Merge pull request #939 from coadkins/coadkins-patch-1

Add PNG File subsection to Pico Graphics documentation

.github/workflows/cmake.yml

@@ -25,7 +25,7 @@ jobs:
 
     steps:
     - name: Compiler Cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: /home/runner/.ccache
         key: ccache-cmake-${{github.ref}}-${{matrix.board}}-${{github.sha}}
@@ -34,13 +34,13 @@ jobs:
           ccache-cmake-${{github.ref}}
           ccache-cmake
 
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
 
     # Check out the Pico SDK
     - name: Checkout Pico SDK
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: raspberrypi/pico-sdk
         path: pico-sdk
@@ -48,7 +48,7 @@ jobs:
 
     # Check out the Pico Extras
     - name: Checkout Pico Extras
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: raspberrypi/pico-extras
         path: pico-extras

.github/workflows/micropython.yml

@@ -7,72 +7,21 @@ on:
     types: [created]
 
 env:
-  MICROPYTHON_VERSION: 856e08b1931b88271816a2f60648f6ff332235b2
-  WORKFLOW_VERSION: v1
+  MICROPYTHON_VERSION: v1.22.2
 
 jobs:
-  deps:
-    runs-on: ubuntu-20.04
-    name: Dependencies
-    steps:
-    - name: Workspace Cache
-      id: cache
-      uses: actions/cache@v3
-      with:
-        path: ${{runner.workspace}}
-        key: workspace-micropython-${{env.MICROPYTHON_VERSION}}-${{env.WORKFLOW_VERSION}}
-        restore-keys: |
-          workspace-micropython-${{env.MICROPYTHON_VERSION}}-${{env.WORKFLOW_VERSION}}
-
-    # Check out MicroPython
-    - name: Checkout MicroPython
-      if: steps.cache.outputs.cache-hit != 'true'
-      uses: actions/checkout@v3
-      with:
-        repository: micropython/micropython
-        ref: ${{env.MICROPYTHON_VERSION}}
-        submodules: false  # MicroPython submodules are hideously broken
-        path: micropython
-
-    # Check out MicroPython Libs
-    - name: Checkout MicroPython Libs
-      if: steps.cache.outputs.cache-hit != 'true'
-      uses: actions/checkout@v3
-      with:
-        repository: micropython/micropython-lib
-        path: micropython-lib
-
-    - name: Fetch Pico submodules
-      if: steps.cache.outputs.cache-hit != 'true'
-      shell: bash
-      working-directory: micropython/ports/rp2
-      run: |
-        git submodule update --init ../../lib/pico-sdk
-        git submodule update --init ../../lib/cyw43-driver
-        git submodule update --init ../../lib/lwip
-        git submodule update --init ../../lib/mbedtls
-        git submodule update --init ../../lib/micropython-lib
-        git submodule update --init ../../lib/tinyusb
-        git submodule update --init ../../lib/btstack
-
-    - name: Build mpy-cross
-      if: steps.cache.outputs.cache-hit != 'true'
-      shell: bash
-      working-directory: micropython/mpy-cross
-      run: make
-
   build:
-    needs: deps
-    name: ${{matrix.name}} (${{matrix.board}})
+    name: ${{ matrix.name }} (${{ matrix.board }})
     runs-on: ubuntu-20.04
+    continue-on-error: true
     strategy:
       matrix:
         include:
         - name: pico
-          board: PICO
+          board: RPI_PICO
         - name: picow
-          board: PICO_W
-        - name: tiny2040
+          board: RPI_PICO_W
+        - name: tiny2040_8mb
           board: PIMORONI_TINY2040
         - name: picolipo_4mb
           board: PIMORONI_PICOLIPO_4MB
@@ -82,102 +31,111 @@ jobs:
           board: PIMORONI_TUFTY2040
         - name: enviro
           board: PICO_W_ENVIRO
-          patch: true
         - name: galactic_unicorn
-          board: PICO_W
+          board: RPI_PICO_W
         - name: cosmic_unicorn
-          board: PICO_W
+          board: RPI_PICO_W
         - name: stellar_unicorn
-          board: PICO_W
+          board: RPI_PICO_W
         - name: inky_frame
           board: PICO_W_INKY
-          patch: true
 
     env:
       # MicroPython version will be contained in github.event.release.tag_name for releases
-      RELEASE_FILE: pimoroni-${{matrix.name}}-${{github.event.release.tag_name || github.sha}}-micropython
-      MICROPY_BOARD_DIR: "$GITHUB_WORKSPACE/pimoroni-pico-${{ github.sha }}/micropython/board/${{ matrix.BOARD }}"
-      USER_C_MODULES: "$GITHUB_WORKSPACE/pimoroni-pico-${{ github.sha }}/micropython/modules/micropython-${{matrix.name}}.cmake"
+      RELEASE_FILE: pimoroni-${{ matrix.name }}-${{ github.event.release.tag_name || github.sha }}-micropython
+      PIMORONI_PICO_DIR: "${{ github.workspace }}/pimoroni-pico-${{ github.sha }}"
+      MICROPY_BOARD_DIR: "${{ github.workspace }}/pimoroni-pico-${{ github.sha }}/micropython/board/${{ matrix.BOARD }}"
+      USER_C_MODULES: "${{ github.workspace }}/pimoroni-pico-${{ github.sha }}/micropython/modules/micropython-${{ matrix.name }}.cmake"
+      TAG_OR_SHA: ${{ github.event.release.tag_name || github.sha }}
+      MICROPY_BOARD: ${{ matrix.board }}
+      BOARD_NAME: ${{ matrix.name }}
+      BUILD_TOOLS: pimoroni-pico-${{ github.sha }}/ci/micropython.sh
 
     steps:
     - name: Compiler Cache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: /home/runner/.ccache
-        key: ccache-micropython-${{matrix.name}}-${{github.ref}}-${{github.sha}}
+        key: ccache-micropython-${{ matrix.name }}-${{ github.ref }}-${{ github.sha }}
         restore-keys: |
-          ccache-micropython-${{matrix.name}}-${{github.ref}}
-          ccache-micropython-${{matrix.name}}-
-  
-    - name: Workspace Cache
-      uses: actions/cache@v3
-      with:
-        path: ${{runner.workspace}}
-        key: workspace-micropython-${{env.MICROPYTHON_VERSION}}-${{env.WORKFLOW_VERSION}}
-        restore-keys: |
-          workspace-micropython-${{env.MICROPYTHON_VERSION}}-${{env.WORKFLOW_VERSION}}
+          ccache-micropython-${{ matrix.name }}-${{ github.ref }}
+          ccache-micropython-${{ matrix.name }}-
 
-    - name: Install Compiler & CCache
-      if: runner.os == 'Linux'
-      run: |
-        sudo apt update && sudo apt install ccache gcc-arm-none-eabi
-  
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
         path: pimoroni-pico-${{ github.sha }}
 
-    - name: Set MicroPython Version Env Vars
-      shell: bash
+    - name: Install Arm GNU Toolchain (arm-none-eabi-gcc)
+      uses: carlosperate/arm-none-eabi-gcc-action@v1
+      with:
+        release: '9-2020-q2'
+
+    - name: Install CCache
       run: |
-        echo "MICROPY_GIT_TAG=$MICROPYTHON_VERSION, ${{matrix.name}} ${{github.event.release.tag_name || github.sha}}" >> $GITHUB_ENV
-        echo "MICROPY_GIT_HASH=$MICROPYTHON_VERSION-${{github.event.release.tag_name || github.sha}}" >> $GITHUB_ENV
+        source $BUILD_TOOLS
+        apt_install_build_deps
+      
+    - name: Checkout MicroPython & Submodules
+      run: |
+        source $BUILD_TOOLS
+        micropython_clone
+
+    - name: "Py_Decl: Checkout py_decl"
+      uses: actions/checkout@v4
+      with:
+        repository: gadgetoid/py_decl
+        ref: v0.0.1
+        path: py_decl
+
+    - name: Build MPY Cross
+      run: |
+        source $BUILD_TOOLS
+        micropython_build_mpy_cross
 
     - name: "HACK: CMakeLists.txt Disable C++ Exceptions Patch"
       shell: bash
-      working-directory: micropython
-      run: git apply $GITHUB_WORKSPACE/pimoroni-pico-${{ github.sha }}/micropython/micropython_nano_specs.patch
+      run: |
+        source $BUILD_TOOLS
+        hack_patch_micropython_disable_exceptions
 
     - name: "HACK: Pico SDK Patch"
-      if: matrix.patch == true
       shell: bash
-      working-directory: micropython
       run: |
-        $GITHUB_WORKSPACE/pimoroni-pico-${{ github.sha }}/micropython/board/pico-sdk-patch.sh ${{matrix.board}}
+        source $BUILD_TOOLS
+        hack_patch_pico_sdk
 
     - name: Configure MicroPython
       shell: bash
-      working-directory: micropython/ports/rp2
       run: |
-        cmake -S . -B build-${{matrix.name}} -DPICO_BUILD_DOCS=0 -DUSER_C_MODULES=${{env.USER_C_MODULES}} -DMICROPY_BOARD_DIR=${{env.MICROPY_BOARD_DIR}} -DMICROPY_BOARD=${{matrix.board}} -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+        source $BUILD_TOOLS
+        micropython_version
+        cmake_configure
 
