var dual DualDevice
+	dual.devices[0] = Device{
+		pins:      [4]machine.Pin{pin1, pin2, pin3, pin4},
+		stepDelay: 60000000 / (steps * rpm),
+	}
+	dual.devices[1] = Device{
+		pins:      [4]machine.Pin{pin5, pin6, pin7, pin8},
+		stepDelay: 60000000 / (steps * rpm),
+	}
+	return dual
+}
+
+// Configure configures the pins of the DualDevice
+func (d *DualDevice) Configure() {
+	d.devices[0].Configure()
+	d.devices[1].Configure()
+}
+
 // Move rotates the motor the number of given steps
 // (negative steps will rotate it the opposite direction)
 func (d *Device) Move(steps int32) {
 	direction := steps > 0
 	if steps < 0 {
-		steps = -steps - d.stepNumber
-	} else {
-		steps += d.stepNumber
+		steps = -steps
 	}
-	var stepN int8
+	steps += int32(d.stepNumber)
 	var s int32
-	for s = d.stepNumber; s < steps; s++ {
+	d.stepMotor(d.stepNumber)
+	for s = int32(d.stepNumber); s < steps; s++ {
 		time.Sleep(time.Duration(d.stepDelay) * time.Microsecond)
-		if direction {
-			stepN = int8(s % 4)
-		} else {
-			stepN = int8((s + 2*(s%2)) % 4)
-		}
-		d.stepMotor(stepN)
+		d.moveDirectionSteps(direction, s)
 	}
-	d.stepNumber = int32(stepN)
+}
+
+// Off turns off all motor pins
+func (d *Device) Off() {
+	for _, pin := range d.pins {
+		pin.Low()
+	}
+}
+
+// Move rotates the motors the number of given steps
+// (negative steps will rotate it the opposite direction)
+func (d *DualDevice) Move(stepsA, stepsB int32) {
+	min := uint8(1)
+	max := uint8(0)
+	var directions [2]bool
+	var minStep int32
+
+	directions[0] = stepsA > 0
+	directions[1] = stepsB > 0
+	if stepsA < 0 {
+		stepsA = -stepsA
+	}
+	if stepsB < 0 {
+		stepsB = -stepsB
+	}
+	if stepsB > stepsA {
+		stepsA, stepsB = stepsB, stepsA
+		max, min = min, max
+	}
+	d.devices[0].stepMotor(d.devices[0].stepNumber)
+	d.devices[1].stepMotor(d.devices[1].stepNumber)
+	stepsA += int32(d.devices[max].stepNumber)
+	minStep = int32(d.devices[min].stepNumber)
+	for s := int32(d.devices[max].stepNumber); s < stepsA; s++ {
+		time.Sleep(time.Duration(d.devices[0].stepDelay) * time.Microsecond)
+		d.devices[max].moveDirectionSteps(directions[max], s)
+
+		if ((s * stepsB) / stepsA) > minStep {
+			minStep++
+			d.devices[min].moveDirectionSteps(directions[min], minStep)
+		}
+	}
+}
+
+// Off turns off all motor pins
+func (d *DualDevice) Off() {
+	d.devices[0].Off()
+	d.devices[1].Off()
 }
 
 // stepMotor changes the pins' state to the correct step
-func (d *Device) stepMotor(step int8) {
+func (d *Device) stepMotor(step uint8) {
 	switch step {
 	case 0:
 		d.pins[0].High()
@@ -77,4 +147,16 @@ func (d *Device) stepMotor(step int8) {
 		d.pins[3].High()
 		break
 	}
+	d.stepNumber = step
+}
+
+// moveDirectionSteps uses the direction to calculate the correct step and change the motor to it.
+// Direction true: 0, 1, 2, 3, 0, 1, 2, ...
+// Direction false: 0, 3, 2, 1, 0, 3, 2, ...
+func (d *Device) moveDirectionSteps(direction bool, step int32) {
+	if direction {
+		d.stepMotor(uint8(step % 4))
+	} else {
+		d.stepMotor(uint8((step + 2*(step%2)) % 4))
+	}
 }

espat/espat.go

@@ -19,10 +19,13 @@
 package espat // import "tinygo.org/x/drivers/espat"
 
 import (
+	"errors"
 	"machine"
 	"strconv"
 	"strings"
 	"time"
+
+	"tinygo.org/x/drivers/net"
 )
 
 // Device wraps UART connection to the ESP8266/ESP32.
@@ -47,6 +50,7 @@ func New(b machine.UART) *Device {
 // Configure sets up the device for communication.
 func (d Device) Configure() {
 	ActiveDevice = &d
+	net.ActiveDevice = ActiveDevice
 }
 
 // Connected checks if there is communication with the ESP8266/ESP32.
@@ -54,11 +58,11 @@ func (d *Device) Connected() bool {
 	d.Execute(Test)
 
 	// handle response here, should include "OK"
-	r := d.Response(100)
-	if strings.Contains(string(r), "OK") {
-		return true
+	_, err := d.Response(100)
+	if err != nil {
+		return false
 	}
-	return false
+	return true
 }
 
 // Write raw bytes to the UART.
@@ -72,7 +76,7 @@ func (d *Device) Read(b []byte) (n int, err error) {
 }
 
 // how long in milliseconds to pause after sending AT commands
-const pause = 100
+const pause = 300
 
 // Execute sends an AT command to the ESP8266/ESP32.
 func (d Device) Execute(cmd string) error {
@@ -97,7 +101,11 @@ func (d Device) Set(cmd, params string) error {
 // Version returns the ESP8266/ESP32 firmware version info.
 func (d Device) Version() []byte {
 	d.Execute(Version)
-	return d.Response(100)
+	r, err := d.Response(100)
+	if err != nil {
+		return []byte("unknown")
+	}
+	return r
 }
 
 // Echo sets the ESP8266/ESP32 echo setting.
@@ -122,7 +130,7 @@ func (d Device) Reset() {
 // ReadSocket returns the data that has already been read in from the responses.
 func (d *Device) ReadSocket(b []byte) (n int, err error) {
 	// make sure no data in buffer
-	d.Response(100)
+	d.Response(300)
 
 	count := len(b)
 	if len(b) >= len(d.socketdata) {
@@ -142,118 +150,73 @@ func (d *Device) ReadSocket(b []byte) (n int, err error) {
 
 // Response gets the next response bytes from the ESP8266/ESP32.
 // The call will retry for up to timeout milliseconds before returning nothing.
-func (d *Device) Response(timeout int) []byte {
-	var i int
-	pause := 10 // pause to wait for 10 ms
+func (d *Device) Response(timeout int) ([]byte, error) {
+	// read data
+	var size int
+	var start, end int
+	pause := 100 // pause to wait for 100 ms
 	retries := timeout / pause
 
-	header := make([]byte, 2)
 	for {
-		for d.bus.Buffered() > 0 {
-			// get the first 2 bytes
-			header[0], _ = d.bus.ReadByte()
-			header[1], _ = d.bus.ReadByte()
+		size = d.bus.Buffered()
 
-			if d.isLeadingCRLF(header) {
-				// skip it
-				header[0], _ = d.bus.ReadByte()
-				header[1], _ = d.bus.ReadByte()
+		if size > 0 {
+			end += size
+			d.bus.Read(d.response[start:end])
+
+			// if "+IPD" then read socket data
+			if strings.Contains(string(d.response[:end]), "+IPD") {
+				// handle socket data
+				return nil, d.parseIPD(end)
 			}
 
-			if d.isIPD(header) {
-				// is socket data packet
-				d.parseIPD()
-			} else {
-				// no, so put into response
-				d.response[i] = header[0]
-				i++
-				d.response[i] = header[1]
-				i++
+			// if "OK" then the command worked
+			if strings.Contains(string(d.response[:end]), "OK") {
+				return d.response[start:end], nil
 			}
 
-			// read the rest of normal command response
-			for d.bus.Buffered() > 0 {
-				data, err := d.bus.ReadByte()
-				if err != nil {
-					return nil
-				}
-				d.response[i] = data
-				i++
+			// if "Error" then the command failed
+			if strings.Contains(string(d.response[:end]), "ERROR") {
+				return d.response[start:end], errors.New("response error:" + string(d.response[start:end]))
 			}
+
+			// if anything else, then keep reading data in?
+			start = end
 		}
+
+		// wait longer?
 		retries--
 		if retries == 0 {
-			break
+			return nil, errors.New("response timeout error:" + string(d.response[start:end]))
 		}
 
-		// pause to make sure is no more data to be read
 		time.Sleep(time.Duration(pause) * time.Millisecond)
 	}
-	return d.response[:i]
 }
 
-func (d *Device) isLeadingCRLF(b []byte) bool {
-	if len(b) < 2 {
-		return false
-	}
-	if b[0] == 13 && b[1] == 10 {
-		return true
-	}
-	return false
-}
+func (d *Device) parseIPD(end int) error {
+	// find the "+IPD," to get length
+	s := strings.Index(string(d.response[:end]), "+IPD,")
 
-func (d *Device) isIPD(b []byte) bool {
-	if len(b) < 2 {
-		return false
-	}
-	if b[0] == '+' && b[1] == 'I' {
-		return true
-	}
-	return false
-}
+	// find the ":"
+	e := strings.Index(string(d.response[:end]), ":")
 
-func (d *Device) parseIPD() bool {
-	data, _ := d.bus.ReadByte()
-	if data != 'P' {
-		// error
-		return false
-	}
-	data, _ = d.bus.ReadByte()
-	if data != 'D' {
-		// error
-		return false
-	}
-	data, _ = d.bus.ReadByte()
-	if data != ',' {
-		// error
-		return false
-	}
+	// find the data length
+	val := string(d.response[s+5 : e])
 
-	// get the expected data length
-	// skip remaining header up to the ":"
-	buf := []byte{}
-	data, _ = d.bus.ReadByte()
-	for data != ':' {
-		// put into the buffer with int value here
-		buf = append(buf, data)
-
-		// read next value
-		data, _ = d.bus.ReadByte()
-	}
-
-	val := string(buf)
-	count, err := strconv.Atoi(val)
+	// TODO: verify count
+	_, err := strconv.Atoi(val)
 	if err != nil {
 		// not expected data here. what to do?
-		return false
+		return err
 	}
 
 	// load up the socket data
-	// only read the expected amount of data
-	for m := 0; m < count; m++ {
-		data, _ = d.bus.ReadByte()
-		d.socketdata = append(d.socketdata, data)
-	}
-
-	return true
+	d.socketdata = append(d.socketdata, d.response[e+1:end]...)
+	return nil
+}
+
+// IsSocketDataAvailable returns of there is socket data available
+func (d *Device) IsSocketDataAvailable() bool {
+	return len(d.socketdata) > 0 || d.bus.Buffered() > 0
 }

espat/tcp.go

@@ -17,7 +17,14 @@ const (
 // GetDNS returns the IP address for a domain name.
 func (d *Device) GetDNS(domain string) (string, error) {
 	d.Set(TCPDNSLookup, "\""+domain+"\"")
-	r := strings.Split(string(d.Response(1000)), ":")
+	resp, err := d.Response(1000)
+	if err != nil {
+		return "", err
+	}
+	if !strings.Contains(string(resp), ":") {
+		return "", errors.New("GetDNS error:" + string(resp))
+	}
+	r := strings.Split(string(resp), ":")
 	if len(r) != 2 {
 		return "", errors.New("Invalid domain lookup result")
 	}
@@ -30,24 +37,30 @@ func (d *Device) GetDNS(domain string) (string, error) {
 func (d *Device) ConnectTCPSocket(addr, port string) error {
 	protocol := "TCP"
 	val := "\"" + protocol + "\",\"" + addr + "\"," + port + ",120"
-	d.Set(TCPConnect, val)
-	r := d.Response(1000)
-	if strings.Contains(string(r), "OK") {
-		return nil
+	err := d.Set(TCPConnect, val)
+	if err != nil {
+		return err
 	}
-	return errors.New("ConnectTCPSocket error:" + string(r))
+	_, e := d.Response(3000)
+	if e != nil {
+		return e
+	}
+	return nil
 }
 
 // ConnectUDPSocket creates a new UDP connection for the ESP8266/ESP32.
 func (d *Device) ConnectUDPSocket(addr, sendport, listenport string) error {
 	protocol := "UDP"
 	val := "\"" + protocol + "\",\"" + addr + "\"," + sendport + "," + listenport + ",2"
-	d.Set(TCPConnect, val)
-	r := d.Response(pause)
-	if strings.Contains(string(r), "OK") {
-		return nil
+	err := d.Set(TCPConnect, val)
+	if err != nil {
+		return err
 	}
-	return errors.New("ConnectUDPSocket error:" + string(r))
+	_, e := d.Response(3000)
+	if e != nil {
+		return e
+	}
+	return nil
 }
 
 // ConnectSSLSocket creates a new SSL socket connection for the ESP8266/ESP32.
@@ -57,17 +70,23 @@ func (d *Device) ConnectSSLSocket(addr, port string) error {
 	val := "\"" + protocol + "\",\"" + addr + "\"," + port + ",120"
 	d.Set(TCPConnect, val)
 	// this operation takes longer, so wait up to 6 seconds to complete.
-	r := d.Response(6000)
-	if strings.Contains(string(r), "CONNECT") {
-		return nil
+	_, err := d.Response(6000)
+	if err != nil {
+		return err
 	}
-	return errors.New("ConnectSSLSocket error:" + string(r))
+	return nil
 }
 
 // DisconnectSocket disconnects the ESP8266/ESP32 from the current TCP/UDP connection.
 func (d *Device) DisconnectSocket() error {
-	d.Execute(TCPClose)
-	d.Response(pause)
+	err := d.Execute(TCPClose)
+	if err != nil {
+		return err
+	}
+	_, e := d.Response(pause)
+	if e != nil {
+		return e
+	}
 	return nil
 }
 
@@ -76,14 +95,14 @@ func (d *Device) DisconnectSocket() error {
 func (d *Device) SetMux(mode int) error {
 	val := strconv.Itoa(mode)
 	d.Set(TCPMultiple, val)
-	d.Response(pause)
-	return nil
+	_, err := d.Response(pause)
+	return err
 }
 
 // GetMux returns the ESP8266/ESP32 current client TCP/UDP configuration for concurrent connections.
 func (d *Device) GetMux() ([]byte, error) {
 	d.Query(TCPMultiple)
-	return d.Response(pause), nil
+	return d.Response(pause)
 }
 
 // SetTCPTransferMode sets the ESP8266/ESP32 current client TCP/UDP transfer mode.
@@ -91,12 +110,12 @@ func (d *Device) GetMux() ([]byte, error) {
 func (d *Device) SetTCPTransferMode(mode int) error {
 	val := strconv.Itoa(mode)
 	d.Set(TransmissionMode, val)
-	d.Response(pause)
-	return nil
+	_, err := d.Response(pause)
+	return err
 }
 
 // GetTCPTransferMode returns the ESP8266/ESP32 current client TCP/UDP transfer mode.
-func (d *Device) GetTCPTransferMode() []byte {
+func (d *Device) GetTCPTransferMode() ([]byte, error) {
 	d.Query(TransmissionMode)
 	return d.Response(pause)
 }
@@ -108,7 +127,10 @@ func (d *Device) StartSocketSend(size int) error {
 
 	// when ">" is received, it indicates
 	// ready to receive data
-	r := d.Response(pause)
+	r, err := d.Response(2000)
+	if err != nil {
+		return err
+	}
 	if strings.Contains(string(r), ">") {
 		return nil
 	}
@@ -120,6 +142,6 @@ func (d *Device) StartSocketSend(size int) error {
 func (d *Device) EndSocketSend() error {
 	d.Write([]byte("+++"))
 
-	d.Response(pause)
-	return nil
+	_, err := d.Response(pause)
+	return err
 }

espat/wifi.go

@@ -16,7 +16,7 @@ const (
 )
 
 // GetWifiMode returns the ESP8266/ESP32 wifi mode.
-func (d *Device) GetWifiMode() []byte {
+func (d *Device) GetWifiMode() ([]byte, error) {
 	d.Query(WifiMode)
 	return d.Response(100)
 }
@@ -25,14 +25,14 @@ func (d *Device) GetWifiMode() []byte {
 func (d *Device) SetWifiMode(mode int) error {
 	val := strconv.Itoa(mode)
 	d.Set(WifiMode, val)
-	d.Response(pause)
-	return nil
+	_, err := d.Response(pause)
+	return err
 }
 