-    - name: Build MicroPython  # Multiple simultaneous jobs trigger https://github.com/pimoroni/pimoroni-pico/issues/761
+    - name: Build MicroPython
       shell: bash
-      working-directory: micropython/ports/rp2
       run: |
-        ccache --zero-stats || true
-        cmake --build build-${{matrix.name}} -j 1
-        ccache --show-stats || true
+        source $BUILD_TOOLS
+        cmake_build
 
-    - name: Rename .uf2 for artifact
+    - name: "Py_Decl: Verify UF2"
       shell: bash
-      working-directory: micropython/ports/rp2/build-${{matrix.name}}
       run: |
-        cp firmware.uf2 $RELEASE_FILE.uf2
+        python3 py_decl/py_decl.py --to-json --verify build-${{ matrix.name }}/${{ env.RELEASE_FILE }}.uf2
 
     - name: Store .uf2 as artifact
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
-        name: ${{env.RELEASE_FILE}}.uf2
-        path: micropython/ports/rp2/build-${{matrix.name}}/${{env.RELEASE_FILE}}.uf2
+        name: ${{ env.RELEASE_FILE }}.uf2
+        path: build-${{ matrix.name }}/${{ env.RELEASE_FILE }}.uf2
 
     - name: Upload .uf2
       if: github.event_name == 'release'
       uses: actions/upload-release-asset@v1
       env:
-        GITHUB_TOKEN: ${{secrets.GITHUB_TOKEN}}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        asset_path: micropython/ports/rp2/build-${{matrix.name}}/firmware.uf2
-        upload_url: ${{github.event.release.upload_url}}
-        asset_name: ${{env.RELEASE_FILE}}.uf2
+        asset_path: build-${{ matrix.name }}/firmware.uf2
+        upload_url: ${{ github.event.release.upload_url }}
+        asset_name: ${{ env.RELEASE_FILE }}.uf2
         asset_content_type: application/octet-stream

.github/workflows/python.yml

@@ -9,7 +9,7 @@ jobs:
     name: Python Linting
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
 
     - name: Install Python Deps
       run: python3 -m pip install flake8

CMakeLists.txt

@@ -10,6 +10,8 @@ set(CMAKE_CXX_STANDARD 17)
 # Initialize the SDK
 pico_sdk_init()
 
+pico_find_compiler(PICO_COMPILER_LD ${PICO_GCC_TRIPLE}-ld)
+
 function(add_resource target file)
   get_filename_component(NAME ${ARGV1} NAME_WE)
   set(FILENAME ${ARGV1})
@@ -21,7 +23,7 @@ function(add_resource target file)
             ${CMAKE_CURRENT_SOURCE_DIR}/${FILENAME}
             ${CMAKE_CURRENT_BINARY_DIR}
 
-    COMMAND arm-none-eabi-ld -r -b binary -o ${NAME}.o ${FILENAME}
+    COMMAND ${PICO_COMPILER_LD} -r -b binary -o ${NAME}.o ${FILENAME}
     DEPENDS ${FILENAME}
   )
 

README.md

@@ -44,6 +44,10 @@ You can find MicroPython examples for supported sensors, packs and bases in the
 
 * [MicroPython Examples](micropython/examples)
 
+You can also install MicroPython stubs into Visual Studio Code to give you auto-complete, see:
+
+* [MicroPython Stubs](https://github.com/pimoroni/pimoroni-pico-stubs)
+
 # C/C++
 
 Advanced users that want to unleash the full power of Pico can use our C++ libraries. If you know what you're doing and want to build your own Pimoroni Pico project then start with the [Pimoroni Pico SDK Boilerplate](https://github.com/pimoroni/pico-boilerplate).

ci/micropython.sh

@@ -0,0 +1,75 @@
+export TERM=${TERM:="xterm-256color"}
+
+function log_success {
+	echo -e "$(tput setaf 2)$1$(tput sgr0)"
+}
+
+function log_inform {
+	echo -e "$(tput setaf 6)$1$(tput sgr0)"
+}
+
+function log_warning {
+	echo -e "$(tput setaf 1)$1$(tput sgr0)"
+}
+
+function micropython_clone {
+    log_inform "Using MicroPython $MICROPYTHON_VERSION"
+    git clone https://github.com/micropython/micropython --depth=1 --branch=$MICROPYTHON_VERSION
+    cd micropython
+    git submodule update --init lib/pico-sdk
+    git submodule update --init lib/cyw43-driver
+    git submodule update --init lib/lwip
+    git submodule update --init lib/mbedtls
+    git submodule update --init lib/micropython-lib
+    git submodule update --init lib/tinyusb
+    git submodule update --init lib/btstack
+    cd ../
+}
+
+function micropython_build_mpy_cross {
+    cd micropython/mpy-cross
+    ccache --zero-stats || true
+    CROSS_COMPILE="ccache " make
+    ccache --show-stats || true
+    cd ../../
+}
+
+function apt_install_build_deps {
+    sudo apt update && sudo apt install ccache
+}
+
+function micropython_version {
+    echo "MICROPY_GIT_TAG=$MICROPYTHON_VERSION, $BOARD_NAME $TAG_OR_SHA" >> $GITHUB_ENV
+    echo "MICROPY_GIT_HASH=$MICROPYTHON_VERSION-$TAG_OR_SHA" >> $GITHUB_ENV
+}
+
+function hack_patch_micropython_disable_exceptions {
+    cd micropython
+    git apply $PIMORONI_PICO_DIR/micropython/micropython_nano_specs.patch
+    cd ../
+}
+
+function hack_patch_pico_sdk {
+    # pico-sdk-patch.sh will apply the patch if it exists
+    cd micropython
+    $PIMORONI_PICO_DIR/micropython/board/pico-sdk-patch.sh $MICROPY_BOARD
+    cd ../
+}
+
+function cmake_configure {
+    cmake -S micropython/ports/rp2 -B build-$BOARD_NAME \
+    -DPICO_BUILD_DOCS=0 \
+    -DUSER_C_MODULES=$USER_C_MODULES \
+    -DMICROPY_BOARD_DIR=$MICROPY_BOARD_DIR \
+    -DMICROPY_BOARD=$MICROPY_BOARD \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+}
+
+function cmake_build {
+    ccache --zero-stats || true
+    cmake --build build-$BOARD_NAME -j 2
+    ccache --show-stats || true
+    cd build-$BOARD_NAME
+    cp firmware.uf2 $RELEASE_FILE.uf2
+}

drivers/CMakeLists.txt

@@ -41,6 +41,6 @@ add_subdirectory(pms5003)
 add_subdirectory(sh1107)
 add_subdirectory(st7567)
 add_subdirectory(psram_display)
-add_subdirectory(inky73)
 add_subdirectory(shiftregister)
-add_subdirectory(mlx90640)
+add_subdirectory(inky73)
+add_subdirectory(mlx90640)

drivers/encoder/encoder.cpp

@@ -4,7 +4,10 @@
 #include "hardware/irq.h"
 #include "hardware/clocks.h"
 #include "encoder.hpp"
+
+#ifndef NO_QSTR
 #include "encoder.pio.h"
+#endif
 
 #define LAST_STATE(state)  ((state) & 0b0011)
 #define CURR_STATE(state)  (((state) & 0b1100) >> 2)

drivers/hub75/hub75.cpp

@@ -113,12 +113,6 @@ void Hub75::FM6126A_setup() {
 
 void Hub75::start(irq_handler_t handler) {
     if(handler) {
-        dma_channel = 0;
-
-        // Try as I might, I can't seem to coax MicroPython into leaving PIO in a known state upon soft reset
-        // check for claimed PIO and prepare a clean slate.
-        stop(handler);
-
         if (panel_type == PANEL_FM6126A) {
             FM6126A_setup();
         }
@@ -139,7 +133,7 @@ void Hub75::start(irq_handler_t handler) {
         // Prevent flicker in Python caused by the smaller dataset just blasting through the PIO too quickly
         pio_sm_set_clkdiv(pio, sm_data, width <= 32 ? 2.0f : 1.0f);
 
-        dma_channel_claim(dma_channel);
+        dma_channel = dma_claim_unused_channel(true);
         dma_channel_config config = dma_channel_get_default_config(dma_channel);
         channel_config_set_transfer_data_size(&config, DMA_SIZE_32);
         channel_config_set_bswap(&config, false);
@@ -148,15 +142,13 @@ void Hub75::start(irq_handler_t handler) {
 
 
         // Same handler for both DMA channels
-        irq_set_exclusive_handler(DMA_IRQ_0, handler);
-        irq_set_exclusive_handler(DMA_IRQ_1, handler);
+        irq_add_shared_handler(DMA_IRQ_0, handler, PICO_SHARED_IRQ_HANDLER_DEFAULT_ORDER_PRIORITY);
 
         dma_channel_set_irq0_enabled(dma_channel, true);
 
         irq_set_enabled(pio_get_dreq(pio, sm_data, true), true);
         irq_set_enabled(DMA_IRQ_0, true);
 
-
         row = 0;
         bit = 0;
 
@@ -169,10 +161,9 @@ void Hub75::start(irq_handler_t handler) {
 void Hub75::stop(irq_handler_t handler) {
 
     irq_set_enabled(DMA_IRQ_0, false);
-    irq_set_enabled(DMA_IRQ_1, false);
     irq_set_enabled(pio_get_dreq(pio, sm_data, true), false);
 