 // Wifi Client
 
 // GetConnectedAP returns the ESP8266/ESP32 is currently connected to as a client.
-func (d *Device) GetConnectedAP() []byte {
+func (d *Device) GetConnectedAP() ([]byte, error) {
 	d.Query(ConnectAP)
 	return d.Response(100)
 }
@@ -42,37 +42,43 @@ func (d *Device) GetConnectedAP() []byte {
 func (d *Device) ConnectToAP(ssid, pwd string, ws int) error {
 	val := "\"" + ssid + "\",\"" + pwd + "\""
 	d.Set(ConnectAP, val)
-	d.Response(ws * 1000)
+
+	_, err := d.Response(ws * 1000)
+	if err != nil {
+		return err
+	}
 	return nil
 }
 
 // DisconnectFromAP disconnects the ESP8266/ESP32 from the current access point.
 func (d *Device) DisconnectFromAP() error {
 	d.Execute(Disconnect)
-	d.Response(1000)
-	return nil
+	_, err := d.Response(1000)
+	return err
 }
 
 // GetClientIP returns the ESP8266/ESP32 current client IP addess when connected to an Access Point.
-func (d *Device) GetClientIP() string {
+func (d *Device) GetClientIP() (string, error) {
 	d.Query(SetStationIP)
-	return string(d.Response(100))
+	r, err := d.Response(1000)
+	return string(r), err
 }
 
 // SetClientIP sets the ESP8266/ESP32 current client IP addess when connected to an Access Point.
-func (d *Device) SetClientIP(ipaddr string) []byte {
+func (d *Device) SetClientIP(ipaddr string) error {
 	val := "\"" + ipaddr + "\""
 	d.Set(ConnectAP, val)
-	d.Response(500)
-	return nil
+	_, err := d.Response(500)
+	return err
 }
 
 // Access Point
 
 // GetAPConfig returns the ESP8266/ESP32 current configuration when acting as an Access Point.
-func (d *Device) GetAPConfig() string {
+func (d *Device) GetAPConfig() (string, error) {
 	d.Query(SoftAPConfigCurrent)
-	return string(d.Response(100))
+	r, err := d.Response(100)
+	return string(r), err
 }
 
 // SetAPConfig sets the ESP8266/ESP32 current configuration when acting as an Access Point.
@@ -83,35 +89,38 @@ func (d *Device) SetAPConfig(ssid, pwd string, ch, security int) error {
 	ecnval := strconv.Itoa(security)
 	val := "\"" + ssid + "\",\"" + pwd + "\"," + chval + "," + ecnval
 	d.Set(SoftAPConfigCurrent, val)
-	d.Response(1000)
-	return nil
+	_, err := d.Response(1000)
+	return err
 }
 
 // GetAPClients returns the ESP8266/ESP32 current clients when acting as an Access Point.
-func (d *Device) GetAPClients() string {
+func (d *Device) GetAPClients() (string, error) {
 	d.Query(ListConnectedIP)
-	return string(d.Response(100))
+	r, err := d.Response(100)
+	return string(r), err
 }
 
 // GetAPIP returns the ESP8266/ESP32 current IP addess when configured as an Access Point.
-func (d *Device) GetAPIP() string {
+func (d *Device) GetAPIP() (string, error) {
 	d.Query(SetSoftAPIPCurrent)
-	return string(d.Response(100))
+	r, err := d.Response(100)
+	return string(r), err
 }
 
 // SetAPIP sets the ESP8266/ESP32 current IP addess when configured as an Access Point.
 func (d *Device) SetAPIP(ipaddr string) error {
 	val := "\"" + ipaddr + "\""
 	d.Set(SetSoftAPIPCurrent, val)
-	d.Response(500)
-	return nil
+	_, err := d.Response(500)
+	return err
 }
 
 // GetAPConfigFlash returns the ESP8266/ESP32 current configuration acting as an Access Point
 // from flash storage. These settings are those used after a reset.
-func (d *Device) GetAPConfigFlash() string {
+func (d *Device) GetAPConfigFlash() (string, error) {
 	d.Query(SoftAPConfigFlash)
-	return string(d.Response(100))
+	r, err := d.Response(100)
+	return string(r), err
 }
 
 // SetAPConfigFlash sets the ESP8266/ESP32 current configuration acting as an Access Point,
@@ -123,15 +132,16 @@ func (d *Device) SetAPConfigFlash(ssid, pwd string, ch, security int) error {
 	ecnval := strconv.Itoa(security)
 	val := "\"" + ssid + "\",\"" + pwd + "\"," + chval + "," + ecnval
 	d.Set(SoftAPConfigFlash, val)
-	d.Response(1000)
-	return nil
+	_, err := d.Response(1000)
+	return err
 }
 
 // GetAPIPFlash returns the ESP8266/ESP32 IP address as saved to flash storage.
 // This is the IP address that will be used after a reset.
-func (d *Device) GetAPIPFlash() string {
+func (d *Device) GetAPIPFlash() (string, error) {
 	d.Query(SetSoftAPIPFlash)
-	return string(d.Response(100))
+	r, err := d.Response(100)
+	return string(r), err
 }
 
 // SetAPIPFlash sets the ESP8266/ESP32 current IP addess when configured as an Access Point.
@@ -139,6 +149,6 @@ func (d *Device) GetAPIPFlash() string {
 func (d *Device) SetAPIPFlash(ipaddr string) error {
 	val := "\"" + ipaddr + "\""
 	d.Set(SetSoftAPIPFlash, val)
-	d.Response(500)
-	return nil
+	_, err := d.Response(500)
+	return err
 }

examples/apa102/itsybitsy-m0/main.go

@@ -0,0 +1,84 @@
+// This example demostrates how to control the "Dotstar" (APA102) LED included
+// on the Adafruit Itsy Bitsy M0 board.  It implements a "rainbow effect" based
+// on the following example:
+// https://github.com/adafruit/Adafruit_Learning_System_Guides/blob/master/CircuitPython_Essentials/CircuitPython_Internal_RGB_LED_rainbow.py
+package main
+
+import (
+	"image/color"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/apa102"
+)
+
+var (
+	apa apa102.Device
+
+	led   = machine.PWM{machine.LED}
+	leds  = make([]color.RGBA, 1)
+	wheel = &Wheel{Brightness: 0x10}
+)
+
+func init() {
+
+	// APA102 on Itsy Bitsy is connected to pins that require a software-based
+	// SPI implementation.
+	apa = apa102.NewSoftwareSPI(machine.PA00, machine.PA01, 1)
+
+	// Configure the regular on-board LED for PWM fading
+	machine.InitPWM()
+	led.Configure()
+
+}
+
+func main() {
+
+	// We'll fade the on-board LED in a goroutine to show/ensure that the APA102
+	// works fine with the scheduler enabled.  Comment this out to test this code
+	// with the scheduler disabled.
+	go func() {
+		for i, brightening := uint8(0), false; ; i++ {
+			if i == 0 {
+				brightening = !brightening
+				continue
+			}
+			var brightness uint16 = uint16(i) << 8
+			if !brightening {
+				brightness = 0xFFFF - brightness
+			}
+			led.Set(brightness)
+			time.Sleep(5 * time.Millisecond)
+		}
+	}()
+
+	// Use the "wheel" function from Adafruit's example to cycle the APA102
+	for {
+		leds[0] = wheel.Next()
+		apa.WriteColors(leds)
+		time.Sleep(25 * time.Millisecond)
+	}
+
+}
+
+// Wheel is a port of Adafruit's Circuit Python example referenced above.
+type Wheel struct {
+	Brightness uint8
+	pos        uint8
+}
+
+// Next increments the internal state of the color and returns the new RGBA
+func (w *Wheel) Next() (c color.RGBA) {
+	pos := w.pos
+	if w.pos < 85 {
+		c = color.RGBA{R: 0xFF - pos*3, G: pos * 3, B: 0x0, A: w.Brightness}
+	} else if w.pos < 170 {
+		pos -= 85
+		c = color.RGBA{R: 0x0, G: 0xFF - pos*3, B: pos * 3, A: w.Brightness}
+	} else {
+		pos -= 170
+		c = color.RGBA{R: pos * 3, G: 0x0, B: 0xFF - pos*3, A: w.Brightness}
+	}
+	w.pos++
+	return
+}

examples/easystepper/main.go

@@ -9,6 +9,7 @@ import (
 
 func main() {
 	motor := easystepper.New(machine.P13, machine.P15, machine.P14, machine.P16, 200, 75)
+	motor.Configure()
 
 	for {
 		println("CLOCKWISE")

examples/espat/espconsole/main.go

@@ -23,11 +23,12 @@ const actAsAP = false
 const ssid = "YOURSSID"
 const pass = "YOURPASS"
 
+// these are the default pins for the Arduino Nano33 IoT.
 // change these to connect to a different UART or pins for the ESP8266/ESP32
 var (
 	uart = machine.UART1
-	tx   = machine.D10
-	rx   = machine.D11
+	tx   = machine.PA22
+	rx   = machine.PA23
 
 	console = machine.UART0
 
@@ -42,28 +43,20 @@ func main() {
 	adaptor.Configure()
 
 	// first check if connected
-	if adaptor.Connected() {
+	if connectToESP() {
+		println("Connected to wifi adaptor.")
 		adaptor.Echo(false)
-		console.Write([]byte("\r\n"))
-		console.Write([]byte("ESP-AT console enabled.\r\n"))
-		console.Write([]byte("Firmware version:\r\n"))
-		console.Write(adaptor.Version())
-		console.Write([]byte("\r\n"))
 
-		if actAsAP {
-			provideAP()
-		} else {
-			connectToAP()
-		}
-
-		console.Write([]byte("Type an AT command then press enter:\r\n"))
-		prompt()
+		connectToAP()
 	} else {
-		console.Write([]byte("\r\n"))
-		console.Write([]byte("Unable to connect to wifi adaptor.\r\n"))
+		println("")
+		failMessage("Unable to connect to wifi adaptor.")
 		return
 	}
 
+	println("Type an AT command then press enter:")
+	prompt()
+
 	input := make([]byte, 64)
 	i := 0
 	for {
@@ -81,7 +74,8 @@ func main() {
 				adaptor.Write(input[:i+2])
 
 				// display response
-				console.Write(adaptor.Response(100))
+				r, _ := adaptor.Response(500)
+				console.Write(r)
 
 				// prompt
 				prompt()
@@ -100,28 +94,50 @@ func main() {
 }
 
 func prompt() {
-	console.Write([]byte("ESPAT>"))
+	print("ESPAT>")
+}
+
+// connect to ESP8266/ESP32
+func connectToESP() bool {
+	for i := 0; i < 5; i++ {
+		println("Connecting to wifi adaptor...")
+		if adaptor.Connected() {
+			return true
+		}
+		time.Sleep(1 * time.Second)
+	}
+	return false
 }
 
 // connect to access point
 func connectToAP() {
-	console.Write([]byte("Connecting to wifi network...\r\n"))
+	println("Connecting to wifi network '" + ssid + "'")
+
 	adaptor.SetWifiMode(espat.WifiModeClient)
 	adaptor.ConnectToAP(ssid, pass, 10)
-	console.Write([]byte("Connected.\r\n"))
-	console.Write([]byte(adaptor.GetClientIP()))
-	console.Write([]byte("\r\n"))
+
+	println("Connected.")
+	ip, err := adaptor.GetClientIP()
+	if err != nil {
+		failMessage(err.Error())
+	}
+
+	println(ip)
 }
 
 // provide access point
 func provideAP() {
-	time.Sleep(500 * time.Millisecond)
-	console.Write([]byte("Starting wifi network as access point '"))
-	console.Write([]byte(ssid))
-	console.Write([]byte("'...\r\n"))
+	println("Starting wifi network as access point '" + ssid + "'...")
 	adaptor.SetWifiMode(espat.WifiModeAP)
 	adaptor.SetAPConfig(ssid, pass, 7, espat.WifiAPSecurityWPA2_PSK)
-	console.Write([]byte("Ready.\r\n"))
-	console.Write([]byte(adaptor.GetAPIP()))
-	console.Write([]byte("\r\n"))
+	println("Ready.")
+	ip, _ := adaptor.GetAPIP()
+	println(ip)
+}
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
 }

examples/espat/esphub/main.go

@@ -11,7 +11,7 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/espat/net"
+	"tinygo.org/x/drivers/net"
 )
 
 // change actAsAP to true to act as an access point instead of connecting to one.
@@ -21,11 +21,12 @@ const actAsAP = false
 const ssid = "YOURSSID"
 const pass = "YOURPASS"
 
+// these are the default pins for the Arduino Nano33 IoT.
 // change these to connect to a different UART or pins for the ESP8266/ESP32
 var (
 	uart = machine.UART1
-	tx   = machine.D10
-	rx   = machine.D11
+	tx   = machine.PA22
+	rx   = machine.PA23
 
 	adaptor *espat.Device
 )
@@ -42,17 +43,14 @@ func main() {
 	readyled.High()
 
 	// first check if connected
-	if adaptor.Connected() {
+	if connectToESP() {
 		println("Connected to wifi adaptor.")
 		adaptor.Echo(false)
 
-		if actAsAP {
-			provideAP()
-		} else {
-			connectToAP()
-		}
+		connectToAP()
 	} else {
-		println("Unable to connect to wifi adaptor.")
+		println("")
+		failMessage("Unable to connect to wifi adaptor.")
 		return
 	}
 
@@ -85,21 +83,47 @@ func main() {
 	println("Done.")
 }
 
+// connect to ESP8266/ESP32
+func connectToESP() bool {
+	for i := 0; i < 5; i++ {
+		println("Connecting to wifi adaptor...")
+		if adaptor.Connected() {
+			return true
+		}
+		time.Sleep(1 * time.Second)
+	}
+	return false
+}
+
 // connect to access point
 func connectToAP() {
-	println("Connecting to wifi network...")
+	println("Connecting to wifi network '" + ssid + "'")
+
 	adaptor.SetWifiMode(espat.WifiModeClient)
 	adaptor.ConnectToAP(ssid, pass, 10)
+
 	println("Connected.")
-	println(adaptor.GetClientIP())
+	ip, err := adaptor.GetClientIP()
+	if err != nil {
+		failMessage(err.Error())
+	}
+
+	println(ip)
 }
 
 // provide access point
 func provideAP() {
-	println("Starting wifi network as access point:")
-	println(ssid)
+	println("Starting wifi network as access point '" + ssid + "'...")
 	adaptor.SetWifiMode(espat.WifiModeAP)
 	adaptor.SetAPConfig(ssid, pass, 7, espat.WifiAPSecurityWPA2_PSK)
 	println("Ready.")
-	println(adaptor.GetAPIP())
+	ip, _ := adaptor.GetAPIP()
+	println(ip)
+}
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
 }

examples/espat/espstation/main.go

@@ -11,7 +11,7 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/espat/net"
+	"tinygo.org/x/drivers/net"
 )
 
 // access point info
@@ -21,11 +21,12 @@ const pass = "YOURPASS"
 // IP address of the listener aka "hub". Replace with your own info.
 const hubIP = "0.0.0.0"
 
+// these are the default pins for the Arduino Nano33 IoT.
 // change these to connect to a different UART or pins for the ESP8266/ESP32
 var (
 	uart = machine.UART1
-	tx   = machine.D10
-	rx   = machine.D11
+	tx   = machine.PA22
+	rx   = machine.PA23
 
 	adaptor *espat.Device
 )
@@ -38,13 +39,14 @@ func main() {
 	adaptor.Configure()
 
 	// first check if connected
-	if adaptor.Connected() {
+	if connectToESP() {
 		println("Connected to wifi adaptor.")
 		adaptor.Echo(false)
 
 		connectToAP()
 	} else {
-		println("Unable to connect to wifi adaptor.")
+		println("")
+		failMessage("Unable to connect to wifi adaptor.")
 		return
 	}
 
@@ -70,11 +72,37 @@ func main() {
 	println("Done.")
 }
 
+// connect to ESP8266/ESP32
+func connectToESP() bool {
+	for i := 0; i < 5; i++ {
+		println("Connecting to wifi adaptor...")
+		if adaptor.Connected() {
+			return true
+		}
+		time.Sleep(1 * time.Second)
+	}
+	return false
+}
+
 // connect to access point
 func connectToAP() {
-	println("Connecting to wifi network...")
+	println("Connecting to wifi network '" + ssid + "'")
+
 	adaptor.SetWifiMode(espat.WifiModeClient)
 	adaptor.ConnectToAP(ssid, pass, 10)
+
 	println("Connected.")
-	println(adaptor.GetClientIP())
+	ip, err := adaptor.GetClientIP()
+	if err != nil {
+		failMessage(err.Error())
+	}
+
+	println(ip)
+}
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
 }

examples/espat/mqttclient/main.go

@@ -17,7 +17,7 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/espat/mqtt"
+	"tinygo.org/x/drivers/net/mqtt"
 )
 
 // access point info
@@ -25,14 +25,16 @@ const ssid = "YOURSSID"
 const pass = "YOURPASS"
 
 // IP address of the MQTT broker to use. Replace with your own info.
-//const server = "tcp://test.mosquitto.org:1883"
-const server = "ssl://test.mosquitto.org:8883"
+const server = "tcp://test.mosquitto.org:1883"
 
+//const server = "ssl://test.mosquitto.org:8883"
+
+// these are the default pins for the Arduino Nano33 IoT.
 // change these to connect to a different UART or pins for the ESP8266/ESP32
 var (
-	uart = machine.UART1
-	tx   = machine.D10
-	rx   = machine.D11
+	uart = machine.UART2
+	tx   = machine.PA22
+	rx   = machine.PA23
 
 	console = machine.UART0
 
@@ -62,10 +64,10 @@ func main() {
 		return
 	}
 
-	opts := mqtt.NewClientOptions(adaptor)
+	opts := mqtt.NewClientOptions()
 	opts.AddBroker(server).SetClientID("tinygo-client-" + randomString(10))
 
-	println("Connectng to MQTT...")
+	println("Connecting to MQTT broker at", server)
 	cl := mqtt.NewClient(opts)
 	if token := cl.Connect(); token.Wait() && token.Error() != nil {
 		failMessage(token.Error().Error())
@@ -104,13 +106,18 @@ func connectToESP() bool {
 
 // connect to access point
 func connectToAP() {
-	println("Connecting to wifi network...")
+	println("Connecting to wifi network '" + ssid + "'")
 
 	adaptor.SetWifiMode(espat.WifiModeClient)
 	adaptor.ConnectToAP(ssid, pass, 10)
 
 	println("Connected.")
-	println(adaptor.GetClientIP())
+	ip, err := adaptor.GetClientIP()
+	if err != nil {
+		failMessage(err.Error())
+	}
+
+	println(ip)
 }
 
 // Returns an int >= min, < max

examples/espat/mqttsub/main.go

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

examples/espat/tcpclient/main.go

@@ -11,7 +11,7 @@ import (
 	"time"
 
 	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/espat/net"
+	"tinygo.org/x/drivers/net"
 )
 
 // access point info
@@ -21,6 +21,7 @@ const pass = "YOURPASS"
 // IP address of the server aka "hub". Replace with your own info.
 const serverIP = "0.0.0.0"
 
+// these are the default pins for the Arduino Nano33 IoT.
 // change these to connect to a different UART or pins for the ESP8266/ESP32
 var (
 	uart = machine.UART1
@@ -38,13 +39,14 @@ func main() {
 	adaptor.Configure()
 
 	// first check if connected
-	if adaptor.Connected() {
+	if connectToESP() {
 		println("Connected to wifi adaptor.")
 		adaptor.Echo(false)
 
 		connectToAP()
 	} else {
-		println("Unable to connect to wifi adaptor.")
+		println("")
+		failMessage("Unable to connect to wifi adaptor.")
 		return
 	}
 
@@ -54,7 +56,10 @@ func main() {
 	laddr := &net.TCPAddr{Port: 8080}
 
 	println("Dialing TCP connection...")
-	conn, _ := net.DialTCP("tcp", laddr, raddr)
+	conn, err := net.DialTCP("tcp", laddr, raddr)
+	if err != nil {
+		failMessage(err.Error())
+	}
 
 	for {
 		// send data
@@ -70,11 +75,37 @@ func main() {
 	println("Done.")
 }
 
+// connect to ESP8266/ESP32
+func connectToESP() bool {
+	for i := 0; i < 5; i++ {
+		println("Connecting to wifi adaptor...")
+		if adaptor.Connected() {
+			return true
+		}
+		time.Sleep(1 * time.Second)
+	}
+	return false
+}
+
 // connect to access point
 func connectToAP() {
-	println("Connecting to wifi network...")
+	println("Connecting to wifi network '" + ssid + "'")
+
 	adaptor.SetWifiMode(espat.WifiModeClient)
 	adaptor.ConnectToAP(ssid, pass, 10)
+
 	println("Connected.")
-	println(adaptor.GetClientIP())
+	ip, err := adaptor.GetClientIP()
+	if err != nil {
+		failMessage(err.Error())
+	}
+
+	println(ip)
+}
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
 }

examples/lis3dh/main.go

@@ -11,7 +11,7 @@ import (
 var i2c = machine.I2C1
 
 func main() {
-	i2c.Configure(machine.I2CConfig{})
+	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

examples/lsm6ds3/main.go

@@ -0,0 +1,30 @@
+// Connects to an LSM6DS3 I2C a 6 axis Inertial Measurement Unit (IMU)
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/lsm6ds3"
+)
+
+func main() {
+	machine.I2C0.Configure(machine.I2CConfig{})
+
+	accel := lsm6ds3.New(machine.I2C0)
+	accel.Configure(lsm6ds3.Configuration{})
+	if !accel.Connected() {
+		println("LSM6DS3 not connected")
+		return
+	}
+
+	for {
+		x, y, z := accel.ReadAcceleration()
+		println("Acceleration:", float32(x)/1000000, float32(y)/1000000, float32(z)/1000000)
+		x, y, z = accel.ReadRotation()
+		println("Gyroscope:", float32(x)/1000000, float32(y)/1000000, float32(z)/1000000)
+		x, _ = accel.ReadTemperature()
+		println("Degrees C", float32(x)/1000, "\n\n")
+		time.Sleep(time.Millisecond * 1000)
+	}
+}

examples/mcp3008/main.go

@@ -0,0 +1,32 @@
+// Connects to a MCP3008 ADC via SPI.
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/mcp3008"
+)
+
+var (
+	spi   = machine.SPI0
+	csPin = machine.D12
+)
+
+func main() {
+	spi.Configure(machine.SPIConfig{
+		Frequency: 4000000,
+		Mode:      3})
+
+	adc := mcp3008.New(spi, csPin)
+	adc.Configure()
+
+	// get "CH0" aka "machine.ADC" interface to channel 0 from ADC.
+	p := adc.CH0
+
+	for {
+		val := p.Get()
+		println(val)
+		time.Sleep(50 * time.Millisecond)
+	}
+}

examples/shifter/main.go

@@ -0,0 +1,50 @@
+package main
+
+import (
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/shifter"
+)
+
+func main() {
+	buttons := shifter.New(shifter.EIGHT_BITS, machine.BUTTON_LATCH, machine.BUTTON_CLK, machine.BUTTON_OUT)
+	buttons.Configure()
+
+	for {
+		// Slower
+		for i := 0; i < 8; i++ {
+			if buttons.Pins[i].Get() {
+				println("Button", i, "pressed")
+			}
+		}
+
+		// Faster
+		pressed, _ := buttons.Read8Input()
+		if pressed&machine.BUTTON_LEFT_MASK > 0 {
+			println("Button LEFT pressed")
+		}
+		if pressed&machine.BUTTON_UP_MASK > 0 {
+			println("Button UP pressed")
+		}
+		if pressed&machine.BUTTON_DOWN_MASK > 0 {
+			println("Button DOWN pressed")
+		}
+		if pressed&machine.BUTTON_RIGHT_MASK > 0 {
+			println("Button RIGHT pressed")
+		}
+		if pressed&machine.BUTTON_SELECT_MASK > 0 {
+			println("Button SELECT pressed")
+		}
+		if pressed&machine.BUTTON_START_MASK > 0 {
+			println("Button START pressed")
+		}
+		if pressed&machine.BUTTON_A_MASK > 0 {
+			println("Button A pressed")
+		}
+		if pressed&machine.BUTTON_B_MASK > 0 {
+			println("Button B pressed")
+		}
+		time.Sleep(100 * time.Millisecond)
+	}
+}

examples/veml6070/main.go

@@ -0,0 +1,41 @@
+package main
+
+import (
+	"time"
+
+	"machine"
+
+	"tinygo.org/x/drivers/veml6070"
+)
+
+func main() {
+	machine.I2C0.Configure(machine.I2CConfig{})
+	sensor := veml6070.New(machine.I2C0)
+
+	if !sensor.Configure() {
+		println("VEML6070 could not be configured")
+		return
+	}
+
+	println("VEML6070 configured")
+
+	for {
+		intensity, _ := sensor.ReadUVALightIntensity()
+		println("UVA light intensity:", float32(intensity)/1000.0, "W/(m*m)")
+
+		switch sensor.GetEstimatedRiskLevel(intensity) {
+		case veml6070.UVI_RISK_LOW:
+			println("UV risk level: low")
+		case veml6070.UVI_RISK_MODERATE:
+			println("UV risk level: moderate")
+		case veml6070.UVI_RISK_HIGH:
+			println("UV risk level: high")
+		case veml6070.UVI_RISK_VERY_HIGH:
+			println("UV risk level: very high")
+		case veml6070.UVI_RISK_EXTREME:
+			println("UV risk level: extreme")
+		}
+
+		time.Sleep(2 * time.Second)
+	}
+}

examples/wifinina/mqttclient/main.go

@@ -0,0 +1,149 @@
+// This is a sensor station that uses a ESP8266 or ESP32 running on the device UART1.
+// It creates an MQTT connection that publishes a message every second
+// to an MQTT broker.
+//
+// In other words:
+// Your computer <--> UART0 <--> MCU <--> UART1 <--> ESP8266 <--> Internet <--> MQTT broker.
+//
+// You must install the Paho MQTT package to build this program:
+//
+// 		go get -u github.com/eclipse/paho.mqtt.golang
+//
+package main
+
+import (
+	"fmt"
+	"machine"
+	"math/rand"
+	"time"
+
+	"tinygo.org/x/drivers/net/mqtt"
+	"tinygo.org/x/drivers/wifinina"
+)
+
+// access point info
+const ssid = ""
+const pass = ""
+
+// IP address of the MQTT broker to use. Replace with your own info.
+const server = "tcp://test.mosquitto.org:1883"
+
+//const server = "ssl://test.mosquitto.org:8883"
+
+// these are the default pins for the Arduino Nano33 IoT.
+// change these to connect to a different UART or pins for the ESP8266/ESP32
+var (
+
+	// these are the default pins for the Arduino Nano33 IoT.
+	uart = machine.UART2
+	tx   = machine.NINA_TX
+	rx   = machine.NINA_RX
+	spi  = machine.NINA_SPI
+
+	// this is the ESP chip that has the WIFININA firmware flashed on it
+	adaptor = &wifinina.Device{
+		SPI:   spi,
+		CS:    machine.NINA_CS,
+		ACK:   machine.NINA_ACK,
+		GPIO0: machine.NINA_GPIO0,
+		RESET: machine.NINA_RESETN,
+	}
+
+	console = machine.UART0
+	topic   = "tinygo"
+)
+
+func main() {
+	time.Sleep(3000 * time.Millisecond)
+
+	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
+	rand.Seed(time.Now().UnixNano())
+
+	// Configure SPI for 8Mhz, Mode 0, MSB First
+	spi.Configure(machine.SPIConfig{
+		Frequency: 8 * 1e6,
+		MOSI:      machine.NINA_MOSI,
+		MISO:      machine.NINA_MISO,
+		SCK:       machine.NINA_SCK,
+	})
+
+	// Init esp8266/esp32
+	adaptor.Configure()
+
+	connectToAP()
+
+	opts := mqtt.NewClientOptions()
+	opts.AddBroker(server).SetClientID("tinygo-client-" + randomString(10))
+
+	println("Connectng to MQTT...")
+	cl := mqtt.NewClient(opts)
+	if token := cl.Connect(); token.Wait() && token.Error() != nil {
+		failMessage(token.Error().Error())
+	}
+
+	for i := 0; ; i++ {
+		println("Publishing MQTT message...")
+		data := []byte(fmt.Sprintf(`{"e":[{"n":"hello %d","v":101}]}`, i))
+		token := cl.Publish(topic, 0, false, data)
+		token.Wait()
+		if err := token.Error(); err != nil {
+			switch t := err.(type) {
+			case wifinina.Error:
+				println(t.Error(), "attempting to reconnect")
+				if token := cl.Connect(); token.Wait() && token.Error() != nil {
+					failMessage(token.Error().Error())
+				}
+			default:
+				println(err.Error())
+			}
+		}
+		time.Sleep(1 * time.Millisecond)
+	}
+
+	// Right now this code is never reached. Need a way to trigger it...
+	println("Disconnecting MQTT...")
+	cl.Disconnect(100)
+
+	println("Done.")
+}
+
+// connect to access point
+func connectToAP() {
+	time.Sleep(2 * time.Second)
+	println("Connecting to " + ssid)
+	adaptor.SetPassphrase(ssid, pass)
+	for st, _ := adaptor.GetConnectionStatus(); st != wifinina.StatusConnected; {
+		println("Connection status: " + st.String())
+		time.Sleep(1 * time.Second)
+		st, _ = adaptor.GetConnectionStatus()
+	}
+	println("Connected.")
+	time.Sleep(2 * time.Second)
+	ip, _, _, err := adaptor.GetIP()
+	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
+		println(err.Error())
+		time.Sleep(1 * time.Second)
+	}
+	println(ip.String())
+}
+
+// Returns an int >= min, < max
+func randomInt(min, max int) int {
+	return min + rand.Intn(max-min)
+}
+
+// Generate a random string of A-Z chars with len = l
+func randomString(len int) string {
+	bytes := make([]byte, len)
+	for i := 0; i < len; i++ {
+		bytes[i] = byte(randomInt(65, 90))
+	}
+	return string(bytes)
+}
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