-    if(dma_channel_is_claimed(dma_channel)) {
+    if(dma_channel != -1 &&  dma_channel_is_claimed(dma_channel)) {
         dma_channel_set_irq0_enabled(dma_channel, false);
         irq_remove_handler(DMA_IRQ_0, handler);
         //dma_channel_wait_for_finish_blocking(dma_channel);
@@ -184,17 +175,21 @@ void Hub75::stop(irq_handler_t handler) {
     if(pio_sm_is_claimed(pio, sm_data)) {
         pio_sm_set_enabled(pio, sm_data, false);
         pio_sm_drain_tx_fifo(pio, sm_data);
+        pio_remove_program(pio, &hub75_data_rgb888_program, data_prog_offs);
         pio_sm_unclaim(pio, sm_data);
     }
 
     if(pio_sm_is_claimed(pio, sm_row)) {
         pio_sm_set_enabled(pio, sm_row, false);
         pio_sm_drain_tx_fifo(pio, sm_row);
+        if (inverted_stb) {
+            pio_remove_program(pio, &hub75_row_inverted_program, row_prog_offs);
+        } else {
+            pio_remove_program(pio, &hub75_row_program, row_prog_offs);
+        }
         pio_sm_unclaim(pio, sm_row);
     }
 
-    pio_clear_instruction_memory(pio);
-
     // Make sure the GPIO is in a known good state
     // since we don't know what the PIO might have done with it
     gpio_put_masked(0b111111 << pin_r0, 0);

drivers/hub75/hub75.hpp

@@ -5,7 +5,10 @@
 #include "hardware/dma.h"
 #include "hardware/irq.h"
 #include "libraries/pico_graphics/pico_graphics.hpp"
+
+#ifndef NO_QSTR
 #include "hub75.pio.h"
+#endif
 
 namespace pimoroni {
 const uint DATA_BASE_PIN = 0;
@@ -70,7 +73,7 @@ class Hub75 {
     Pixel background = 0;
 
     // DMA & PIO
-    uint dma_channel = 0;
+    int dma_channel = -1;
     uint bit = 0;
     uint row = 0;
 

drivers/hub75_legacy/hub75.hpp

@@ -4,7 +4,10 @@
 #include "hardware/pio.h"
 #include "hardware/dma.h"
 #include "hardware/irq.h"
+
+#ifndef NO_QSTR
 #include "hub75.pio.h"
+#endif
 
 const uint DATA_BASE_PIN = 0;
 const uint DATA_N_PINS = 6;

drivers/inky73/inky73.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET shiftregister)
+  include(${CMAKE_CURRENT_LIST_DIR}/../shiftregister/shiftregister.cmake)
+endif()
+
 set(DRIVER_NAME inky73)
 add_library(${DRIVER_NAME} INTERFACE)
 

drivers/inky73/inky73.cpp

@@ -47,8 +47,9 @@ namespace pimoroni {
     return !(sr.read() & 128);
   }
   
-  void Inky73::busy_wait() {
-    while(is_busy()) {
+  void Inky73::busy_wait(uint timeout_ms) {
+    absolute_time_t timeout = make_timeout_time_ms(timeout_ms);
+    while(is_busy() && !time_reached(timeout)) {
       tight_loop_contents();
     }
   }

drivers/inky73/inky73.hpp

@@ -70,7 +70,7 @@ namespace pimoroni {
     // Methods
     //--------------------------------------------------
   public:
-    void busy_wait();
+    void busy_wait(uint timeout_ms=45000);
     void reset();
     void power_off();
   

drivers/motor/motor.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pwm)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pwm/pwm.cmake)
+endif()
+
 set(DRIVER_NAME motor)
 add_library(${DRIVER_NAME} INTERFACE)
 

drivers/motor/motor_cluster.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pwm_cluster)
+    include(${CMAKE_CURRENT_LIST_DIR}/../pwm/pwm_cluster.cmake)
+endif()
+
 set(DRIVER_NAME motor_cluster)
 add_library(${DRIVER_NAME} INTERFACE)
 

drivers/plasma/apa102.hpp

@@ -14,7 +14,9 @@ found here: https://github.com/raspberrypi/pico-examples/tree/master/pio/apa102
 #include <math.h>
 #include <cstdint>
 
+#ifndef NO_QSTR
 #include "apa102.pio.h"
+#endif
 
 #include "pico/stdlib.h"
 #include "hardware/pio.h"

drivers/plasma/ws2812.hpp

@@ -14,7 +14,9 @@ found here: https://github.com/raspberrypi/pico-examples/tree/master/pio/ws2812
 #include <math.h>
 #include <cstdint>
 
+#ifndef NO_QSTR
 #include "ws2812.pio.h"
+#endif
 
 #include "pico/stdlib.h"
 #include "hardware/pio.h"

drivers/pwm/pwm_cluster.cpp

@@ -1,7 +1,10 @@
 #include "pwm_cluster.hpp"
 #include "hardware/gpio.h"
 #include "hardware/clocks.h"
+
+#ifndef NO_QSTR
 #include "pwm_cluster.pio.h"
+#endif
 
 // Uncomment the below line to enable debugging
 //#define DEBUG_MULTI_PWM

drivers/rgbled/rgbled.cmake

@@ -7,4 +7,4 @@ target_sources(rgbled INTERFACE
 target_include_directories(rgbled INTERFACE ${CMAKE_CURRENT_LIST_DIR})
 
 # Pull in pico libraries that we need
-target_link_libraries(rgbled INTERFACE pico_stdlib hardware_pwm)
+target_link_libraries(rgbled INTERFACE pico_stdlib hardware_pwm)

drivers/sdcard/pio_spi.h

@@ -7,7 +7,9 @@
 #define _PIO_SPI_H
 
 #include "hardware/pio.h"
+#ifndef NO_QSTR
 #include "spi.pio.h"
+#endif
 
 typedef struct pio_spi_inst {
     PIO pio;

drivers/servo/servo.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pwm)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pwm/pwm.cmake)
+endif()
+
 set(DRIVER_NAME servo)
 add_library(${DRIVER_NAME} INTERFACE)
 

drivers/servo/servo_cluster.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pwm_cluster)
+    include(${CMAKE_CURRENT_LIST_DIR}/../pwm/pwm_cluster.cmake)
+endif()
+
 set(DRIVER_NAME servo_cluster)
 add_library(${DRIVER_NAME} INTERFACE)
 

drivers/st7789/st7789.cpp

@@ -89,7 +89,6 @@ namespace pimoroni {
     if(width == 320 && height == 240) {
       command(reg::GCTRL, 1, "\x35");
       command(reg::VCOMS, 1, "\x1f");
-      command(0xd6, 1, "\xa1"); // ???
       command(reg::GMCTRP1, 14, "\xD0\x08\x11\x08\x0C\x15\x39\x33\x50\x36\x13\x14\x29\x2D");
       command(reg::GMCTRN1, 14, "\xD0\x08\x10\x08\x06\x06\x39\x44\x51\x0B\x16\x14\x2F\x31");
     }
@@ -134,8 +133,6 @@ namespace pimoroni {
 
   void ST7789::configure_display(Rotation rotate) {
 
-    bool rotate180 = rotate == ROTATE_180 || rotate == ROTATE_90;
-
     if(rotate == ROTATE_90 || rotate == ROTATE_270) {
       std::swap(width, height);
     }
@@ -186,20 +183,30 @@ namespace pimoroni {
     // Pico Display
     if(width == 240 && height == 135) {
       caset[0] = 40;   // 240 cols
-      caset[1] = 279;
-      raset[0] = 53;   // 135 rows
-      raset[1] = 187;
-      madctl = rotate180 ? MADCTL::ROW_ORDER : MADCTL::COL_ORDER;
+      caset[1] = 40 + width - 1;
+      raset[0] = 52;   // 135 rows
+      raset[1] = 52 + height - 1;
+      if (rotate == ROTATE_0) {
+        raset[0] += 1;
+        raset[1] += 1;
+      }
+      madctl = rotate == ROTATE_180 ? MADCTL::ROW_ORDER : MADCTL::COL_ORDER;
       madctl |= MADCTL::SWAP_XY | MADCTL::SCAN_ORDER;
     }
 
     // Pico Display at 90 degree rotation
     if(width == 135 && height == 240) {
       caset[0] = 52;   // 135 cols
-      caset[1] = 186;
+      caset[1] = 52 + width - 1;
       raset[0] = 40;   // 240 rows
-      raset[1] = 279;
-      madctl = rotate180 ? (MADCTL::COL_ORDER | MADCTL::ROW_ORDER) : 0;
+      raset[1] = 40 + height - 1;
+      madctl = 0;
+      if (rotate == ROTATE_90) {
+        caset[0] += 1;
+        caset[1] += 1;
+        madctl = MADCTL::COL_ORDER | MADCTL::ROW_ORDER;
+      }
+      madctl = rotate == ROTATE_90 ? (MADCTL::COL_ORDER | MADCTL::ROW_ORDER) : 0;
     }
 
     // Pico Display 2.0
@@ -208,7 +215,7 @@ namespace pimoroni {
       caset[1] = 319;
       raset[0] = 0;
       raset[1] = 239;
-      madctl = rotate180 ? MADCTL::ROW_ORDER : MADCTL::COL_ORDER;
+      madctl = (rotate == ROTATE_180 || rotate == ROTATE_90) ? MADCTL::ROW_ORDER : MADCTL::COL_ORDER;
       madctl |= MADCTL::SWAP_XY | MADCTL::SCAN_ORDER;
     }
 
@@ -218,7 +225,7 @@ namespace pimoroni {
       caset[1] = 239;
       raset[0] = 0;
       raset[1] = 319;
-      madctl = rotate180 ? (MADCTL::COL_ORDER | MADCTL::ROW_ORDER) : 0;
+      madctl = (rotate == ROTATE_180 || rotate == ROTATE_90) ? (MADCTL::COL_ORDER | MADCTL::ROW_ORDER) : 0;
     }
 
     // Byte swap the 16bit rows/cols values

drivers/st7789/st7789.hpp

@@ -11,7 +11,9 @@
 #include "libraries/pico_graphics/pico_graphics.hpp"
 
 
+#ifndef NO_QSTR
 #include "st7789_parallel.pio.h"
+#endif
 
 #include <algorithm>
 

examples/pico_explorer_encoder/pico_explorer_encoder.cpp

@@ -3,7 +3,11 @@
 #include "pico_explorer.hpp"
 #include "pico/stdlib.h"
 #include "encoder.hpp"
+
+#ifndef NO_QSTR
 #include "quadrature_out.pio.h"
+#endif
+
 #include "drivers/st7789/st7789.hpp"
 #include "libraries/pico_graphics/pico_graphics.hpp"
 #include "button.hpp"

examples/plasma_stick/plasma_stick_rainbows.cpp

@@ -34,10 +34,15 @@ int main() {
   while(true) {
 
     offset += float(SPEED) / 2000.0f;
+    if (offset > 1.0) {
+      offset -= 1.0;
+    }
 
     for(auto i = 0u; i < NUM_LEDS; ++i) {
       float hue = float(i) / NUM_LEDS;
-      led_strip.set_hsv(i, hue + offset, 1.0f, 1.0f);
+      hue += offset;
+      hue -= floor(hue);
+      led_strip.set_hsv(i, hue, 1.0f, 1.0f);
     }
 
     sleep_ms(1000 / UPDATES);

libraries/automation2040w/automation.cmake

@@ -1,12 +1,14 @@
-add_library(automation INTERFACE)
-
-target_sources(automation INTERFACE
-  ${CMAKE_CURRENT_LIST_DIR}/automation.cpp
-)
-
-target_include_directories(automation INTERFACE ${CMAKE_CURRENT_LIST_DIR})
-
-#include(${PIMORONI_PICO_PATH}/drivers/analog/analog.cmake)
-
-# Pull in pico libraries that we need
-target_link_libraries(automation INTERFACE pico_stdlib hardware_pwm hardware_i2c pimoroni_i2c analog)
+if(NOT TARGET analog)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/analog/analog.cmake)
+endif()
+
+add_library(automation INTERFACE)
+
+target_sources(automation INTERFACE
+  ${CMAKE_CURRENT_LIST_DIR}/automation.cpp
+)
+
+target_include_directories(automation INTERFACE ${CMAKE_CURRENT_LIST_DIR})
+
+# Pull in pico libraries that we need
+target_link_libraries(automation INTERFACE pico_stdlib hardware_pwm hardware_i2c pimoroni_i2c analog)

libraries/badger2040/badger2040.cmake

@@ -1,11 +1,23 @@
-set(LIB_NAME badger2040)
-add_library(${LIB_NAME} INTERFACE)
-
-target_sources(${LIB_NAME} INTERFACE
-  ${CMAKE_CURRENT_LIST_DIR}/${LIB_NAME}.cpp
-)
-
-target_include_directories(${LIB_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
-
-# Pull in pico libraries that we need
-target_link_libraries(${LIB_NAME} INTERFACE bitmap_fonts hershey_fonts pico_stdlib hardware_pwm uc8151_legacy)
+if(NOT TARGET uc8151_legacy)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/uc8151_legacy/uc8151_legacy.cmake)
+endif()
+
+if(NOT TARGET bitmap_fonts)
+  include(${CMAKE_CURRENT_LIST_DIR}/../bitmap_fonts/bitmap_fonts.cmake)
+endif()
+
+if(NOT TARGET hershey_fonts)
+  include(${CMAKE_CURRENT_LIST_DIR}/../hershey_fonts/hershey_fonts.cmake)
+endif()
+
+set(LIB_NAME badger2040)
+add_library(${LIB_NAME} INTERFACE)
+
+target_sources(${LIB_NAME} INTERFACE
+  ${CMAKE_CURRENT_LIST_DIR}/${LIB_NAME}.cpp
+)
+
+target_include_directories(${LIB_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
+
+# Pull in pico libraries that we need
+target_link_libraries(${LIB_NAME} INTERFACE bitmap_fonts hershey_fonts uc8151_legacy pico_stdlib hardware_pwm)

libraries/bitmap_fonts/bitmap_fonts.cpp

@@ -152,6 +152,9 @@ namespace bitmap {
     uint32_t line_offset = 0; // line (if wrapping) offset
     unicode_sorta::codepage_t codepage = unicode_sorta::PAGE_195;
 
+    int32_t space_width = measure_character(font, ' ', scale, codepage, fixed_width);
+    space_width += letter_spacing * scale;
+
     size_t i = 0;
     while(i < t.length()) {
       // find length of current word
@@ -201,7 +204,7 @@ namespace bitmap {
           line_offset += (font->height + 1) * scale;
           char_offset = 0;
         } else if (t[j] == ' ') { // Space
-          char_offset += font->widths[0] * scale;
+          char_offset += space_width;
         } else {
           switch(rotation) {
             case 0:

libraries/breakout_as7262/breakout_as7262.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET as7262)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/as7262/as7262.cmake)
+endif()
+
 set(LIB_NAME breakout_as7262)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_bh1745/breakout_bh1745.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET bh1745)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/bh1745/bh1745.cmake)
+endif()
+
 set(LIB_NAME breakout_bh1745)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_dotmatrix/breakout_dotmatrix.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET ltp305)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/ltp305/ltp305.cmake)
+endif()
+
 set(LIB_NAME breakout_dotmatrix)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_encoder/breakout_encoder.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET ioexpander)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/ioexpander/ioexpander.cmake)
+endif()
+
 set(LIB_NAME breakout_encoder)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_encoder_wheel/breakout_encoder_wheel.cmake

@@ -1,3 +1,11 @@
+if(NOT TARGET ioexpander)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/ioexpander/ioexpander.cmake)
+endif()
+
+if(NOT TARGET is31fl3731)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/is31fl3731/is31fl3731.cmake)
+endif()
+
 set(LIB_NAME breakout_encoder_wheel)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_ioexpander/breakout_ioexpander.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET ioexpander)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/ioexpander/ioexpander.cmake)
+endif()
+
 set(LIB_NAME breakout_ioexpander)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_ltr559/breakout_ltr559.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET ltr559)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/ltr559/ltr559.cmake)
+endif()
+
 set(LIB_NAME breakout_ltr559)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_matrix11x7/breakout_matrix11x7.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET is31fl3731)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/is31fl3731/is31fl3731.cmake)
+endif()
+
 set(LIB_NAME breakout_matrix11x7)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_mics6814/breakout_mics6814.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET ioexpander)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/ioexpander/ioexpander.cmake)
+endif()
+
 set(LIB_NAME breakout_mics6814)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_msa301/breakout_msa301.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET msa301)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/msa301/msa301.cmake)
+endif()
+
 set(LIB_NAME breakout_msa301)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_paa5100/breakout_paa5100.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pmw3901)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/pmw3901/pmw3901.cmake)
+endif()
+
 set(LIB_NAME breakout_paa5100)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_pmw3901/breakout_pmw3901.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pmw3901)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/pmw3901/pmw3901.cmake)
+endif()
+
 set(LIB_NAME breakout_pmw3901)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_potentiometer/breakout_potentiometer.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET ioexpander)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/ioexpander/ioexpander.cmake)
+endif()
+
 set(LIB_NAME breakout_potentiometer)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_rgbmatrix5x5/breakout_rgbmatrix5x5.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET is31fl3731)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/is31fl3731/is31fl3731.cmake)
+endif()
+
 set(LIB_NAME breakout_rgbmatrix5x5)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_rtc/breakout_rtc.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET rv3028)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/rv3028/rv3028.cmake)
+endif()
+
 set(LIB_NAME breakout_rtc)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_sgp30/breakout_sgp30.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET sgp30)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/sgp30/sgp30.cmake)
+endif()
+
 set(LIB_NAME breakout_sgp30)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/breakout_trackball/breakout_trackball.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET trackball)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/trackball/trackball.cmake)
+endif()
+
 set(LIB_NAME breakout_trackball)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/cosmic_unicorn/cosmic_unicorn.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
 add_library(cosmic_unicorn INTERFACE)
 
 pico_generate_pio_header(cosmic_unicorn ${CMAKE_CURRENT_LIST_DIR}/cosmic_unicorn.pio)

libraries/cosmic_unicorn/cosmic_unicorn.cpp

@@ -6,8 +6,10 @@
 #include "hardware/clocks.h"
 
 
+#ifndef NO_QSTR
 #include "cosmic_unicorn.pio.h"
 #include "audio_i2s.pio.h"
+#endif
 
 #include "cosmic_unicorn.hpp"
 