examples/wifinina/mqttsub/main.go

@@ -0,0 +1,162 @@
+// This is a sensor station that uses a ESP8266 or ESP32 running on the device UART1.
+// It creates an MQTT connection that publishes a message every second
+// to an MQTT broker.
+//
+// In other words:
+// Your computer <--> UART0 <--> MCU <--> UART1 <--> ESP8266 <--> Internet <--> MQTT broker.
+//
+// You must also install the Paho MQTT package to build this program:
+//
+// 		go get -u github.com/eclipse/paho.mqtt.golang
+//
+package main
+
+import (
+	"fmt"
+	"machine"
+	"math/rand"
+	"time"
+
+	"tinygo.org/x/drivers/net/mqtt"
+	"tinygo.org/x/drivers/wifinina"
+)
+
+// access point info
+const ssid = ""
+const pass = ""
+
+// IP address of the MQTT broker to use. Replace with your own info.
+const server = "tcp://test.mosquitto.org:1883"
+
+//const server = "ssl://test.mosquitto.org:8883"
+
+// change these to connect to a different UART or pins for the ESP8266/ESP32
+var (
+
+	// these are the default pins for the Arduino Nano33 IoT.
+	uart = machine.UART2
+	tx   = machine.NINA_TX
+	rx   = machine.NINA_RX
+	spi  = machine.NINA_SPI
+
+	// this is the ESP chip that has the WIFININA firmware flashed on it
+	adaptor = &wifinina.Device{
+		SPI:   spi,
+		CS:    machine.NINA_CS,
+		ACK:   machine.NINA_ACK,
+		GPIO0: machine.NINA_GPIO0,
+		RESET: machine.NINA_RESETN,
+	}
+
+	console = machine.UART0
+
+	cl      mqtt.Client
+	topicTx = "tinygo/tx"
+	topicRx = "tinygo/rx"
+)
+
+func subHandler(client mqtt.Client, msg mqtt.Message) {
+	fmt.Printf("[%s]  ", msg.Topic())
+	fmt.Printf("%s\r\n", msg.Payload())
+}
+
+func main() {
+	time.Sleep(3000 * time.Millisecond)
+
+	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
+	rand.Seed(time.Now().UnixNano())
+
+	// Configure SPI for 8Mhz, Mode 0, MSB First
+	spi.Configure(machine.SPIConfig{
+		Frequency: 8 * 1e6,
+		MOSI:      machine.NINA_MOSI,
+		MISO:      machine.NINA_MISO,
+		SCK:       machine.NINA_SCK,
+	})
+
+	// Init esp8266/esp32
+	adaptor.Configure()
+
+	connectToAP()
+
+	opts := mqtt.NewClientOptions()
+	opts.AddBroker(server).SetClientID("tinygo-client-" + randomString(10))
+
+	println("Connecting to MQTT broker at", server)
+	cl = mqtt.NewClient(opts)
+	if token := cl.Connect(); token.Wait() && token.Error() != nil {
+		failMessage(token.Error().Error())
+	}
+
+	// subscribe
+	token := cl.Subscribe(topicRx, 0, subHandler)
+	token.Wait()
+	if token.Error() != nil {
+		failMessage(token.Error().Error())
+	}
+
+	go publishing()
+
+	select {}
+
+	// Right now this code is never reached. Need a way to trigger it...
+	println("Disconnecting MQTT...")
+	cl.Disconnect(100)
+
+	println("Done.")
+}
+
+func publishing() {
+	for i := 0; ; i++ {
+		println("Publishing MQTT message...")
+		data := []byte(fmt.Sprintf(`{"e":[{"n":"hello %d","v":101}]}`, i))
+		token := cl.Publish(topicRx, 0, false, data)
+		token.Wait()
+		if token.Error() != nil {
+			println(token.Error().Error())
+		}
+
+		time.Sleep(100 * time.Millisecond)
+	}
+}
+
+// connect to access point
+func connectToAP() {
+	time.Sleep(2 * time.Second)
+	println("Connecting to " + ssid)
+	adaptor.SetPassphrase(ssid, pass)
+	for st, _ := adaptor.GetConnectionStatus(); st != wifinina.StatusConnected; {
+		println("Connection status: " + st.String())
+		time.Sleep(1 * time.Second)
+		st, _ = adaptor.GetConnectionStatus()
+	}
+	println("Connected.")
+	time.Sleep(2 * time.Second)
+	ip, _, _, err := adaptor.GetIP()
+	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
+		println(err.Error())
+		time.Sleep(1 * time.Second)
+	}
+	println(ip.String())
+}
+
+// Returns an int >= min, < max
+func randomInt(min, max int) int {
+	return min + rand.Intn(max-min)
+}
+
+// Generate a random string of A-Z chars with len = l
+func randomString(len int) string {
+	bytes := make([]byte, len)
+	for i := 0; i < len; i++ {
+		bytes[i] = byte(randomInt(65, 90))
+	}
+	return string(bytes)
+}
+
+func failMessage(msg string) {
+	for {
+		println(msg)
+		time.Sleep(1 * time.Second)
+	}
+}

examples/wifinina/tcpclient/main.go

@@ -0,0 +1,143 @@
+// This example opens a TCP connection using a device with WiFiNINA firmware
+// and sends some data, for the purpose of testing speed and connectivity.
+//
+// You can open a server to accept connections from this program using:
+//
+// nc -w 5 -lk 8080
+//
+package main
+
+import (
+	"bytes"
+	"fmt"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/net"
+	"tinygo.org/x/drivers/wifinina"
+)
+
+// access point info
+const ssid = ""
+const pass = ""
+
+// IP address of the server aka "hub". Replace with your own info.
+const serverIP = ""
+
+// these are the default pins for the Arduino Nano33 IoT.
+// change these to connect to a different UART or pins for the ESP8266/ESP32
+var (
+
+	// these are the default pins for the Arduino Nano33 IoT.
+	uart = machine.UART2
+	tx   = machine.NINA_TX
+	rx   = machine.NINA_RX
+	spi  = machine.NINA_SPI
+
+	// this is the ESP chip that has the WIFININA firmware flashed on it
+	adaptor = &wifinina.Device{
+		SPI:   spi,
+		CS:    machine.NINA_CS,
+		ACK:   machine.NINA_ACK,
+		GPIO0: machine.NINA_GPIO0,
+		RESET: machine.NINA_RESETN,
+	}
+
+	console = machine.UART0
+)
+
+var buf = &bytes.Buffer{}
+
+func main() {
+
+	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
+
+	// Configure SPI for 8Mhz, Mode 0, MSB First
+	spi.Configure(machine.SPIConfig{
+		Frequency: 8 * 1e6,
+		MOSI:      machine.NINA_MOSI,
+		MISO:      machine.NINA_MISO,
+		SCK:       machine.NINA_SCK,
+	})
+
+	adaptor.Configure()
+
+	connectToAP()
+
+	for {
+		sendBatch()
+		time.Sleep(500 * time.Millisecond)
+	}
+	println("Done.")
+}
+
+func sendBatch() {
+
+	// make TCP connection
+	ip := net.ParseIP(serverIP)
+	raddr := &net.TCPAddr{IP: ip, Port: 8080}
+	laddr := &net.TCPAddr{Port: 8080}
+
+	message("---------------\r\nDialing TCP connection")
+	conn, err := net.DialTCP("tcp", laddr, raddr)
+	for ; err != nil; conn, err = net.DialTCP("tcp", laddr, raddr) {
+		message(err.Error())
+		time.Sleep(5 * time.Second)
+	}
+
+	n := 0
+	w := 0
+	start := time.Now()
+
+	// send data
+	message("Sending data")
+
+	for i := 0; i < 1000; i++ {
+		buf.Reset()
+		fmt.Fprint(buf,
+			"\r---------------------------- i == ", i, " ----------------------------"+
+				"\r---------------------------- i == ", i, " ----------------------------")
+		if w, err = conn.Write(buf.Bytes()); err != nil {
+			println("error:", err.Error(), "\r")
+			continue
+		}
+		n += w
+	}
+
+	buf.Reset()
+	ms := time.Now().Sub(start).Milliseconds()
+	fmt.Fprint(buf, "\nWrote ", n, " bytes in ", ms, " ms\r\n")
+	message(buf.String())
+
+	if _, err := conn.Write(buf.Bytes()); err != nil {
+		println("error:", err.Error(), "\r")
+	}
+
+	// Right now this code is never reached. Need a way to trigger it...
+	println("Disconnecting TCP...")
+	conn.Close()
+}
+
+// connect to access point
+func connectToAP() {
+	time.Sleep(2 * time.Second)
+	message("Connecting to " + ssid)
+	adaptor.SetPassphrase(ssid, pass)
+	for st, _ := adaptor.GetConnectionStatus(); st != wifinina.StatusConnected; {
+		message("Connection status: " + st.String())
+		time.Sleep(1 * time.Second)
+		st, _ = adaptor.GetConnectionStatus()
+	}
+	message("Connected.")
+	time.Sleep(2 * time.Second)
+	ip, _, _, err := adaptor.GetIP()
+	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
+		message(err.Error())
+		time.Sleep(1 * time.Second)
+	}
+	message(ip.String())
+}
+
+func message(msg string) {
+	println(msg, "\r")
+}

examples/wifinina/webclient/main.go

@@ -0,0 +1,153 @@
+// This example opens a TCP connection using a device with WiFiNINA firmware
+// and sends a HTTP request to retrieve a webpage, based on the following
+// Arduino example:
+//
+// https://github.com/arduino-libraries/WiFiNINA/blob/master/examples/WiFiWebClientRepeating/
+//
+package main
+
+import (
+	"fmt"
+	"machine"
+	"time"
+
+	"tinygo.org/x/drivers/net"
+	"tinygo.org/x/drivers/wifinina"
+)
+
+// access point info
+const ssid = ""
+const pass = ""
+
+// IP address of the server aka "hub". Replace with your own info.
+const server = "tinygo.org"
+
+// these are the default pins for the Arduino Nano33 IoT.
+// change these to connect to a different UART or pins for the ESP8266/ESP32
+var (
+
+	// these are the default pins for the Arduino Nano33 IoT.
+	uart = machine.UART2
+	tx   = machine.NINA_TX
+	rx   = machine.NINA_RX
+	spi  = machine.NINA_SPI
+
+	// this is the ESP chip that has the WIFININA firmware flashed on it
+	adaptor = &wifinina.Device{
+		SPI:   spi,
+		CS:    machine.NINA_CS,
+		ACK:   machine.NINA_ACK,
+		GPIO0: machine.NINA_GPIO0,
+		RESET: machine.NINA_RESETN,
+	}
+
+	console = machine.UART0
+)
+
+var buf [256]byte
+
+var lastRequestTime time.Time
+var conn net.Conn
+
+func main() {
+
+	uart.Configure(machine.UARTConfig{TX: tx, RX: rx})
+
+	// Configure SPI for 8Mhz, Mode 0, MSB First
+	spi.Configure(machine.SPIConfig{
+		Frequency: 8 * 1e6,
+		MOSI:      machine.NINA_MOSI,
+		MISO:      machine.NINA_MISO,
+		SCK:       machine.NINA_SCK,
+	})
+
+	adaptor.Configure()
+
+	connectToAP()
+
+	for {
+		loop()
+	}
+	println("Done.")
+}
+
+func loop() {
+	if conn != nil {
+		for n, err := conn.Read(buf[:]); n > 0; n, err = conn.Read(buf[:]) {
+			if err != nil {
+				println("Read error: " + err.Error())
+			} else {
+				print(string(buf[0:n]))
+			}
+		}
+	}
+	if time.Now().Sub(lastRequestTime).Milliseconds() >= 10000 {
+		makeHTTPRequest()
+	}
+}
+
+func makeHTTPRequest() {
+
+	var err error
+	if conn != nil {
+		conn.Close()
+	}
+
+	// make TCP connection
+	ip := net.ParseIP(server)
+	raddr := &net.TCPAddr{IP: ip, Port: 80}
+	laddr := &net.TCPAddr{Port: 8080}
+
+	message("\r\n---------------\r\nDialing TCP connection")
+	conn, err = net.DialTCP("tcp", laddr, raddr)
+	for ; err != nil; conn, err = net.DialTCP("tcp", laddr, raddr) {
+		message("connection failed: " + err.Error())
+		time.Sleep(5 * time.Second)
+	}
+	println("Connected!\r")
+
+	print("Sending HTTP request...")
+	fmt.Fprintln(conn, "GET / HTTP/1.1")
+	fmt.Fprintln(conn, "Host:", server)
+	fmt.Fprintln(conn, "User-Agent: TinyGo/0.10.0")
+	fmt.Fprintln(conn, "Connection: close")
+	fmt.Fprintln(conn)
+	println("Sent!\r\n\r")
+
+	lastRequestTime = time.Now()
+}
+
+func readLine(conn *net.TCPSerialConn) string {
+	println("Attempting to read...\r")
+	b := buf[:]
+	for expiry := time.Now().Unix() + 10; time.Now().Unix() > expiry; {
+		if n, err := conn.Read(b); n > 0 && err == nil {
+			return string(b[0:n])
+		}
+	}
+	return ""
+}
+
+// connect to access point
+func connectToAP() {
+	time.Sleep(2 * time.Second)
+	message("Connecting to " + ssid)
+	adaptor.SetPassphrase(ssid, pass)
+	for st, _ := adaptor.GetConnectionStatus(); st != wifinina.StatusConnected; {
+		message("Connection status: " + st.String())
+		time.Sleep(1 * time.Second)
+		st, _ = adaptor.GetConnectionStatus()
+	}
+	message("Connected.")
+	time.Sleep(2 * time.Second)
+	ip, _, _, err := adaptor.GetIP()
+	for ; err != nil; ip, _, _, err = adaptor.GetIP() {
+		message(err.Error())
+		time.Sleep(1 * time.Second)
+	}
+	message(ip.String())
+}
+
+func message(msg string) {
+	println(msg, "\r")
+}

lsm6ds3/lsm6ds3.go

@@ -0,0 +1,183 @@
+// Package lsm6ds3 implements a driver for the LSM6DS3 a 6 axis Inertial
+// Measurement Unit (IMU)
+//
+// Datasheet: https://www.st.com/resource/en/datasheet/lsm6ds3.pdf
+//
+package lsm6ds3 // import "tinygo.org/x/drivers/lsm6ds3"
+
+import (
+	"machine"
+)
+
+type AccelRange uint8
+type AccelSampleRate uint8
+type AccelBandwidth uint8
+
+type GyroRange uint8
+type GyroSampleRate uint8
+
+// Device wraps an I2C connection to a LSM6DS3 device.
+type Device struct {
+	bus             machine.I2C
+	Address         uint16
+	accelRange      AccelRange
+	accelSampleRate AccelSampleRate
+	accelBandWidth  AccelBandwidth
+	gyroRange       GyroRange
+	gyroSampleRate  GyroSampleRate
+	dataBufferSix   []uint8
+	dataBufferTwo   []uint8
+}
+
+// Configuration for LSM6DS3 device.
+type Configuration struct {
+	AccelRange       AccelRange
+	AccelSampleRate  AccelSampleRate
+	AccelBandWidth   AccelBandwidth
+	GyroRange        GyroRange
+	GyroSampleRate   GyroSampleRate
+	IsPedometer      bool
+	ResetStepCounter bool
+}
+
+// New creates a new LSM6DS3 connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not touch the device.
+func New(bus machine.I2C) Device {
+	return Device{bus: bus, Address: Address}
+}
+
+// Configure sets up the device for communication.
+func (d *Device) Configure(cfg Configuration) {
+	if cfg.AccelRange != 0 {
+		d.accelRange = cfg.AccelRange
+	} else {
+		d.accelRange = ACCEL_2G
+	}
+
+	if cfg.AccelSampleRate != 0 {
+		d.accelSampleRate = cfg.AccelSampleRate
+	} else {
+		d.accelSampleRate = ACCEL_SR_104
+	}
+
+	if cfg.AccelBandWidth != 0 {
+		d.accelBandWidth = cfg.AccelBandWidth
+	} else {
+		d.accelBandWidth = ACCEL_BW_100
+	}
+
+	if cfg.GyroRange != 0 {
+		d.gyroRange = cfg.GyroRange
+	} else {
+		d.gyroRange = GYRO_2000DPS
+	}
+
+	if cfg.GyroSampleRate != 0 {
+		d.gyroSampleRate = cfg.GyroSampleRate
+	} else {
+		d.gyroSampleRate = GYRO_SR_104
+	}
+
+	d.dataBufferSix = make([]uint8, 6)
+	d.dataBufferTwo = make([]uint8, 2)
+
+	if cfg.IsPedometer { // CONFIGURE AS PEDOMETER
+		// Configure accelerometer: 2G + 26Hz
+		d.bus.WriteRegister(uint8(d.Address), CTRL1_XL, []byte{uint8(ACCEL_2G) | uint8(ACCEL_SR_26)})
+
+		// Configure Zen_G, Yen_G, Xen_G, reset steps
+		if cfg.ResetStepCounter {
+			d.bus.WriteRegister(uint8(d.Address), CTRL10_C, []byte{0x3E})
+		} else {
+			d.bus.WriteRegister(uint8(d.Address), CTRL10_C, []byte{0x3C})
+		}
+
+		// Enable pedometer
+		d.bus.WriteRegister(uint8(d.Address), TAP_CFG, []byte{0x40})
+	} else { // NORMAL USE
+		// Configure accelerometer
+		data := make([]uint8, 1)
+		data[0] = uint8(d.accelRange) | uint8(d.accelSampleRate) | uint8(d.accelBandWidth)
+		d.bus.WriteRegister(uint8(d.Address), CTRL1_XL, data)
+
+		// Set ODR bit
+		d.bus.ReadRegister(uint8(d.Address), CTRL4_C, data)
+		data[0] = data[0] &^ BW_SCAL_ODR_ENABLED
+		data[0] |= BW_SCAL_ODR_ENABLED
+		d.bus.WriteRegister(uint8(d.Address), CTRL4_C, data)
+
+		// Configure gyroscope
+		data[0] = uint8(d.gyroRange) | uint8(d.gyroSampleRate)
+		d.bus.WriteRegister(uint8(d.Address), CTRL2_G, data)
+	}
+}
+
+// Connected returns whether a LSM6DS3 has been found.
+// It does a "who am I" request and checks the response.
+func (d *Device) Connected() bool {
+	data := []byte{0}
+	d.bus.ReadRegister(uint8(d.Address), WHO_AM_I, data)
+	return data[0] == 0x69
+}
+
+// ReadAcceleration reads the current acceleration from the device and returns
+// it in µg (micro-gravity). When one of the axes is pointing straight to Earth
+// and the sensor is not moving the returned value will be around 1000000 or
+// -1000000.
+func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
+	d.bus.ReadRegister(uint8(d.Address), OUTX_L_XL, d.dataBufferSix)
+	// k comes from "Table 3. Mechanical characteristics" 3 of the datasheet * 1000
+	k := int32(61) // 2G
+	if d.accelRange == ACCEL_4G {
+		k = 122
+	} else if d.accelRange == ACCEL_8G {
+		k = 244
+	} else if d.accelRange == ACCEL_16G {
+		k = 488
+	}
+	x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * k
+	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * k
+	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * k
+	return
+}
+
+// ReadRotation reads the current rotation from the device and returns it in
+// µ°/s (micro-degrees/sec). This means that if you were to do a complete
+// rotation along one axis and while doing so integrate all values over time,
+// you would get a value close to 360000000.
+func (d *Device) ReadRotation() (x int32, y int32, z int32) {
+	d.bus.ReadRegister(uint8(d.Address), OUTX_L_G, d.dataBufferSix)
+	// k comes from "Table 3. Mechanical characteristics" 3 of the datasheet * 1000
+	k := int32(4375) // 125DPS
+	if d.gyroRange == GYRO_250DPS {
+		k = 8750
+	} else if d.gyroRange == GYRO_500DPS {
+		k = 17500
+	} else if d.gyroRange == GYRO_1000DPS {
+		k = 35000
+	} else if d.gyroRange == GYRO_2000DPS {
+		k = 70000
+	}
+	x = int32(int16((uint16(d.dataBufferSix[1])<<8)|uint16(d.dataBufferSix[0]))) * k
+	y = int32(int16((uint16(d.dataBufferSix[3])<<8)|uint16(d.dataBufferSix[2]))) * k
+	z = int32(int16((uint16(d.dataBufferSix[5])<<8)|uint16(d.dataBufferSix[4]))) * k
+	return
+}
+
+// ReadTemperature returns the temperature in celsius milli degrees (ºC/1000)
+func (d *Device) ReadTemperature() (int32, error) {
+	d.bus.ReadRegister(uint8(d.Address), OUT_TEMP_L, d.dataBufferTwo)
+
+	// From "Table 5. Temperature sensor characteristics"
+	// temp = value/16 + 25
+	t := 25000 + (int32(int16((int16(d.dataBufferTwo[1])<<8)|int16(d.dataBufferTwo[0])))*125)/2
+	return t, nil
+}
+
+// ReadSteps returns the steps of the pedometer
+func (d *Device) ReadSteps() int32 {
+	d.bus.ReadRegister(uint8(d.Address), STEP_COUNTER_L, d.dataBufferTwo)
+	return int32(int16((uint16(d.dataBufferTwo[1]) << 8) | uint16(d.dataBufferTwo[0])))
+}