@@ -492,11 +494,14 @@ namespace pimoroni {
   void CosmicUnicorn::set_brightness(float value) {
     value = value < 0.0f ? 0.0f : value;
     value = value > 1.0f ? 1.0f : value;
+    // Max brightness is - in fact - 256 since it's applied with:
+    // result = (channel * brightness) >> 8
+    // eg: (255 * 256) >> 8 == 255
     this->brightness = floor(value * 256.0f);
   }
 
   float CosmicUnicorn::get_brightness() {
-    return this->brightness / 255.0f;
+    return this->brightness / 256.0f;
   }
 
   void CosmicUnicorn::adjust_brightness(float delta) {

libraries/galactic_unicorn/galactic_unicorn.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
 add_library(galactic_unicorn INTERFACE)
 
 pico_generate_pio_header(galactic_unicorn ${CMAKE_CURRENT_LIST_DIR}/galactic_unicorn.pio)

libraries/galactic_unicorn/galactic_unicorn.cpp

@@ -6,8 +6,10 @@
 #include "hardware/clocks.h"
 
 
+#ifndef NO_QSTR
 #include "galactic_unicorn.pio.h"
 #include "audio_i2s.pio.h"
+#endif
 
 #include "galactic_unicorn.hpp"
 
@@ -486,11 +488,14 @@ namespace pimoroni {
   void GalacticUnicorn::set_brightness(float value) {
     value = value < 0.0f ? 0.0f : value;
     value = value > 1.0f ? 1.0f : value;
+    // Max brightness is - in fact - 256 since it's applied with:
+    // result = (channel * brightness) >> 8
+    // eg: (255 * 256) >> 8 == 255
     this->brightness = floor(value * 256.0f);
   }
 
   float GalacticUnicorn::get_brightness() {
-    return this->brightness / 255.0f;
+    return this->brightness / 256.0f;
   }
 
   void GalacticUnicorn::adjust_brightness(float delta) {

libraries/gfx_pack/gfx_pack.cmake

@@ -1,3 +1,19 @@
+if(NOT TARGET st7567)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/st7567/st7567.cmake)
+endif()
+
+if(NOT TARGET button)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/button/button.cmake)
+endif()
+
+if(NOT TARGET rgbled)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/rgbled/rgbled.cmake)
+endif()
+
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
 set(LIB_NAME gfx_pack)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/inky_frame/inky_frame.cmake

@@ -1,11 +1,35 @@
-set(LIB_NAME inky_frame)
-add_library(${LIB_NAME} INTERFACE)
-
-target_sources(${LIB_NAME} INTERFACE
-  ${CMAKE_CURRENT_LIST_DIR}/${LIB_NAME}.cpp
-)
-
-target_include_directories(${LIB_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
-
-# Pull in pico libraries that we need
-target_link_libraries(${LIB_NAME} INTERFACE hardware_i2c pico_graphics hardware_spi hardware_pwm bitmap_fonts hershey_fonts pico_stdlib sdcard fatfs pcf85063a uc8159 jpegdec)
+if(NOT TARGET sdcard)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/sdcard/sdcard.cmake)
+endif()
+
+if(NOT TARGET fatfs)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/fatfs/fatfs.cmake)
+endif()
+
+if(NOT TARGET pcf85063a)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/pcf85063a/pcf85063a.cmake)
+endif()
+
+if(NOT TARGET uc8159)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/uc8159/uc8159.cmake)
+endif()
+
+if(NOT TARGET jpegdec)
+  include(${CMAKE_CURRENT_LIST_DIR}/../jpegdec/jpegdec.cmake)
+endif()
+
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
+set(LIB_NAME inky_frame)
+add_library(${LIB_NAME} INTERFACE)
+
+target_sources(${LIB_NAME} INTERFACE
+  ${CMAKE_CURRENT_LIST_DIR}/${LIB_NAME}.cpp
+)
+
+target_include_directories(${LIB_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
+
+# Pull in pico libraries that we need
+target_link_libraries(${LIB_NAME} INTERFACE hardware_i2c pico_graphics hardware_spi hardware_pwm bitmap_fonts hershey_fonts pico_stdlib sdcard fatfs pcf85063a uc8159 jpegdec)

libraries/inky_frame_7/inky_frame_7.cmake

@@ -1,13 +1,41 @@
-set(LIB_NAME inky_frame_7)
-add_library(${LIB_NAME} INTERFACE)
-
-target_sources(${LIB_NAME} INTERFACE
-  ${CMAKE_CURRENT_LIST_DIR}/${LIB_NAME}.cpp
-)
-
-target_include_directories(${LIB_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
-
-# Pull in pico libraries that we need
-target_link_libraries(${LIB_NAME} INTERFACE hardware_i2c pico_graphics hardware_spi hardware_pwm bitmap_fonts hershey_fonts pico_stdlib sdcard fatfs pcf85063a psram_display inky73 jpegdec)
-
+if(NOT TARGET sdcard)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/sdcard/sdcard.cmake)
+endif()
+
+if(NOT TARGET fatfs)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/fatfs/fatfs.cmake)
+endif()
+
+if(NOT TARGET pcf85063a)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/pcf85063a/pcf85063a.cmake)
+endif()
+
+if(NOT TARGET psram_display)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/psram_display/psram_display.cmake)
+endif()
+
+if(NOT TARGET inky73)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/inky73/inky73.cmake)
+endif()
+
+if(NOT TARGET jpegdec)
+  include(${CMAKE_CURRENT_LIST_DIR}/../jpegdec/jpegdec.cmake)
+endif()
+
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
+set(LIB_NAME inky_frame_7)
+add_library(${LIB_NAME} INTERFACE)
+
+target_sources(${LIB_NAME} INTERFACE
+  ${CMAKE_CURRENT_LIST_DIR}/${LIB_NAME}.cpp
+)
+
+target_include_directories(${LIB_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
+
+# Pull in pico libraries that we need
+target_link_libraries(${LIB_NAME} INTERFACE hardware_i2c pico_graphics hardware_spi hardware_pwm bitmap_fonts hershey_fonts pico_stdlib sdcard fatfs pcf85063a psram_display inky73 jpegdec)
+
 target_compile_options(${LIB_NAME} INTERFACE -Wno-error=reorder)

libraries/interstate75/interstate75.cmake

@@ -1,3 +1,19 @@
+if(NOT TARGET hub75)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/hub75/hub75.cmake)
+endif()
+
+if(NOT TARGET button)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/button/button.cmake)
+endif()
+
+if(NOT TARGET rgbled)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/rgbled/rgbled.cmake)
+endif()
+
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
 set(LIB_NAME interstate75)
 add_library(${LIB_NAME} INTERFACE)
 

libraries/inventor2040w/inventor.cmake

@@ -1,3 +1,19 @@
+if(NOT TARGET motor)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/motor/motor.cmake)
+endif()
+
+if(NOT TARGET servo)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/servo/servo.cmake)
+endif()
+
+if(NOT TARGET encoder)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/encoder/encoder.cmake)
+endif()
+
+if(NOT TARGET plasma)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/plasma/plasma.cmake)
+endif()
+
 add_library(inventor INTERFACE)
 
 target_sources(inventor INTERFACE
@@ -7,4 +23,4 @@ target_sources(inventor INTERFACE
 target_include_directories(inventor INTERFACE ${CMAKE_CURRENT_LIST_DIR})
 
 # Pull in pico libraries that we need
-target_link_libraries(inventor INTERFACE pico_stdlib hardware_pwm hardware_pio hardware_i2c pimoroni_i2c motor servo encoder plasma pimoroni_i2c)
+target_link_libraries(inventor INTERFACE pico_stdlib hardware_pwm hardware_pio hardware_i2c pimoroni_i2c motor servo encoder plasma)

libraries/jpegdec/JPEGDEC.h

@@ -68,6 +68,7 @@
 enum {
     RGB565_LITTLE_ENDIAN = 0,
     RGB565_BIG_ENDIAN,
+    RGB888_LITTLE_ENDIAN,
     EIGHT_BIT_GRAYSCALE,
     FOUR_BIT_DITHERED,
     TWO_BIT_DITHERED,