lsm6ds3/registers.go

@@ -0,0 +1,83 @@
+package lsm6ds3
+
+// Constants/addresses used for I2C.
+
+// The I2C address which this device listens to.
+const Address = 0x6A
+
+const (
+	WHO_AM_I             = 0x0F
+	STATUS               = 0x1E
+	CTRL1_XL             = 0x10
+	CTRL2_G              = 0x11
+	CTRL3_C              = 0x12
+	CTRL4_C              = 0x13
+	CTRL5_C              = 0x14
+	CTRL6_C              = 0x15
+	CTRL7_G              = 0x16
+	CTRL8_XL             = 0x17
+	CTRL9_XL             = 0x18
+	CTRL10_C             = 0x19
+	OUTX_L_G             = 0x22
+	OUTX_H_G             = 0x23
+	OUTY_L_G             = 0x24
+	OUTY_H_G             = 0x25
+	OUTZ_L_G             = 0x26
+	OUTZ_H_G             = 0x27
+	OUTX_L_XL            = 0x28
+	OUTX_H_XL            = 0x29
+	OUTY_L_XL            = 0x2A
+	OUTY_H_XL            = 0x2B
+	OUTZ_L_XL            = 0x2C
+	OUTZ_H_XL            = 0x2D
+	OUT_TEMP_L           = 0x20
+	OUT_TEMP_H           = 0x21
+	BW_SCAL_ODR_DISABLED = 0x00
+	BW_SCAL_ODR_ENABLED  = 0x80
+	STEP_TIMESTAMP_L     = 0x49
+	STEP_TIMESTAMP_H     = 0x4A
+	STEP_COUNTER_L       = 0x4B
+	STEP_COUNTER_H       = 0x4C
+	STEP_COUNT_DELTA     = 0x15
+	TAP_CFG              = 0x58
+	INT1_CTRL            = 0x0D
+
+	ACCEL_2G  AccelRange = 0x00
+	ACCEL_4G  AccelRange = 0x08
+	ACCEL_8G  AccelRange = 0x0C
+	ACCEL_16G AccelRange = 0x04
+
+	ACCEL_SR_OFF   AccelSampleRate = 0x00
+	ACCEL_SR_13    AccelSampleRate = 0x10
+	ACCEL_SR_26    AccelSampleRate = 0x20
+	ACCEL_SR_52    AccelSampleRate = 0x30
+	ACCEL_SR_104   AccelSampleRate = 0x40
+	ACCEL_SR_208   AccelSampleRate = 0x50
+	ACCEL_SR_416   AccelSampleRate = 0x60
+	ACCEL_SR_833   AccelSampleRate = 0x70
+	ACCEL_SR_1666  AccelSampleRate = 0x80
+	ACCEL_SR_3332  AccelSampleRate = 0x90
+	ACCEL_SR_6664  AccelSampleRate = 0xA0
+	ACCEL_SR_13330 AccelSampleRate = 0xB0
+
+	ACCEL_BW_50  AccelBandwidth = 0x03
+	ACCEL_BW_100 AccelBandwidth = 0x02
+	ACCEL_BW_200 AccelBandwidth = 0x01
+	ACCEL_BW_400 AccelBandwidth = 0x00
+
+	//GYRO_125DPS  GyroRange = 0x01
+	GYRO_250DPS  GyroRange = 0x00
+	GYRO_500DPS  GyroRange = 0x04
+	GYRO_1000DPS GyroRange = 0x08
+	GYRO_2000DPS GyroRange = 0x0C
+
+	GYRO_SR_OFF  GyroSampleRate = 0x00
+	GYRO_SR_13   GyroSampleRate = 0x10
+	GYRO_SR_26   GyroSampleRate = 0x20
+	GYRO_SR_52   GyroSampleRate = 0x30
+	GYRO_SR_104  GyroSampleRate = 0x40
+	GYRO_SR_208  GyroSampleRate = 0x50
+	GYRO_SR_416  GyroSampleRate = 0x60
+	GYRO_SR_833  GyroSampleRate = 0x70
+	GYRO_SR_1666 GyroSampleRate = 0x80
+)

mcp3008/mcp3008.go

@@ -0,0 +1,92 @@
+// Package mcp3008 implements a driver for the MCP3008 Analog to Digital Converter.
+//
+// Datasheet: http://ww1.microchip.com/downloads/en/DeviceDoc/21295d.pdf
+//
+package mcp3008 // import "tinygo.org/x/drivers/mcp3008"
+
+import (
+	"errors"
+	"machine"
+)
+
+// Device wraps MCP3008 SPI ADC.
+type Device struct {
+	bus machine.SPI
+	cs  machine.Pin
+	tx  []byte
+	rx  []byte
+	CH0 ADCPin
+	CH1 ADCPin
+	CH2 ADCPin
+	CH3 ADCPin
+	CH4 ADCPin
+	CH5 ADCPin
+	CH6 ADCPin
+	CH7 ADCPin
+}
+
+// ADCPin is the implementation of the ADConverter interface.
+type ADCPin struct {
+	machine.Pin
+	d *Device
+}
+
+// New returns a new MCP3008 driver. Pass in a fully configured SPI bus.
+func New(b machine.SPI, csPin machine.Pin) *Device {
+	d := &Device{bus: b,
+		cs: csPin,
+		tx: make([]byte, 3),
+		rx: make([]byte, 3),
+	}
+
+	// setup all channels
+	d.CH0 = d.GetADC(0)
+	d.CH1 = d.GetADC(1)
+	d.CH2 = d.GetADC(2)
+	d.CH3 = d.GetADC(3)
+	d.CH4 = d.GetADC(4)
+	d.CH5 = d.GetADC(5)
+	d.CH6 = d.GetADC(6)
+	d.CH7 = d.GetADC(7)
+
+	return d
+}
+
+// Configure sets up the device for communication
+func (d *Device) Configure() {
+	d.cs.Configure(machine.PinConfig{Mode: machine.PinOutput})
+}
+
+// Read analog data from channel
+func (d *Device) Read(ch int) (uint16, error) {
+	if ch < 0 || ch > 7 {
+		return 0, errors.New("invalid channel for MCP3008 Read")
+	}
+
+	return d.GetADC(ch).Get(), nil
+}
+
+// GetADC returns an ADC for a specific channel.
+func (d *Device) GetADC(ch int) ADCPin {
+	return ADCPin{machine.Pin(ch), d}
+}
+
+// Get the current reading for a specific ADCPin.
+func (p ADCPin) Get() uint16 {
+	p.d.tx[0] = 0x01
+	p.d.tx[1] = byte(8+p.Pin) << 4
+	p.d.tx[2] = 0x00
+
+	p.d.cs.Low()
+	p.d.bus.Tx(p.d.tx, p.d.rx)
+
+	// scale result to 16bit value like other ADCs
+	result := uint16((p.d.rx[1]&0x3))<<8 + uint16(p.d.rx[2])<<6
+	p.d.cs.High()
+
+	return result
+}
+
+// Configure here just for interface compatibility.
+func (p ADCPin) Configure() {
+}

net/driver.go

@@ -0,0 +1,27 @@
+package net
+
+type DeviceDriver interface {
+	GetDNS(domain string) (string, error)
+	ConnectTCPSocket(addr, port string) error
+	ConnectSSLSocket(addr, port string) error
+	ConnectUDPSocket(addr, sendport, listenport string) error
+	DisconnectSocket() error
+	StartSocketSend(size int) error
+	Write(b []byte) (n int, err error)
+	ReadSocket(b []byte) (n int, err error)
+	IsSocketDataAvailable() bool
+
+	// FIXME: this is really specific to espat, and maybe shouldn't be part
+	// of the driver interface
+	Response(timeout int) ([]byte, error)
+}
+
+var ActiveDevice DeviceDriver
+
+func UseDriver(driver DeviceDriver) {
+	// TODO: rethink and refactor this
+	if ActiveDevice != nil {
+		panic("net.ActiveDevice is already set")
+	}
+	ActiveDevice = driver
+}

net/mqtt/mqtt.go

@@ -1,3 +1,5 @@
+// Package mqtt is intended to provide compatible interfaces with the
+// Paho mqtt library.
 package mqtt
 
 import (
@@ -6,9 +8,8 @@ import (
 	"time"
 
 	"github.com/eclipse/paho.mqtt.golang/packets"
-	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/espat/net"
-	"tinygo.org/x/drivers/espat/tls"
+	"tinygo.org/x/drivers/net"
+	"tinygo.org/x/drivers/net/tls"
 )
 
 // NewClient will create an MQTT v3.1.1 client with all of the options specified
@@ -17,15 +18,21 @@ import (
 // connection) are created before the application is actually ready.
 func NewClient(o *ClientOptions) Client {
 	c := &mqttclient{opts: o, adaptor: o.Adaptor}
+	c.msgRouter, c.stopRouter = newRouter()
 	return c
 }
 
 type mqttclient struct {
-	adaptor   *espat.Device
-	conn      net.Conn
-	connected bool
-	opts      *ClientOptions
-	mid       uint16
+	adaptor         net.DeviceDriver
+	conn            net.Conn
+	connected       bool
+	opts            *ClientOptions
+	mid             uint16
+	inbound         chan packets.ControlPacket
+	stop            chan struct{}
+	msgRouter       *router
+	stopRouter      chan bool
+	incomingPubChan chan *packets.PublishPacket
 }
 
 // AddRoute allows you to add a handler for messages on a specific topic
@@ -69,6 +76,12 @@ func (c *mqttclient) Connect() Token {
 		return &mqtttoken{err: errors.New("invalid protocol")}
 	}
 
+	c.mid = 1
+	c.inbound = make(chan packets.ControlPacket)
+	c.stop = make(chan struct{})
+	c.incomingPubChan = make(chan *packets.PublishPacket)
+	c.msgRouter.matchAndDispatch(c.incomingPubChan, c.opts.Order, c)
+
 	// send the MQTT connect message
 	connectPkt := packets.NewControlPacket(packets.Connect).(*packets.ConnectPacket)
 	connectPkt.Qos = 0
@@ -82,7 +95,7 @@ func (c *mqttclient) Connect() Token {
 		connectPkt.PasswordFlag = true
 	}
 
-	connectPkt.ClientIdentifier = c.opts.ClientID //"tinygo-client-" + randomString(10)
+	connectPkt.ClientIdentifier = c.opts.ClientID
 	connectPkt.ProtocolVersion = byte(c.opts.ProtocolVersion)
 	connectPkt.ProtocolName = "MQTT"
 	connectPkt.Keepalive = 30
@@ -92,26 +105,25 @@ func (c *mqttclient) Connect() Token {
 		return &mqtttoken{err: err}
 	}
 
-	// TODO: handle timeout
-	for {
-		packet, _ := packets.ReadPacket(c.conn)
-
-		if packet != nil {
-			ack, ok := packet.(*packets.ConnackPacket)
-			if ok {
-				if ack.ReturnCode == 0 {
-					// success
-					return &mqtttoken{}
-				}
-				// otherwise something went wrong
+	// TODO: handle timeout as ReadPacket blocks until it gets a packet.
+	// CONNECT response.
+	packet, err := packets.ReadPacket(c.conn)
+	if err != nil {
+		return &mqtttoken{err: err}
+	}
+	if packet != nil {
+		ack, ok := packet.(*packets.ConnackPacket)
+		if ok {
+			if ack.ReturnCode != 0 {
 				return &mqtttoken{err: errors.New(packet.String())}
 			}
+			c.connected = true
 		}
-
-		time.Sleep(100 * time.Millisecond)
 	}
 
-	c.connected = true
+	go readMessages(c)
+	go processInbound(c)
+
 	return &mqtttoken{}
 }
 
@@ -127,6 +139,10 @@ func (c *mqttclient) Disconnect(quiesce uint) {
 // to the specified topic.
 // Returns a token to track delivery of the message to the broker
 func (c *mqttclient) Publish(topic string, qos byte, retained bool, payload interface{}) Token {
+	if !c.IsConnected() {
+		return &mqtttoken{err: errors.New("MQTT client not connected")}
+	}
+
 	pub := packets.NewControlPacket(packets.Publish).(*packets.PublishPacket)
 	pub.Qos = qos
 	pub.TopicName = topic
@@ -142,12 +158,37 @@ func (c *mqttclient) Publish(topic string, qos byte, retained bool, payload inte
 	c.mid++
 
 	err := pub.Write(c.conn)
-	return &mqtttoken{err: err}
+	if err != nil {
+		return &mqtttoken{err: err}
+	}
+
+	return &mqtttoken{}
 }
 
 // Subscribe starts a new subscription. Provide a MessageHandler to be executed when
 // a message is published on the topic provided.
 func (c *mqttclient) Subscribe(topic string, qos byte, callback MessageHandler) Token {
+	if !c.IsConnected() {
+		return &mqtttoken{err: errors.New("MQTT client not connected")}
+	}
+
+	sub := packets.NewControlPacket(packets.Subscribe).(*packets.SubscribePacket)
+	sub.Topics = append(sub.Topics, topic)
+	sub.Qoss = append(sub.Qoss, qos)
+
+	if callback != nil {
+		c.msgRouter.addRoute(topic, callback)
+	}
+
+	sub.MessageID = c.mid
+	c.mid++
+
+	// drop in the channel to send
+	err := sub.Write(c.conn)
+	if err != nil {
+		return &mqtttoken{err: err}
+	}
+
 	return &mqtttoken{}
 }
 
@@ -171,18 +212,92 @@ func (c *mqttclient) OptionsReader() ClientOptionsReader {
 	return r
 }
 
-type mqtttoken struct {
-	err error
+func processInbound(c *mqttclient) {
+	for {
+		select {
+		case msg := <-c.inbound:
+			switch m := msg.(type) {
+			case *packets.PingrespPacket:
+				// TODO: handle this
+			case *packets.SubackPacket:
+				// TODO: handle this
+			case *packets.UnsubackPacket:
+				// TODO: handle this
+			case *packets.PublishPacket:
+				// TODO: handle Qos
+				c.incomingPubChan <- m
+			case *packets.PubackPacket:
+				// TODO: handle this
+			case *packets.PubrecPacket:
+				// TODO: handle this
+			case *packets.PubrelPacket:
+				// TODO: handle this
+			case *packets.PubcompPacket:
+				// TODO: handle this
+			}
+		case <-c.stop:
+			return
+		}
+	}
 }
 
-func (t *mqtttoken) Wait() bool {
-	return true
+// readMessages reads incoming messages off the wire.
+// incoming messages are then send into inbound channel.
+func readMessages(c *mqttclient) {
+	var err error
+	var cp packets.ControlPacket
+
+PROCESS:
+	for {
+		if cp, err = c.ReadPacket(); err != nil {
+			break PROCESS
+		}
+		if cp != nil {
+			c.inbound <- cp
+			// TODO: Notify keepalive logic that we recently received a packet
+		}
+
+		time.Sleep(100 * time.Millisecond)
+	}
+
+	// TODO: handle if we received an error on read.
+	// If disconnect is in progress, swallow error and return
 }
 
-func (t *mqtttoken) WaitTimeout(time.Duration) bool {
-	return true
+func (c *mqttclient) ackFunc(packet *packets.PublishPacket) func() {
+	return func() {
+		switch packet.Qos {
+		case 2:
+			// pr := packets.NewControlPacket(packets.Pubrec).(*packets.PubrecPacket)
+			// pr.MessageID = packet.MessageID
+			// DEBUG.Println(NET, "putting pubrec msg on obound")
+			// select {
+			// case c.oboundP <- &PacketAndToken{p: pr, t: nil}:
+			// case <-c.stop:
+			// }
+			// DEBUG.Println(NET, "done putting pubrec msg on obound")
+		case 1:
+			// pa := packets.NewControlPacket(packets.Puback).(*packets.PubackPacket)
+			// pa.MessageID = packet.MessageID
+			// DEBUG.Println(NET, "putting puback msg on obound")
+			// persistOutbound(c.persist, pa)
+			// select {
+			// case c.oboundP <- &PacketAndToken{p: pa, t: nil}:
+			// case <-c.stop:
+			// }
+			// DEBUG.Println(NET, "done putting puback msg on obound")
+		case 0:
+			// do nothing, since there is no need to send an ack packet back
+		}
+	}
 }
 
-func (t *mqtttoken) Error() error {
-	return t.err
+// ReadPacket tries to read the next incoming packet from the MQTT broker.
+// If there is no data yet but also is no error, it returns nil for both values.
+func (c *mqttclient) ReadPacket() (packets.ControlPacket, error) {
+	// check for data first...
+	if net.ActiveDevice.IsSocketDataAvailable() {
+		return packets.ReadPacket(c.conn)
+	}
+	return nil, nil
 }

net/mqtt/paho.go

@@ -24,7 +24,8 @@ import (
 	"strings"
 	"time"
 
-	"tinygo.org/x/drivers/espat"
+	"github.com/eclipse/paho.mqtt.golang/packets"
+	"tinygo.org/x/drivers/net"
 )
 
 const (
@@ -155,6 +156,18 @@ func (m *message) Ack() {
 	return
 }
 
+func messageFromPublish(p *packets.PublishPacket, ack func()) Message {
+	return &message{
+		duplicate: p.Dup,
+		qos:       p.Qos,
+		retained:  p.Retain,
+		topic:     p.TopicName,
+		messageID: p.MessageID,
+		payload:   p.Payload,
+		ack:       ack,
+	}
+}
+
 // ClientOptionsReader provides an interface for reading ClientOptions after the client has been initialized.
 type ClientOptionsReader struct {
 	options *ClientOptions
@@ -162,7 +175,7 @@ type ClientOptionsReader struct {
 
 // ClientOptions contains configurable options for an MQTT Client.
 type ClientOptions struct {
-	Adaptor *espat.Device
+	Adaptor net.DeviceDriver
 
 	//Servers                 []*url.URL
 	Servers  string
@@ -196,8 +209,8 @@ type ClientOptions struct {
 }
 
 // NewClientOptions returns a new ClientOptions struct.
-func NewClientOptions(adaptor *espat.Device) *ClientOptions {
-	return &ClientOptions{Adaptor: adaptor, ProtocolVersion: 4}
+func NewClientOptions() *ClientOptions {
+	return &ClientOptions{Adaptor: net.ActiveDevice, ProtocolVersion: 4}
 }
 
 // AddBroker adds a broker URI to the list of brokers to be used. The format should be
@@ -243,3 +256,25 @@ func (o *ClientOptions) SetPassword(p string) *ClientOptions {
 	o.Password = p
 	return o
 }
+
+// SetWill accepts a string will message to be set. When the client connects,
+// it will give this will message to the broker, which will then publish the
+// provided payload (the will) to any clients that are subscribed to the provided
+// topic.
+func (o *ClientOptions) SetWill(topic string, payload string, qos byte, retained bool) *ClientOptions {
+	o.SetBinaryWill(topic, []byte(payload), qos, retained)
+	return o
+}
+
+// SetBinaryWill accepts a []byte will message to be set. When the client connects,
+// it will give this will message to the broker, which will then publish the
+// provided payload (the will) to any clients that are subscribed to the provided
+// topic.
+func (o *ClientOptions) SetBinaryWill(topic string, payload []byte, qos byte, retained bool) *ClientOptions {
+	o.WillEnabled = true
+	o.WillTopic = topic
+	o.WillPayload = payload
+	o.WillQos = qos
+	o.WillRetained = retained
+	return o
+}

net/mqtt/router.go

@@ -0,0 +1,182 @@
+// The following code is a slightly modified version of code taken from the Paho MQTT library.
+// It is here until TinyGo can compile the "net" package from the standard library, at which time
+// it can be removed.
+
+/*
+ * Copyright (c) 2013 IBM Corp.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v1.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v10.html
+ *
+ * Contributors:
+ *    Seth Hoenig
+ *    Allan Stockdill-Mander
+ *    Mike Robertson
+ */
+
+package mqtt
+
+import (
+	"container/list"
+	"strings"
+
+	"github.com/eclipse/paho.mqtt.golang/packets"
+)
+
+// route is a type which associates MQTT Topic strings with a
+// callback to be executed upon the arrival of a message associated
+// with a subscription to that topic.
+type route struct {
+	topic    string
+	callback MessageHandler
+}
+
+// match takes a slice of strings which represent the route being tested having been split on '/'
+// separators, and a slice of strings representing the topic string in the published message, similarly
+// split.
+// The function determines if the topic string matches the route according to the MQTT topic rules
+// and returns a boolean of the outcome
+func match(route []string, topic []string) bool {
+	if len(route) == 0 {
+		if len(topic) == 0 {
+			return true
+		}
+		return false
+	}
+
+	if len(topic) == 0 {
+		if route[0] == "#" {
+			return true
+		}
+		return false
+	}
+
+	if route[0] == "#" {
+		return true
+	}
+
+	if (route[0] == "+") || (route[0] == topic[0]) {
+		return match(route[1:], topic[1:])
+	}
+	return false
+}
+
+func routeIncludesTopic(route, topic string) bool {
+	return match(routeSplit(route), strings.Split(topic, "/"))
+}
+
+// removes $share and sharename when splitting the route to allow
+// shared subscription routes to correctly match the topic
+func routeSplit(route string) []string {
+	var result []string
+	if strings.HasPrefix(route, "$share") {
+		result = strings.Split(route, "/")[2:]
+	} else {
+		result = strings.Split(route, "/")
+	}
+	return result
+}
+
+// match takes the topic string of the published message and does a basic compare to the
+// string of the current Route, if they match it returns true
+func (r *route) match(topic string) bool {
+	return r.topic == topic || routeIncludesTopic(r.topic, topic)
+}
+
+type router struct {
+	//sync.RWMutex
+	routes         *list.List
+	defaultHandler MessageHandler
+	messages       chan *packets.PublishPacket
+	stop           chan bool
+}
+
+// newRouter returns a new instance of a Router and channel which can be used to tell the Router
+// to stop
+func newRouter() (*router, chan bool) {
+	router := &router{routes: list.New(), messages: make(chan *packets.PublishPacket), stop: make(chan bool)}
+	stop := router.stop
+	return router, stop
+}
+
+// addRoute takes a topic string and MessageHandler callback. It looks in the current list of
+// routes to see if there is already a matching Route. If there is it replaces the current
+// callback with the new one. If not it add a new entry to the list of Routes.
+func (r *router) addRoute(topic string, callback MessageHandler) {
+	for e := r.routes.Front(); e != nil; e = e.Next() {
+		if e.Value.(*route).match(topic) {
+			r := e.Value.(*route)
+			r.callback = callback
+			return
+		}
+	}
+	r.routes.PushBack(&route{topic: topic, callback: callback})
+}
+
+// deleteRoute takes a route string, looks for a matching Route in the list of Routes. If
+// found it removes the Route from the list.
+func (r *router) deleteRoute(topic string) {
+	for e := r.routes.Front(); e != nil; e = e.Next() {
+		if e.Value.(*route).match(topic) {
+			r.routes.Remove(e)
+			return
+		}
+	}
+}
+
+// setDefaultHandler assigns a default callback that will be called if no matching Route
+// is found for an incoming Publish.
+func (r *router) setDefaultHandler(handler MessageHandler) {
+	r.defaultHandler = handler
+}
+
+// matchAndDispatch takes a channel of Message pointers as input and starts a go routine that
+// takes messages off the channel, matches them against the internal route list and calls the
+// associated callback (or the defaultHandler, if one exists and no other route matched). If
+// anything is sent down the stop channel the function will end.
+func (r *router) matchAndDispatch(messages <-chan *packets.PublishPacket, order bool, client *mqttclient) {
+	go func() {
+		for {
+			select {
+			case message := <-messages:
+				sent := false
+				m := messageFromPublish(message, client.ackFunc(message))
+				handlers := []MessageHandler{}
+				for e := r.routes.Front(); e != nil; e = e.Next() {
+					if e.Value.(*route).match(message.TopicName) {
+						if order {
+							handlers = append(handlers, e.Value.(*route).callback)
+						} else {
+							hd := e.Value.(*route).callback
+							go func() {
+								hd(client, m)
+								//TODO: m.Ack()
+							}()
+						}
+						sent = true
+					}
+				}
+				if !sent && r.defaultHandler != nil {
+					if order {
+						handlers = append(handlers, r.defaultHandler)
+					} else {
+						go func() {
+							r.defaultHandler(client, m)
+							//TODO: m.Ack()
+						}()
+					}
+				}
+				for _, handler := range handlers {
+					func() {
+						handler(client, m)
+						//TODO: m.Ack()
+					}()
+				}
+			case <-r.stop:
+				return
+			}
+		}
+	}()
+}

net/mqtt/token.go

@@ -0,0 +1,19 @@
+package mqtt
+
+import "time"
+
+type mqtttoken struct {
+	err error
+}
+
+func (t *mqtttoken) Wait() bool {
+	return true
+}
+
+func (t *mqtttoken) WaitTimeout(time.Duration) bool {
+	return true
+}
+
+func (t *mqtttoken) Error() error {
+	return t.err
+}

net/net.go

@@ -7,8 +7,6 @@ import (
 	"strconv"
 	"strings"
 	"time"
-
-	"tinygo.org/x/drivers/espat"
 )
 
 // DialUDP makes a UDP network connection. raadr is the port that the messages will
@@ -20,12 +18,15 @@ func DialUDP(network string, laddr, raddr *UDPAddr) (*UDPSerialConn, error) {
 	listenport := strconv.Itoa(laddr.Port)
 
 	// disconnect any old socket
-	espat.ActiveDevice.DisconnectSocket()
+	ActiveDevice.DisconnectSocket()
 
 	// connect new socket
-	espat.ActiveDevice.ConnectUDPSocket(addr, sendport, listenport)
+	err := ActiveDevice.ConnectUDPSocket(addr, sendport, listenport)
+	if err != nil {
+		return nil, err
+	}
 
-	return &UDPSerialConn{SerialConn: SerialConn{Adaptor: espat.ActiveDevice}, laddr: laddr, raddr: raddr}, nil
+	return &UDPSerialConn{SerialConn: SerialConn{Adaptor: ActiveDevice}, laddr: laddr, raddr: raddr}, nil
 }
 
 // ListenUDP listens for UDP connections on the port listed in laddr.
@@ -35,12 +36,15 @@ func ListenUDP(network string, laddr *UDPAddr) (*UDPSerialConn, error) {
 	listenport := strconv.Itoa(laddr.Port)
 
 	// disconnect any old socket
-	espat.ActiveDevice.DisconnectSocket()
+	ActiveDevice.DisconnectSocket()
 
 	// connect new socket
-	espat.ActiveDevice.ConnectUDPSocket(addr, sendport, listenport)
+	err := ActiveDevice.ConnectUDPSocket(addr, sendport, listenport)
+	if err != nil {
+		return nil, err
+	}
 
-	return &UDPSerialConn{SerialConn: SerialConn{Adaptor: espat.ActiveDevice}, laddr: laddr}, nil
+	return &UDPSerialConn{SerialConn: SerialConn{Adaptor: ActiveDevice}, laddr: laddr}, nil
 }
 
 // DialTCP makes a TCP network connection. raadr is the port that the messages will
@@ -50,13 +54,16 @@ func DialTCP(network string, laddr, raddr *TCPAddr) (*TCPSerialConn, error) {
 	addr := raddr.IP.String()
 	sendport := strconv.Itoa(raddr.Port)
 
-	// disconnect any old socket
-	espat.ActiveDevice.DisconnectSocket()
+	// disconnect any old socket?
+	//ActiveDevice.DisconnectSocket()
 
 	// connect new socket
-	espat.ActiveDevice.ConnectTCPSocket(addr, sendport)
+	err := ActiveDevice.ConnectTCPSocket(addr, sendport)
+	if err != nil {
+		return nil, err
+	}
 
-	return &TCPSerialConn{SerialConn: SerialConn{Adaptor: espat.ActiveDevice}, laddr: laddr, raddr: raddr}, nil
+	return &TCPSerialConn{SerialConn: SerialConn{Adaptor: ActiveDevice}, laddr: laddr, raddr: raddr}, nil
 }
 
 // Dial connects to the address on the named network.
@@ -87,7 +94,7 @@ func Dial(network, address string) (Conn, error) {
 
 // SerialConn is a loosely net.Conn compatible implementation
 type SerialConn struct {
-	Adaptor *espat.Device
+	Adaptor DeviceDriver
 }
 
 // UDPSerialConn is a loosely net.Conn compatible intended to support
@@ -132,8 +139,20 @@ func (c *SerialConn) Read(b []byte) (n int, err error) {
 func (c *SerialConn) Write(b []byte) (n int, err error) {
 	// specify that is a data transfer to the
 	// currently open socket, not commands to the ESP8266/ESP32.
-	c.Adaptor.StartSocketSend(len(b))
-	return c.Adaptor.Write(b)
+	err = c.Adaptor.StartSocketSend(len(b))
+	if err != nil {
+		return
+	}
+	n, err = c.Adaptor.Write(b)
+	if err != nil {
+		return n, err
+	}
+	/* TODO(bcg): this is kind of specific to espat, should maybe refactor */
+	_, err = c.Adaptor.Response(1000)
+	if err != nil {
+		return n, err
+	}
+	return n, err
 }
 
 // Close closes the connection.
@@ -220,7 +239,7 @@ func ResolveTCPAddr(network, address string) (*TCPAddr, error) {
 	// TODO: make sure network is 'tcp'
 	// separate domain from port, if any
 	r := strings.Split(address, ":")
-	addr, err := espat.ActiveDevice.GetDNS(r[0])
+	addr, err := ActiveDevice.GetDNS(r[0])
 	if err != nil {
 		return nil, err
 	}
@@ -243,7 +262,7 @@ func ResolveUDPAddr(network, address string) (*UDPAddr, error) {
 	// TODO: make sure network is 'udp'
 	// separate domain from port, if any
 	r := strings.Split(address, ":")
-	addr, err := espat.ActiveDevice.GetDNS(r[0])
+	addr, err := ActiveDevice.GetDNS(r[0])
 	if err != nil {
 		return nil, err
 	}

net/tls/tls.go

@@ -5,8 +5,7 @@ package tls
 import (
 	"strconv"
 