libraries/jpegdec/jpeg.inl

@@ -182,138 +182,82 @@ static const uint16_t usGrayTo565[] = {0x0000,0x0000,0x0000,0x0000,0x0020,0x0020
 //
 // Clip and convert red value into 5-bits for RGB565
 //
-static const uint16_t usRangeTableR[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, // 0
-    0x0800,0x0800,0x0800,0x0800,0x0800,0x0800,0x0800,0x0800,
-    0x1000,0x1000,0x1000,0x1000,0x1000,0x1000,0x1000,0x1000,
-    0x1800,0x1800,0x1800,0x1800,0x1800,0x1800,0x1800,0x1800,
-    0x2000,0x2000,0x2000,0x2000,0x2000,0x2000,0x2000,0x2000,
-    0x2800,0x2800,0x2800,0x2800,0x2800,0x2800,0x2800,0x2800,
-    0x3000,0x3000,0x3000,0x3000,0x3000,0x3000,0x3000,0x3000,
-    0x3800,0x3800,0x3800,0x3800,0x3800,0x3800,0x3800,0x3800,
-    0x4000,0x4000,0x4000,0x4000,0x4000,0x4000,0x4000,0x4000,
-    0x4800,0x4800,0x4800,0x4800,0x4800,0x4800,0x4800,0x4800,
-    0x5000,0x5000,0x5000,0x5000,0x5000,0x5000,0x5000,0x5000,
-    0x5800,0x5800,0x5800,0x5800,0x5800,0x5800,0x5800,0x5800,
-    0x6000,0x6000,0x6000,0x6000,0x6000,0x6000,0x6000,0x6000,
-    0x6800,0x6800,0x6800,0x6800,0x6800,0x6800,0x6800,0x6800,
-    0x7000,0x7000,0x7000,0x7000,0x7000,0x7000,0x7000,0x7000,
-    0x7800,0x7800,0x7800,0x7800,0x7800,0x7800,0x7800,0x7800,
-    0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,0x8000,
-    0x8800,0x8800,0x8800,0x8800,0x8800,0x8800,0x8800,0x8800,
-    0x9000,0x9000,0x9000,0x9000,0x9000,0x9000,0x9000,0x9000,
-    0x9800,0x9800,0x9800,0x9800,0x9800,0x9800,0x9800,0x9800,
-    0xa000,0xa000,0xa000,0xa000,0xa000,0xa000,0xa000,0xa000,
-    0xa800,0xa800,0xa800,0xa800,0xa800,0xa800,0xa800,0xa800,
-    0xb000,0xb000,0xb000,0xb000,0xb000,0xb000,0xb000,0xb000,
-    0xb800,0xb800,0xb800,0xb800,0xb800,0xb800,0xb800,0xb800,
-    0xc000,0xc000,0xc000,0xc000,0xc000,0xc000,0xc000,0xc000,
-    0xc800,0xc800,0xc800,0xc800,0xc800,0xc800,0xc800,0xc800,
-    0xd000,0xd000,0xd000,0xd000,0xd000,0xd000,0xd000,0xd000,
-    0xd800,0xd800,0xd800,0xd800,0xd800,0xd800,0xd800,0xd800,
-    0xe000,0xe000,0xe000,0xe000,0xe000,0xe000,0xe000,0xe000,
-    0xe800,0xe800,0xe800,0xe800,0xe800,0xe800,0xe800,0xe800,
-    0xf000,0xf000,0xf000,0xf000,0xf000,0xf000,0xf000,0xf000,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800, // 256
+static const uint16_t usRangeTableR[] = {0x0000, // 0
+    0x0800,
+    0x1000,
+    0x1800,
+    0x2000,
+    0x2800,
+    0x3000,
+    0x3800,
+    0x4000,
+    0x4800,
+    0x5000,
+    0x5800,
+    0x6000,
+    0x6800,
+    0x7000,
+    0x7800,
+    0x8000,
+    0x8800,
+    0x9000,
+    0x9800,
+    0xa000,
+    0xa800,
+    0xb000,
+    0xb800,
+    0xc000,
+    0xc800,
+    0xd000,
+    0xd800,
+    0xe000,
+    0xe800,
+    0xf000,
+    0xf800,
+    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800, // 32
     0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
     0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
     0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,0xf800,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 512
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 768
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 64
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 96
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
 //
-// Clip and convert green value into 5-bits for RGB565
+// Clip and convert green value into 6-bits for RGB565
 //
-static const uint16_t usRangeTableG[] = {0x0000,0x0000,0x0000,0x0000,0x0020,0x0020,0x0020,0x0020, // 0
-    0x0040,0x0040,0x0040,0x0040,0x0060,0x0060,0x0060,0x0060,
-    0x0080,0x0080,0x0080,0x0080,0x00a0,0x00a0,0x00a0,0x00a0,
-    0x00c0,0x00c0,0x00c0,0x00c0,0x00e0,0x00e0,0x00e0,0x00e0,
-    0x0100,0x0100,0x0100,0x0100,0x0120,0x0120,0x0120,0x0120,
-    0x0140,0x0140,0x0140,0x0140,0x0160,0x0160,0x0160,0x0160,
-    0x0180,0x0180,0x0180,0x0180,0x01a0,0x01a0,0x01a0,0x01a0,
-    0x01c0,0x01c0,0x01c0,0x01c0,0x01e0,0x01e0,0x01e0,0x01e0,
-    0x0200,0x0200,0x0200,0x0200,0x0220,0x0220,0x0220,0x0220,
-    0x0240,0x0240,0x0240,0x0240,0x0260,0x0260,0x0260,0x0260,
-    0x0280,0x0280,0x0280,0x0280,0x02a0,0x02a0,0x02a0,0x02a0,
-    0x02c0,0x02c0,0x02c0,0x02c0,0x02e0,0x02e0,0x02e0,0x02e0,
-    0x0300,0x0300,0x0300,0x0300,0x0320,0x0320,0x0320,0x0320,
-    0x0340,0x0340,0x0340,0x0340,0x0360,0x0360,0x0360,0x0360,
-    0x0380,0x0380,0x0380,0x0380,0x03a0,0x03a0,0x03a0,0x03a0,
-    0x03c0,0x03c0,0x03c0,0x03c0,0x03e0,0x03e0,0x03e0,0x03e0,
-    0x0400,0x0400,0x0400,0x0400,0x0420,0x0420,0x0420,0x0420,
-    0x0440,0x0440,0x0440,0x0440,0x0460,0x0460,0x0460,0x0460,
-    0x0480,0x0480,0x0480,0x0480,0x04a0,0x04a0,0x04a0,0x04a0,
-    0x04c0,0x04c0,0x04c0,0x04c0,0x04e0,0x04e0,0x04e0,0x04e0,
-    0x0500,0x0500,0x0500,0x0500,0x0520,0x0520,0x0520,0x0520,
-    0x0540,0x0540,0x0540,0x0540,0x0560,0x0560,0x0560,0x0560,
-    0x0580,0x0580,0x0580,0x0580,0x05a0,0x05a0,0x05a0,0x05a0,
-    0x05c0,0x05c0,0x05c0,0x05c0,0x05e0,0x05e0,0x05e0,0x05e0,
-    0x0600,0x0600,0x0600,0x0600,0x0620,0x0620,0x0620,0x0620,
-    0x0640,0x0640,0x0640,0x0640,0x0660,0x0660,0x0660,0x0660,
-    0x0680,0x0680,0x0680,0x0680,0x06a0,0x06a0,0x06a0,0x06a0,
-    0x06c0,0x06c0,0x06c0,0x06c0,0x06e0,0x06e0,0x06e0,0x06e0,
-    0x0700,0x0700,0x0700,0x0700,0x0720,0x0720,0x0720,0x0720,
-    0x0740,0x0740,0x0740,0x0740,0x0760,0x0760,0x0760,0x0760,
-    0x0780,0x0780,0x0780,0x0780,0x07a0,0x07a0,0x07a0,0x07a0,
-    0x07c0,0x07c0,0x07c0,0x07c0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0, // 256
+static const uint16_t usRangeTableG[] = {0x0000,0x0020, // 0
+    0x0040,0x0060,
+    0x0080,0x00a0,
+    0x00c0,0x00e0,
+    0x0100,0x0120,
+    0x0140,0x0160,
+    0x0180,0x01a0,
+    0x01c0,0x01e0,
+    0x0200,0x0220,
+    0x0240,0x0260,
+    0x0280,0x02a0,
+    0x02c0,0x02e0,
+    0x0300,0x0320,
+    0x0340,0x0360,
+    0x0380,0x03a0,
+    0x03c0,0x03e0,
+    0x0400,0x0420,
+    0x0440,0x0460,
+    0x0480,0x04a0,
+    0x04c0,0x04e0,
+    0x0500,0x0520,
+    0x0540,0x0560,
+    0x0580,0x05a0,
+    0x05c0,0x05e0,
+    0x0600,0x0620,
+    0x0640,0x0660,
+    0x0680,0x06a0,
+    0x06c0,0x06e0,
+    0x0700,0x0720,
+    0x0740,0x0760,
+    0x0780,0x07a0,
+    0x07c0,0x07e0,
+    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0, // 64
     0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
     0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
     0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
@@ -321,160 +265,56 @@ static const uint16_t usRangeTableG[] = {0x0000,0x0000,0x0000,0x0000,0x0020,0x00
     0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
     0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
     0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,0x07e0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 512
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 768
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 128
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 196
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
 //
 // Clip and convert blue value into 5-bits for RGB565
 //
-static const uint16_t usRangeTableB[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000, // 0
-    0x0001,0x0001,0x0001,0x0001,0x0001,0x0001,0x0001,0x0001,
-    0x0002,0x0002,0x0002,0x0002,0x0002,0x0002,0x0002,0x0002,
-    0x0003,0x0003,0x0003,0x0003,0x0003,0x0003,0x0003,0x0003,
-    0x0004,0x0004,0x0004,0x0004,0x0004,0x0004,0x0004,0x0004,
-    0x0005,0x0005,0x0005,0x0005,0x0005,0x0005,0x0005,0x0005,
-    0x0006,0x0006,0x0006,0x0006,0x0006,0x0006,0x0006,0x0006,
-    0x0007,0x0007,0x0007,0x0007,0x0007,0x0007,0x0007,0x0007,
-    0x0008,0x0008,0x0008,0x0008,0x0008,0x0008,0x0008,0x0008,
-    0x0009,0x0009,0x0009,0x0009,0x0009,0x0009,0x0009,0x0009,
-    0x000a,0x000a,0x000a,0x000a,0x000a,0x000a,0x000a,0x000a,
-    0x000b,0x000b,0x000b,0x000b,0x000b,0x000b,0x000b,0x000b,
-    0x000c,0x000c,0x000c,0x000c,0x000c,0x000c,0x000c,0x000c,
-    0x000d,0x000d,0x000d,0x000d,0x000d,0x000d,0x000d,0x000d,
-    0x000e,0x000e,0x000e,0x000e,0x000e,0x000e,0x000e,0x000e,
-    0x000f,0x000f,0x000f,0x000f,0x000f,0x000f,0x000f,0x000f,
-    0x0010,0x0010,0x0010,0x0010,0x0010,0x0010,0x0010,0x0010,
-    0x0011,0x0011,0x0011,0x0011,0x0011,0x0011,0x0011,0x0011,
-    0x0012,0x0012,0x0012,0x0012,0x0012,0x0012,0x0012,0x0012,
-    0x0013,0x0013,0x0013,0x0013,0x0013,0x0013,0x0013,0x0013,
-    0x0014,0x0014,0x0014,0x0014,0x0014,0x0014,0x0014,0x0014,
-    0x0015,0x0015,0x0015,0x0015,0x0015,0x0015,0x0015,0x0015,
-    0x0016,0x0016,0x0016,0x0016,0x0016,0x0016,0x0016,0x0016,
-    0x0017,0x0017,0x0017,0x0017,0x0017,0x0017,0x0017,0x0017,
-    0x0018,0x0018,0x0018,0x0018,0x0018,0x0018,0x0018,0x0018,
-    0x0019,0x0019,0x0019,0x0019,0x0019,0x0019,0x0019,0x0019,
-    0x001a,0x001a,0x001a,0x001a,0x001a,0x001a,0x001a,0x001a,
-    0x001b,0x001b,0x001b,0x001b,0x001b,0x001b,0x001b,0x001b,
-    0x001c,0x001c,0x001c,0x001c,0x001c,0x001c,0x001c,0x001c,
-    0x001d,0x001d,0x001d,0x001d,0x001d,0x001d,0x001d,0x001d,
-    0x001e,0x001e,0x001e,0x001e,0x001e,0x001e,0x001e,0x001e,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f, // 256
+static const uint16_t usRangeTableB[] = {0x0000, // 0
+    0x0001,
+    0x0002,
+    0x0003,
+    0x0004,
+    0x0005,
+    0x0006,
+    0x0007,
+    0x0008,
+    0x0009,
+    0x000a,
+    0x000b,
+    0x000c,
+    0x000d,
+    0x000e,
+    0x000f,
+    0x0010,
+    0x0011,
+    0x0012,
+    0x0013,
+    0x0014,
+    0x0015,
+    0x0016,
+    0x0017,
+    0x0018,
+    0x0019,
+    0x001a,
+    0x001b,
+    0x001c,
+    0x001d,
+    0x001e,
+    0x001f,
+    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f, // 32
     0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
     0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
     0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,0x001f,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 512
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 768
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 64
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+    0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, // 96
     0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
 #if defined (__MACH__) || defined( __LINUX__ ) || defined( __MCUXPRESSO )
 //
@@ -2288,9 +2128,9 @@ static void JPEGPixelLE(uint16_t *pDest, int iY, int iCb, int iCr)
     iCBG = -1409 * (iCb-0x80);
     iCRG = -2925 * (iCr-0x80);
     iCRR = 5742  * (iCr-0x80);
-    usPixel = usRangeTableB[((iCBB + iY) >> 12) & 0x3ff]; // blue pixel
-    usPixel |= usRangeTableG[((iCBG + iCRG + iY) >> 12) & 0x3ff]; // green pixel
-    usPixel |= usRangeTableR[((iCRR + iY) >> 12) & 0x3ff]; // red pixel
+    usPixel = usRangeTableB[((iCBB + iY) >> 15) & 0x7f]; // blue pixel
+    usPixel |= usRangeTableG[((iCBG + iCRG + iY) >> 14) & 0xff]; // green pixel
+    usPixel |= usRangeTableR[((iCRR + iY) >> 15) & 0x7f]; // red pixel
     pDest[0] = usPixel;
 #endif
 } /* JPEGPixelLE() */
@@ -2304,9 +2144,9 @@ static void JPEGPixelBE(uint16_t *pDest, int iY, int iCb, int iCr)
     iCBG = -1409 * (iCb-0x80);
     iCRG = -2925 * (iCr-0x80);
     iCRR = 5742  * (iCr-0x80);
-    usPixel = usRangeTableB[((iCBB + iY) >> 12) & 0x3ff]; // blue pixel
-    usPixel |= usRangeTableG[((iCBG + iCRG + iY) >> 12) & 0x3ff]; // green pixel
-    usPixel |= usRangeTableR[((iCRR + iY) >> 12) & 0x3ff]; // red pixel
+    usPixel = usRangeTableB[((iCBB + iY) >> 15) & 0x7f]; // blue pixel
+    usPixel |= usRangeTableG[((iCBG + iCRG + iY) >> 14) & 0xff]; // green pixel
+    usPixel |= usRangeTableR[((iCRR + iY) >> 15) & 0x7f]; // red pixel
     pDest[0] = __builtin_bswap16(usPixel);
 } /* JPEGPixelBE() */
 