-	"tinygo.org/x/drivers/espat"
-	"tinygo.org/x/drivers/espat/net"
+	"tinygo.org/x/drivers/net"
 )
 
 // Dial makes a TLS network connection. It tries to provide a mostly compatible interface
@@ -22,15 +21,15 @@ func Dial(network, address string, config *Config) (*net.TCPSerialConn, error) {
 	sendport := strconv.Itoa(raddr.Port)
 
 	// disconnect any old socket
-	espat.ActiveDevice.DisconnectSocket()
+	net.ActiveDevice.DisconnectSocket()
 
 	// connect new socket
-	err = espat.ActiveDevice.ConnectSSLSocket(addr, sendport)
+	err = net.ActiveDevice.ConnectSSLSocket(addr, sendport)
 	if err != nil {
 		return nil, err
 	}
 
-	return net.NewTCPSerialConn(net.SerialConn{Adaptor: espat.ActiveDevice}, nil, raddr), nil
+	return net.NewTCPSerialConn(net.SerialConn{Adaptor: net.ActiveDevice}, nil, raddr), nil
 }
 
 // Config is a placeholder for future compatibility with

semihosting/semihosting.go

@@ -0,0 +1,47 @@
+// Package semihosting implements parts of the ARM semihosting specification,
+// for communicating over a debug connection.
+//
+// If you want to use it in OpenOCD, you have to enable it first with the
+// following command:
+//
+//     arm semihosting enable
+package semihosting
+
+import (
+	"device/arm"
+	"unsafe"
+)
+
+// IOError is returned by I/O operations when they fail.
+type IOError struct {
+	BytesWritten int
+}
+
+func (e *IOError) Error() string {
+	return "semihosting: I/O error"
+}
+
+// Write writes the given data to the given file descriptor. It returns an
+// *IOError if the write was not successful.
+func Write(fd uintptr, data []byte) error {
+	if len(data) == 0 {
+		return nil
+	}
+	params := struct {
+		fd   uintptr
+		data unsafe.Pointer
+		len  int
+	}{
+		fd:   fd,
+		data: unsafe.Pointer(&data[0]),
+		len:  len(data),
+	}
+	unwritten := arm.SemihostingCall(arm.SemihostingWrite, uintptr(unsafe.Pointer(&params)))
+	if unwritten != 0 {
+		// Error: unwritten is the number of bytes not written.
+		return &IOError{
+			BytesWritten: len(data) - unwritten,
+		}
+	}
+	return nil
+}

semihosting/stdio.go

@@ -0,0 +1,20 @@
+package semihosting
+
+// These three file descriptors are connected to the host stdin/stdout/stderr,
+// and can be used for logging.
+var (
+	Stdin  = File{fd: 0}
+	Stdout = File{fd: 1}
+	Stderr = File{fd: 2}
+)
+
+// File represents a semihosting file descriptor.
+type File struct {
+	fd uintptr
+}
+
+// Write writes the given data buffer to the file descriptor, returning an error
+// if the write could not complete successfully.
+func (f *File) Write(buf []byte) error {
+	return Write(f.fd, buf)
+}

shifter/shifter.go

@@ -0,0 +1,104 @@
+// Package shifter is for 8bit shift register, most common are 74HC165 and 74165
+package shifter // import "tinygo.org/x/drivers/shifter"
+
+import (
+	"errors"
+	"machine"
+)
+
+const (
+	EIGHT_BITS     NumberBit = 8
+	SIXTEEN_BITS   NumberBit = 16
+	THIRTYTWO_BITS NumberBit = 32
+)
+
+type NumberBit int8
+
+// Device holds the Pins.
+type Device struct {
+	latch machine.Pin
+	clk   machine.Pin
+	out   machine.Pin
+	Pins  []ShiftPin
+	bits  NumberBit
+}
+
+// ShiftPin is the implementation of the ShiftPin interface.
+type ShiftPin struct {
+	pin machine.Pin
+	d   *Device
+}
+
+// New returns a new thermistor driver given an ADC pin.
+func New(numBits NumberBit, latch, clk, out machine.Pin) Device {
+	return Device{
+		latch: latch,
+		clk:   clk,
+		out:   out,
+		Pins:  make([]ShiftPin, int(numBits)),
+		bits:  numBits,
+	}
+}
+
+// Configure here just for interface compatibility.
+func (d *Device) Configure() {
+	d.latch.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.clk.Configure(machine.PinConfig{Mode: machine.PinOutput})
+	d.out.Configure(machine.PinConfig{Mode: machine.PinInput})
+	for i := 0; i < int(d.bits); i++ {
+		d.Pins[i] = d.GetShiftPin(i)
+	}
+}
+
+// GetShiftPin returns an ShiftPin for a specific input.
+func (d *Device) GetShiftPin(input int) ShiftPin {
+	return ShiftPin{pin: machine.Pin(input), d: d}
+}
+
+// Read8Input reads the 8 inputs and return an uint8
+func (d *Device) Read8Input() (uint8, error) {
+	if d.bits != EIGHT_BITS {
+		return 0, errors.New("wrong amount of registers")
+	}
+	return uint8(d.readInput(EIGHT_BITS)), nil
+}
+
+// Read16Input reads the 16 inputs and return an uint16
+func (d *Device) Read16Input() (uint16, error) {
+	if d.bits != SIXTEEN_BITS {
+		return 0, errors.New("wrong amount of registers")
+	}
+	return uint16(d.readInput(SIXTEEN_BITS)), nil
+}
+
+// Read32Input reads the 32 inputs and return an uint32
+func (d *Device) Read32Input() (uint32, error) {
+	if d.bits != THIRTYTWO_BITS {
+		return 0, errors.New("wrong amount of registers")
+	}
+	return d.readInput(THIRTYTWO_BITS), nil
+}
+
+// Get the current reading for a specific ShiftPin.
+func (p ShiftPin) Get() bool {
+	return (p.d.readInput(p.d.bits) & (1 << int(p.pin))) > 0
+}
+
+// Configure here just for interface compatibility.
+func (p ShiftPin) Configure() {
+}
+
+// readInput reads howMany bits from the shift register
+func (d *Device) readInput(howMany NumberBit) uint32 {
+	d.latch.High()
+	var data uint32
+	for i := howMany - 1; i >= 0; i-- {
+		d.clk.Low()
+		if d.out.Get() {
+			data |= 1 << i
+		}
+		d.clk.High()
+	}
+	d.latch.Low()
+	return data
+}

ssd1331/ssd1331.go

@@ -34,7 +34,7 @@ type Config struct {
 	Height int16
 }
 
-// New creates a new ST7735 connection. The SPI wire must already be configured.
+// New creates a new SSD1331 connection. The SPI wire must already be configured.
 func New(bus machine.SPI, resetPin, dcPin, csPin machine.Pin) Device {
 	dcPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
 	resetPin.Configure(machine.PinConfig{Mode: machine.PinOutput})
@@ -250,21 +250,8 @@ func (d *Device) Data(data uint8) {
 
 // Tx sends data to the display
 func (d *Device) Tx(data []byte, isCommand bool) {
-	if isCommand {
-		d.csPin.High()
-		d.dcPin.Low()
-		d.csPin.Low()
-
-		d.bus.Tx(data, nil)
-		d.csPin.High()
-	} else {
-		d.csPin.High()
-		d.dcPin.High()
-		d.csPin.Low()
-
-		d.bus.Tx(data, nil)
-		d.csPin.High()
-	}
+	d.dcPin.Set(!isCommand)
+	d.bus.Tx(data, nil)
 }
 
 // Size returns the current size of the display.

st7735/st7735.go

@@ -151,29 +151,9 @@ func (d *Device) Configure(cfg Config) {
 
 	if d.model == GREENTAB {
 		d.InvertColors(false)
-		d.Command(CASET)
-		d.Data(0x00)
-		d.Data(0x02)
-		d.Data(0x00)
-		d.Data(0x7F + 0x02)
-		d.Command(RASET)
-		d.Data(0x00)
-		d.Data(0x01)
-		d.Data(0x00)
-		d.Data(0x9F + 0x01)
 	} else if d.model == MINI80x160 {
 		d.isBGR = true
 		d.InvertColors(true)
-		d.Command(CASET)
-		d.Data(0x00)
-		d.Data(0x00)
-		d.Data(0x00)
-		d.Data(0x7F)
-		d.Command(RASET)
-		d.Data(0x00)
-		d.Data(0x00)
-		d.Data(0x00)
-		d.Data(0x9F)
 	}
 
 	// common color adjustment
@@ -383,21 +363,8 @@ func (d *Device) Data(data uint8) {
 
 // Tx sends data to the display
 func (d *Device) Tx(data []byte, isCommand bool) {
-	if isCommand {
-		d.csPin.High()
-		d.dcPin.Low()
-		d.csPin.Low()
-
-		d.bus.Tx(data, nil)
-		d.csPin.High()
-	} else {
-		d.csPin.High()
-		d.dcPin.High()
-		d.csPin.Low()
-
-		d.bus.Tx(data, nil)
-		d.csPin.High()
-	}
+	d.dcPin.Set(!isCommand)
+	d.bus.Tx(data, nil)
 }
 
 // Size returns the current size of the display.

st7789/st7789.go

@@ -100,18 +100,6 @@ func (d *Device) Configure(cfg Config) {
 	time.Sleep(10 * time.Millisecond)
 
 	d.SetRotation(d.rotation)
-
-	d.Command(CASET)
-	d.Data(0x00)
-	d.Data(uint8(d.columnOffset))
-	d.Data((240 + uint8(d.columnOffset)) >> 8)
-	d.Data(((240 + uint8(d.columnOffset)) >> 8) & 0xFF)
-	d.Command(RASET)
-	d.Data(0x00)
-	d.Data(uint8(d.rowOffset))
-	d.Data((240 + uint8(d.rowOffset)) >> 8)
-	d.Data(((240 + uint8(d.rowOffset)) >> 8) & 0xFF)
-
 	d.InvertColors(true)
 
 	d.Command(NORON)
@@ -194,12 +182,13 @@ func (d *Device) FillRectangleWithBuffer(x, y, width, height int16, buffer []col
 	offset := int32(0)
 	for k > 0 {
 		for i := int32(0); i < d.batchLength; i++ {
-
-			c565 := RGBATo565(buffer[offset+i])
-			c1 := uint8(c565 >> 8)
-			c2 := uint8(c565)
-			data[i*2] = c1
-			data[i*2+1] = c2
+			if offset+i < int32(len(buffer)) {
+				c565 := RGBATo565(buffer[offset+i])
+				c1 := uint8(c565 >> 8)
+				c2 := uint8(c565)
+				data[i*2] = c1
+				data[i*2+1] = c2
+			}
 		}
 		if k >= d.batchLength {
 			d.Tx(data, false)

veml6070/registers.go

@@ -0,0 +1,65 @@
+package veml6070
+
+// I2C addresses and other constants
+
+const (
+	ADDR_L = 0x38 // 7bit address of the VEML6070 (write, read)
+	ADDR_H = 0x39 // 7bit address of the VEML6070 (read)
+)
+
+// Some possible values for resistance value (in ohm) of VEML6070 calibration resistor
+const (
+	RSET_240K = 240000
+	RSET_270K = 270000
+	RSET_300K = 300000
+	RSET_600K = 600000
+)
+
+// Possible values for integration time of VEML6070
+// (internally represents the config register bit mask)
+const (
+	IT_HALF = 0x00
+	IT_1    = 0x04
+	IT_2    = 0x08
+	IT_4    = 0x0C
+)
+
+// Possible values for UVI (UV index) risk level estimations - the VEML6070 can
+// only estimate UVI risk levels since it can only sense UVA rays but the vendor
+// tried to come up with some coarse thresholds, from application notes
+const (
+	UVI_RISK_LOW = iota
+	UVI_RISK_MODERATE
+	UVI_RISK_HIGH
+	UVI_RISK_VERY_HIGH
+	UVI_RISK_EXTREME
+)
+
+// Scale factor in milliseconds / ohm to determine refresh time
+// (aka sampling time) without IT_FACTOR for any given RSET, from datasheet.
+// Note: 100.0 milliseconds are applicable for RSET=240 kOhm and IT_FACTOR=1
+const RSET_TO_REFRESHTIME_SCALE = 100.0 / RSET_240K
+
+// The refresh time in milliseconds for which NORMALIZED_UVA_SENSITIVITY
+// is applicable to a step count
+const NORMALIZED_REFRESHTIME = 100.0
+
+// The UVA sensitivity in mW/(m*m)/step which is applicable to a step count
+// normalized to the NORMALIZED_REFRESHTIME, from datasheet for RSET=240 kOhm
+// and IT_FACTOR=1
+const NORMALIZED_UVA_SENSITIVITY = 50.0
+
+// Config register
+
+// Possible values for shutdown
+const (
+	CONFIG_SD_DISABLE = 0x00
+	CONFIG_SD_ENABLE  = 0x01
+)
+
+// Enable / disable
+const (
+	CONFIG_DEFAULTS = 0x02
+	CONFIG_ENABLE   = CONFIG_SD_DISABLE | CONFIG_DEFAULTS
+	CONFIG_DISABLE  = CONFIG_SD_ENABLE | CONFIG_DEFAULTS
+)

veml6070/veml6070.go

@@ -0,0 +1,140 @@
+// Package veml6070 provides a driver for the VEML6070 digital UV light sensor
+// by Vishay.
+//
+// Datasheet:
+// https://www.vishay.com/docs/84277/veml6070.pdf
+// Application Notes:
+// https://www.vishay.com/docs/84310/designingveml6070.pdf
+//
+package veml6070 // import "tinygo.org/x/drivers/veml6070"
+
+import (
+	"time"
+
+	"machine"
+)
+
+// Device wraps an I2C connection to a VEML6070 device.
+type Device struct {
+	bus         machine.I2C
+	AddressLow  uint16
+	AddressHigh uint16
+	RSET        uint32
+	IT          uint8
+}
+
+// New creates a new VEML6070 connection. The I2C bus must already be
+// configured.
+//
+// This function only creates the Device object, it does not initialize the device.
+// You must call Configure() first in order to use the device itself.
+func New(bus machine.I2C) Device {
+	return Device{
+		bus:         bus,
+		AddressLow:  ADDR_L,
+		AddressHigh: ADDR_H,
+		RSET:        RSET_240K,
+		// Note: default to maximum to get as much precision as possible since
+		// raw data values larger than 16 bit can hardly occur with RSET below
+		// 300 kOhm in real world applications. Power saving due to shorter
+		// sampling time might be a reason to reduce this.
+		IT: IT_4,
+	}
+}
+
+// Configure sets up the device for communication
+func (d *Device) Configure() bool {
+	// save power by shutdown as early as possible, also serves as presence test
+	if err := d.disable(); err != nil {
+		return false
+	}
+
+	return true
+}
+
+// ReadUVALightIntensity returns the UVA light intensity (irradiance)
+// in milli Watt per square meter (mW/(m*m))
+func (d *Device) ReadUVALightIntensity() (uint32, error) {
+	var err2 error
+
+	if err := d.enable(); err != nil {
+		return 0, err
+	}
+
+	// wait two times the refresh time to allow completion of a previous cycle
+	// with old settings (worst case)
+	time.Sleep(time.Duration(d.getRefreshTime()) * 2 * time.Millisecond)
+
+	msb, err2 := d.readData(d.AddressHigh)
+	if err2 != nil {
+		return 0, err2
+	}
+
+	lsb, err2 := d.readData(d.AddressLow)
+	if err2 != nil {
+		return 0, err2
+	}
+
+	if err := d.disable(); err != nil {
+		return 0, err
+	}
+
+	rawData := (uint32(msb) << 8) | uint32(lsb)
+
+	// normalize raw data (step count sampled in d.getRefreshTime()) into the
+	// linearly scaled normalized data (step count sampled in 100ms) for which
+	// we know the UVA sensitivity
+	normalizedData := float32(rawData) * NORMALIZED_REFRESHTIME / d.getRefreshTime()
+
+	// now we can calculate the absolute UVA power detected combining normalized
+	// data with known UVA sensitivity for this data, from datasheet
+	intensity := normalizedData * NORMALIZED_UVA_SENSITIVITY // mW/(m*m)
+
+	return uint32(intensity + 0.5), nil
+}
+
+// GetEstimatedRiskLevel returns estimated risk level from comparing UVA light
+// intensity values in mW/(m*m) with thresholds calculated from application notes
+func (d *Device) GetEstimatedRiskLevel(intensity uint32) uint8 {
+	if intensity <= 24888 {
+		return UVI_RISK_LOW
+	} else if intensity <= 49800 {
+		return UVI_RISK_MODERATE
+	} else if intensity <= 66400 {
+		return UVI_RISK_HIGH
+	} else if intensity <= 91288 {
+		return UVI_RISK_VERY_HIGH
+	} else {
+		return UVI_RISK_EXTREME
+	}
+}
+
+func (d *Device) disable() error {
+	return d.bus.Tx(uint16(d.AddressLow), []byte{CONFIG_DISABLE}, nil)
+}
+
+func (d *Device) enable() error {
+	return d.bus.Tx(uint16(d.AddressLow), []byte{CONFIG_ENABLE | d.IT}, nil)
+}
+
+func (d *Device) readData(address uint16) (byte, error) {
+	data := []byte{0}
+	err := machine.I2C0.Tx(address, []byte{}, data)
+	return data[0], err
+}
+
+// getRefreshTime returns the refresh time (aka sample time) in milliseconds
+func (d *Device) getRefreshTime() float32 {
+	var it float32
+	switch d.IT {
+	case IT_HALF:
+		it = 0.5
+	case IT_1:
+		it = 1
+	case IT_2:
+		it = 2
+	case IT_4:
+		it = 4
+	}
+	return float32(d.RSET) * RSET_TO_REFRESHTIME_SCALE * it
+}

version.go

@@ -0,0 +1,5 @@
+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 = "0.9.0"

wifinina/protocol/readme.md

@@ -0,0 +1,3 @@
+WiFiNINA protocol
+=================
+

wifinina/tcp.go

@@ -0,0 +1,213 @@
+package wifinina
+
+import (
+	"fmt"
+	"strconv"
+	"time"
+
+	"tinygo.org/x/drivers/net"
+)
+
+const (
+	ReadBufferSize = 128
+)
+
+func (d *Device) NewDriver() net.DeviceDriver {
+	return &Driver{dev: d, sock: NoSocketAvail}
+}
+
+type Driver struct {
+	dev     *Device
+	sock    uint8
+	readBuf readBuffer
+}
+
+type readBuffer struct {
+	data [ReadBufferSize]byte
+	head int
+	size int
+}
+
+func (drv *Driver) GetDNS(domain string) (string, error) {
+	ipAddr, err := drv.dev.GetHostByName(domain)
+	return ipAddr.String(), err
+}
+
+func (drv *Driver) ConnectTCPSocket(addr, portStr string) error {
+	return drv.connectSocket(addr, portStr, ProtoModeTCP)
+}
+
+func (drv *Driver) ConnectSSLSocket(addr, portStr string) error {
+	return drv.connectSocket(addr, portStr, ProtoModeTLS)
+}
+
+func (drv *Driver) connectSocket(addr, portStr string, mode uint8) error {
+
+	// convert port to uint16
+	p64, err := strconv.ParseUint(portStr, 10, 16)
+	if err != nil {
+		return fmt.Errorf("could not convert port to uint16: %s", err.Error())
+	}
+	port := uint16(p64)
+
+	// look up the hostname if necessary; if an IP address was specified, the
+	// same will be returned.  Otherwise, an IPv4 for the hostname is returned.
+	ipAddr, err := drv.dev.GetHostByName(addr)
+	if err != nil {
+		return err
+	}
+	ip := ipAddr.AsUint32()
+
+	// check to see if socket is already set; if so, stop it
+	if drv.sock != NoSocketAvail {
+		if err := drv.stop(); err != nil {
+			return err
+		}
+	}
+
+	// get a socket from the device
+	if drv.sock, err = drv.dev.GetSocket(); err != nil {
+		return err
+	}
+
+	// attempt to start the client
+	if err := drv.dev.StartClient(ip, port, drv.sock, mode); err != nil {
+		return err
+	}
+
+	// FIXME: this 4 second timeout is simply mimicking the Arduino driver
+	for t := newTimer(4 * time.Second); !t.Expired(); {
+		connected, err := drv.IsConnected()
+		if err != nil {
+			return err
+		}
+		if connected {
+			return nil
+		}
+		wait(1 * time.Millisecond)
+	}
+
+	return ErrConnectionTimeout
+}
+
+func (drv *Driver) ConnectUDPSocket(addr, sport, lport string) error {
+	return ErrNotImplemented
+}
+
+func (drv *Driver) DisconnectSocket() error {
+	return drv.stop()
+}
+
+func (drv *Driver) StartSocketSend(size int) error {
+	// not needed for WiFiNINA???
+	return nil
+}
+
+func (drv *Driver) Response(timeout int) ([]byte, error) {
+	return nil, nil
+}
+
+func (drv *Driver) Write(b []byte) (n int, err error) {
+	if drv.sock == NoSocketAvail {
+		return 0, ErrNoSocketAvail
+	}
+	if len(b) == 0 {
+		return 0, ErrNoData
+	}
+	written, err := drv.dev.SendData(b, drv.sock)
+	if err != nil {
+		return 0, err
+	}
+	if written == 0 {
+		return 0, ErrDataNotWritten
+	}
+	if sent, _ := drv.dev.CheckDataSent(drv.sock); !sent {
+		return 0, ErrCheckDataError
+	}
+	return len(b), nil
+}
+
+func (drv *Driver) ReadSocket(b []byte) (n int, err error) {
+	avail, err := drv.available()
+	if err != nil {
+		println("ReadSocket error: " + err.Error())
+		return 0, err
+	}
+	if avail == 0 {
+		return 0, nil
+	}
+	length := len(b)
+	if avail < length {
+		length = avail
+	}
+	copy(b, drv.readBuf.data[drv.readBuf.head:drv.readBuf.head+length])
+	drv.readBuf.head += length
+	drv.readBuf.size -= length
+	return length, nil
+}
+
+// IsSocketDataAvailable returns of there is socket data available
+func (drv *Driver) IsSocketDataAvailable() bool {
+	n, err := drv.available()
+	return err == nil && n > 0
+}
+
+func (drv *Driver) available() (int, error) {
+	if drv.readBuf.size == 0 {
+		n, err := drv.dev.GetDataBuf(drv.sock, drv.readBuf.data[:])
+		if n > 0 {
+			drv.readBuf.head = 0
+			drv.readBuf.size = n
+		}
+		if err != nil {
+			return int(n), err
+		}
+	}
+	return drv.readBuf.size, nil
+}
+
+func (drv *Driver) IsConnected() (bool, error) {
+	if drv.sock == NoSocketAvail {
+		return false, nil
+	}
+	s, err := drv.status()
+	if err != nil {
+		return false, err
+	}
+	isConnected := !(s == TCPStateListen || s == TCPStateClosed ||
+		s == TCPStateFinWait1 || s == TCPStateFinWait2 || s == TCPStateTimeWait ||
+		s == TCPStateSynSent || s == TCPStateSynRcvd || s == TCPStateCloseWait)
+	// TODO: investigate if the below is necessary (as per Arduino driver)
+	//if !isConnected {
+	//	//close socket buffer?
+	//	WiFiSocketBuffer.close(_sock);
+	//	_sock = 255;
+	//}
+	return isConnected, nil
+}
+
+func (drv *Driver) status() (uint8, error) {
+	if drv.sock == NoSocketAvail {
+		return TCPStateClosed, nil
+	}
+	return drv.dev.GetClientState(drv.sock)
+}
+
+func (drv *Driver) stop() error {
+	if drv.sock == NoSocketAvail {
+		return nil
+	}
+	drv.dev.StopClient(drv.sock)
+	for t := newTimer(5 * time.Second); !t.Expired(); {
+		st, _ := drv.status()
+		if st == TCPStateClosed {
+			break
+		}
+		// FIXME: without the time.Sleep below this blocks until TCPStateClosed,
+		// however with it got goroutine stack overflows; not sure if this is still
+		// an issue so should investigate further
+		//time.Sleep(1 * time.Millisecond)
+	}
+	drv.sock = NoSocketAvail
+	return nil
+}

wifinina/timer.go

@@ -0,0 +1,28 @@
+package wifinina
+
+import "time"
+
+func wait(duration time.Duration) {
+	newTimer(duration).WaitUntilExpired()
+}
+
+type timer struct {
+	start    int64
+	interval int64
+}
+
+func newTimer(interval time.Duration) timer {
+	return timer{
+		start:    time.Now().UnixNano(),
+		interval: int64(interval),
+	}
+}
+
+func (t timer) Expired() bool {
+	return time.Now().UnixNano() > (t.start + t.interval)
+}
+
+func (t timer) WaitUntilExpired() {
+	for !t.Expired() {
+	}
+}

ws2812/ws2812_generic.go

@@ -0,0 +1,16 @@
+// +build !baremetal
+
+package ws2812
+
+// This file implements the WS2812 protocol for simulation.
+
+import "machine"
+
+// Send a single byte using the WS2812 protocol.
+func (d Device) WriteByte(c byte) error {
+	writeByte(d.Pin, c)
+	return nil
+}
+
+//go:export __tinygo_ws2812_write_byte
+func writeByte(pin machine.Pin, c byte)

ws2812/ws2812_m0_16m.go

@@ -17,18 +17,20 @@ func (d Device) WriteByte(c byte) error {
 
 	// See:
 	// https://wp.josh.com/2014/05/13/ws2812-neopixels-are-not-so-finicky-once-you-get-to-know-them/
-	// T0H: 4  cycles or 250ns
-	// T0L: 14 cycles or 875ns -> together 18 cycles or 1125ns
-	// T1H: 10 cycles or 625ns
-	// T1H: 8  cycles or 500ns -> together 18 cycles or 1125ns
+	// Note: timings have been increased slightly to also support ws2811 LEDs.
+	// T0H: 5  cycles or 312.5ns
+	// T0L: 14 cycles or 875.0ns -> together 19 cycles or 1187.5ns
+	// T1H: 11 cycles or 687.5ns
+	// T1H: 8  cycles or 500.0ns -> together 19 cycles or 1187.5ns
 	value := uint32(c) << 24
 	arm.AsmFull(`
-	send_bit:
+	1: @ send_bit
 		str   {maskSet}, {portSet}     @ [2]   T0H and T0L start here
+		nop                            @ [1]
 		lsls  {value}, #1              @ [1]
-		bcs.n skip_store               @ [1/3]
+		bcs.n 2f                       @ [1/3] skip_store
 		str   {maskClear}, {portClear} @ [2]   T0H -> T0L transition
-	skip_store:
+	2: @ skip_store
 		nop                            @ [4]
 		nop
 		nop
@@ -37,7 +39,7 @@ func (d Device) WriteByte(c byte) error {
 		nop                            @ [2]
 		nop
 		subs  {i}, #1                  @ [1]
-		bne.n send_bit                 @ [1/3]
+		bne.n 1b                       @ [1/3] send_bit
 	`, map[string]interface{}{
 		"value":     value,
 		"i":         8,

ws2812/ws2812_m0_48m.go

@@ -1,4 +1,4 @@
-// +build circuitplay_express itsybitsy_m0
+// +build atsamd21
 
 package ws2812
 
@@ -23,7 +23,7 @@ func (d Device) WriteByte(c byte) error {
 	// T1L: 22 cycles or 458.3ns -> together 49 cycles or 1020.8ns
 	value := uint32(c) << 24
 	arm.AsmFull(`
-	send_bit:
+	1: @ send_bit
 		str   {maskSet}, {portSet}     @ [2]   T0H and T0L start here
 		lsls  {value}, #1              @ [1]
 		nop                            @ [6]
@@ -32,9 +32,9 @@ func (d Device) WriteByte(c byte) error {
 		nop
 		nop
 		nop
-		bcs.n skip_store               @ [1/3]
+		bcs.n 2f                       @ [1/3] skip_store
 		str   {maskClear}, {portClear} @ [2]   T0H -> T0L transition
-	skip_store:
+	2: @ skip_store
 		nop                            @ [15]
 		nop
 		nop
@@ -68,7 +68,7 @@ func (d Device) WriteByte(c byte) error {
 		nop
 		nop
 		subs  {i}, #1                  @ [1]
-		bne.n send_bit                 @ [1/3]
+		bne.n 1b                       @ [1/3] send_bit
 	`, map[string]interface{}{
 		"value":     value,
 		"i":         8,

ws2812/ws2812_m4_120m.go

@@ -0,0 +1,173 @@
+// +build atsamd51
+
+package ws2812
+
+// This file implements the WS2812 protocol for 120MHz Cortex-M4
+// microcontrollers.
+// Note: This implementation does not work with tinygo 0.9.0 or older.
+
+import (
+	"device/arm"
+)
+
+// Send a single byte using the WS2812 protocol.
+func (d Device) WriteByte(c byte) error {
+	// For the Cortex-M4 at 120MHz
+	portSet, maskSet := d.Pin.PortMaskSet()
+	portClear, maskClear := d.Pin.PortMaskClear()
+
+	// See:
+	// https://wp.josh.com/2014/05/13/ws2812-neopixels-are-not-so-finicky-once-you-get-to-know-them/
+	// T0H: 32-34   cycles or  266.67ns -  283.33ns
+	// T0L: 101-103 cycles or  841.67ns -  858.33ns
+	//   +: 133-137 cycles or 1108.33ns - 1141.67ns
+	// T1H: 73-75   cycles or  608.33ns -  625.00ns
+	// T1L: 58-60   cycles or  483.33ns -  500.00ns
+	//   +: 131-135 cycles or 1091.67ns - 1125.00ns
+	// A branch is treated here as 1-3 cycles, because apparently it might get
+	// speculated. This is more of a guess than hard fact, because the only docs
+	// by ARM that state this are now considered superseded (by what?).
+	value := uint32(c) << 24
+	arm.AsmFull(`
+	1: @ send_bit
+		str   {maskSet}, {portSet}     @ [2]   T0H and T0L start here
+		lsls  {value}, #1              @ [1]
+		nop                            @ [28]
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		bcs.n 2f                       @ [1-3] skip_store
+		str   {maskClear}, {portClear} @ [2]   T0H -> T0L transition
+	2: @ skip_store
+		nop                            @ [41]
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		str   {maskClear}, {portClear} @ [2]   T1H -> T1L transition
+		nop                            @ [54]
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		nop
+		subs  {i}, #1                  @ [1]
+		bne.n 1b                       @ [1-3] send_bit
+	`, map[string]interface{}{
+		"value":     value,
+		"i":         8,
+		"maskSet":   maskSet,
+		"portSet":   portSet,
+		"maskClear": maskClear,
+		"portClear": portClear,
+	})
+	return nil
+}

ws2812/ws2812_m4_64m.go

@@ -28,10 +28,10 @@ func (d Device) WriteByte(c byte) error {
 	// by ARM that state this are now considered superseded (by what?).
 	value := uint32(c) << 24
 	arm.AsmFull(`
-	send_bit:
+	1: @ send_bit
 		str   {maskSet}, {portSet}     @ [2]   T0H and T0L start here
 		lsls  {value}, #1              @ [1]
-		nop                            @ [10]
+		nop                            @ [13]
 		nop
 		nop
 		nop
@@ -44,9 +44,9 @@ func (d Device) WriteByte(c byte) error {
 		nop
 		nop
 		nop
-		bcs.n skip_store               @ [1-3]
+		bcs.n 2f                       @ [1-3] skip_store
 		str   {maskClear}, {portClear} @ [2]   T0H -> T0L transition
-	skip_store:
+	2: @ skip_store
 		nop                            @ [22]
 		nop
 		nop
@@ -97,7 +97,7 @@ func (d Device) WriteByte(c byte) error {
 		nop
 		nop
 		subs  {i}, #1                  @ [1]
-		bne.n send_bit                 @ [1-3]
+		bne.n 1b                       @ [1-3] send_bit
 	`, map[string]interface{}{
 		"value":     value,
 		"i":         8,