@@ -2340,13 +2180,13 @@ static void JPEGPixel2LE(uint16_t *pDest, int iY1, int iY2, int iCb, int iCr)
     iCBG = -1409 * (iCb-0x80);
     iCRG = -2925 * (iCr-0x80);
     iCRR = 5742  * (iCr-0x80);
-    ulPixel1 = usRangeTableB[((iCBB + iY1) >> 12) & 0x3ff]; // blue pixel
-    ulPixel1 |= usRangeTableG[((iCBG + iCRG + iY1) >> 12) & 0x3ff]; // green pixel
-    ulPixel1 |= usRangeTableR[((iCRR + iY1) >> 12) & 0x3ff]; // red pixel
+    ulPixel1 = usRangeTableB[((iCBB + iY1) >> 15) & 0x7f]; // blue pixel
+    ulPixel1 |= usRangeTableG[((iCBG + iCRG + iY1) >> 14) & 0xff]; // green pixel
+    ulPixel1 |= usRangeTableR[((iCRR + iY1) >> 15) & 0x7f]; // red pixel
     
-    ulPixel2 = usRangeTableB[((iCBB + iY2) >> 12) & 0x3ff]; // blue pixel
-    ulPixel2 |= usRangeTableG[((iCBG + iCRG + iY2) >> 12) & 0x3ff]; // green pixel
-    ulPixel2 |= usRangeTableR[((iCRR + iY2) >> 12) & 0x3ff]; // red pixel
+    ulPixel2 = usRangeTableB[((iCBB + iY2) >> 15) & 0x7f]; // blue pixel
+    ulPixel2 |= usRangeTableG[((iCBG + iCRG + iY2) >> 14) & 0xff]; // green pixel
+    ulPixel2 |= usRangeTableR[((iCRR + iY2) >> 15) & 0x7f]; // red pixel
     *(uint32_t *)&pDest[0] = (ulPixel1 | (ulPixel2<<16));
 #endif
 } /* JPEGPixel2LE() */
@@ -2360,16 +2200,42 @@ static void JPEGPixel2BE(uint16_t *pDest, int32_t iY1, int32_t iY2, int32_t iCb,
     iCBG = -1409L * (iCb-0x80);
     iCRG = -2925L * (iCr-0x80);
     iCRR = 5742L  * (iCr-0x80);
-    ulPixel1 = usRangeTableB[((iCBB + iY1) >> 12) & 0x3ff]; // blue pixel
-    ulPixel1 |= usRangeTableG[((iCBG + iCRG + iY1) >> 12) & 0x3ff]; // green pixel
-    ulPixel1 |= usRangeTableR[((iCRR + iY1) >> 12) & 0x3ff]; // red pixel
+    ulPixel1 = usRangeTableB[((iCBB + iY1) >> 15) & 0x7f]; // blue pixel
+    ulPixel1 |= usRangeTableG[((iCBG + iCRG + iY1) >> 14) & 0xff]; // green pixel
+    ulPixel1 |= usRangeTableR[((iCRR + iY1) >> 15) & 0x7f]; // red pixel
     
-    ulPixel2 = usRangeTableB[((iCBB + iY2) >> 12) & 0x3ff]; // blue pixel
-    ulPixel2 |= usRangeTableG[((iCBG + iCRG + iY2) >> 12) & 0x3ff]; // green pixel
-    ulPixel2 |= usRangeTableR[((iCRR + iY2) >> 12) & 0x3ff]; // red pixel
+    ulPixel2 = usRangeTableB[((iCBB + iY2) >> 15) & 0x7f]; // blue pixel
+    ulPixel2 |= usRangeTableG[((iCBG + iCRG + iY2) >> 14) & 0xff]; // green pixel
+    ulPixel2 |= usRangeTableR[((iCRR + iY2) >> 15) & 0x7f]; // red pixel
     *(uint32_t *)&pDest[0] = __builtin_bswap16(ulPixel1) | ((uint32_t)__builtin_bswap16(ulPixel2)<<16);
 } /* JPEGPixel2BE() */
 
+static void JPEGPixelLE888(uint8_t *pDest, int iY, int iCb, int iCr)
+{
+    int32_t iCBB, iCBG, iCRG, iCRR;
+    uint32_t uVal;
+
+    iCBB = 7258  * (iCb-0x80);
+    iCBG = -1409 * (iCb-0x80);
+    iCRG = -2925 * (iCr-0x80);
+    iCRR = 5742  * (iCr-0x80);
+
+    // Red
+    uVal = ((iCRR + iY) >> 13) & 0x1FF;
+    if (uVal & 0x100) uVal = 0;
+    *pDest++ = uVal;
+
+    // Green
+    uVal = ((iCBG + iCRG + iY) >> 13) & 0x1FF;
+    if (uVal & 0x100) uVal = 0;
+    *pDest++ = uVal;
+
+    // Blue
+    uVal = ((iCBB + iY) >> 13) & 0x1FF;
+    if (uVal & 0x100) uVal = 0;
+    *pDest++ = uVal;
+}
+
 static void JPEGPutMCU11(JPEGIMAGE *pJPEG, int x, int iPitch)
 {
     int iCr, iCb;
@@ -2378,6 +2244,7 @@ static void JPEGPutMCU11(JPEGIMAGE *pJPEG, int x, int iPitch)
     int iRow;
     uint8_t *pY, *pCr, *pCb;
     uint16_t *pOutput = &pJPEG->usPixels[x];
+    uint8_t *pOutput8 = ((uint8_t*)pJPEG->usPixels) + x * 3;
 
     pY  = (unsigned char *)&pJPEG->sMCUs[0*DCTSIZE];
     pCb = (unsigned char *)&pJPEG->sMCUs[1*DCTSIZE];
@@ -2474,6 +2341,17 @@ static void JPEGPutMCU11(JPEGIMAGE *pJPEG, int x, int iPitch)
                 JPEGPixelLE(pOutput+iCol, Y, iCb, iCr);
             } // for col
         }
+        else if (pJPEG->ucPixelType == RGB888_LITTLE_ENDIAN)
+        {
+            for (iCol=0; iCol<8; iCol++) // up to 4x2 cols to do
+            {
+                iCr = *pCr++;
+                iCb = *pCb++;
+                Y = (int)(*pY++) << 12;
+                JPEGPixelLE888(pOutput8+iCol*3, Y, iCb, iCr);
+            } // for col
+            pOutput8 += iPitch * 3;
+        }
         else
         {
             for (iCol=0; iCol<8; iCol++) // up to 4x2 cols to do
@@ -2829,6 +2707,7 @@ static void JPEGPutMCU12(JPEGIMAGE *pJPEG, int x, int iPitch)
     int iRow, iCol, iXCount, iYCount;
     uint8_t *pY, *pCr, *pCb;
     uint16_t *pOutput = &pJPEG->usPixels[x];
+    uint8_t *pOutput8 = ((uint8_t*)pJPEG->usPixels) + x * 3;
     
     pY  = (uint8_t *)&pJPEG->sMCUs[0*DCTSIZE];
     pCb = (uint8_t *)&pJPEG->sMCUs[2*DCTSIZE];
@@ -2960,6 +2839,11 @@ static void JPEGPutMCU12(JPEGIMAGE *pJPEG, int x, int iPitch)
                 JPEGPixelLE(pOutput + iCol, Y1, Cb, Cr);
                 JPEGPixelLE(pOutput + iPitch + iCol, Y2, Cb, Cr);
             }
+            else if (pJPEG->ucPixelType == RGB888_LITTLE_ENDIAN)
+            {
+                JPEGPixelLE888(pOutput8 + iCol*3, Y1, Cb, Cr);
+                JPEGPixelLE888(pOutput8 + (iPitch + iCol)*3, Y2, Cb, Cr);
+            }
             else
             {
                 JPEGPixelBE(pOutput + iCol, Y1, Cb, Cr);
@@ -2972,6 +2856,7 @@ static void JPEGPutMCU12(JPEGIMAGE *pJPEG, int x, int iPitch)
         pCb += 8;
         pCr += 8;
         pOutput += iPitch*2; // next 2 lines of dest pixels
+        pOutput8 += iPitch*6;
     }
 } /* JPEGPutMCU12() */
 static void JPEGPutMCU21(JPEGIMAGE *pJPEG, int x, int iPitch)
@@ -3229,6 +3114,8 @@ static int DecodeJPEG(JPEGIMAGE *pJPEG)
     cDCTable2 = pJPEG->JPCI[2].dc_tbl_no;
     cACTable2 = pJPEG->JPCI[2].ac_tbl_no;
     iDCPred0 = iDCPred1 = iDCPred2 = mcuCX = mcuCY = 0;
+
+    printf("SubSample mode: 0x%x\n", pJPEG->ucSubSample);
     
     switch (pJPEG->ucSubSample) // set up the parameters for the different subsampling options
     {
@@ -3287,6 +3174,8 @@ static int DecodeJPEG(JPEGIMAGE *pJPEG)
     iMCUCount = MAX_BUFFERED_PIXELS / (mcuCX * mcuCY);
     if (pJPEG->ucPixelType == EIGHT_BIT_GRAYSCALE)
         iMCUCount *= 2; // each pixel is only 1 byte
+    else if (pJPEG->ucPixelType == RGB888_LITTLE_ENDIAN)
+        iMCUCount = (iMCUCount >> 1) + (iMCUCount >> 3);  // each picel is 3 bytes
     if (iMCUCount > cx)
         iMCUCount = cx; // don't go wider than the image
     if (iMCUCount > pJPEG->iMaxMCUs) // did the user set an upper bound on how many pixels per JPEGDraw callback?
@@ -3296,6 +3185,9 @@ static int DecodeJPEG(JPEGIMAGE *pJPEG)
     jd.iBpp = 16;
     switch (pJPEG->ucPixelType)
     {
+        case RGB888_LITTLE_ENDIAN:
+            jd.iBpp = 24;
+            break;
         case EIGHT_BIT_GRAYSCALE:
             jd.iBpp = 8;
             break;

libraries/motor2040/motor2040.cmake

@@ -1,3 +1,19 @@
+if(NOT TARGET plasma)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/plasma/plasma.cmake)
+endif()
+
+if(NOT TARGET motor)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/motor/motor.cmake)
+endif()
+
+if(NOT TARGET motor_cluster)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/motor/motor_cluster.cmake)
+endif()
+
+if(NOT TARGET encoder)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/encoder/encoder.cmake)
+endif()
+
 add_library(motor2040 INTERFACE)
 
 target_include_directories(motor2040 INTERFACE ${CMAKE_CURRENT_LIST_DIR})

libraries/motor2040/motor2040.hpp

@@ -47,6 +47,10 @@ namespace motor {
     const uint LED_DATA = 18;
     const uint NUM_LEDS = 1;
 
+    const uint I2C_INT = 19;
+    const uint I2C_SDA = 20;
+    const uint I2C_SCL = 21;
+
     const uint USER_SW = 23;
 
     const uint ADC_ADDR_0 = 22;

libraries/pico_explorer/pico_explorer.cmake

@@ -1,5 +1,10 @@
-include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/st7789/st7789.cmake)
-include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+if(NOT TARGET st7789)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/st7789/st7789.cmake)
+endif()
+
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
 
 add_library(pico_explorer INTERFACE)
 

libraries/pico_graphics/pico_graphics.cpp

@@ -8,6 +8,7 @@ namespace pimoroni {
   int PicoGraphics::reset_pen(uint8_t i) {return -1;};
   int PicoGraphics::create_pen(uint8_t r, uint8_t g, uint8_t b) {return -1;};
   int PicoGraphics::create_pen_hsv(float h, float s, float v){return -1;};
+  void PicoGraphics::set_pixel_alpha(const Point &p, const uint8_t a) {};
   void PicoGraphics::set_pixel_dither(const Point &p, const RGB &c) {};
   void PicoGraphics::set_pixel_dither(const Point &p, const RGB565 &c) {};
   void PicoGraphics::set_pixel_dither(const Point &p, const uint8_t &c) {};
@@ -16,6 +17,7 @@ namespace pimoroni {
 
   int PicoGraphics::get_palette_size() {return 0;}
   RGB* PicoGraphics::get_palette() {return nullptr;}
+  bool PicoGraphics::supports_alpha_blend() {return false;}
 
   void PicoGraphics::set_dimensions(int width, int height) {
     bounds = clip = {0, 0, width, height};
@@ -266,7 +268,7 @@ namespace pimoroni {
           int32_t ex = points[j].x;
           int32_t px = int32_t(sx + float(fy - sy) / float(ey - sy) * float(ex - sx));
 
-          nodes[n++] = px < clip.x ? clip.x : (px >= clip.x + clip.w ? clip.x + clip.w - 1 : px);// clamp(int32_t(sx + float(fy - sy) / float(ey - sy) * float(ex - sx)), clip.x, clip.x + clip.w);
+          nodes[n++] = px;
         }
       }
 

libraries/pico_graphics/pico_graphics.hpp

@@ -26,6 +26,7 @@
 namespace pimoroni {
   typedef uint8_t RGB332;
   typedef uint16_t RGB565;
+  typedef uint16_t RGB555;
   typedef uint32_t RGB888;
 
 
@@ -46,7 +47,19 @@ namespace pimoroni {
       g((c >> 8) & 0xff),
       b(c & 0xff) {}
     constexpr RGB(int16_t r, int16_t g, int16_t b) : r(r), g(g), b(b) {}
-  
+
+    constexpr uint8_t blend(uint8_t s, uint8_t d, uint8_t a) {
+      return d + ((a * (s - d) + 127) >> 8);
+    }
+
+    constexpr RGB blend(RGB with, const uint8_t alpha) {
+      return RGB(
+        blend(with.r, r, alpha),
+        blend(with.g, g, alpha),
+        blend(with.b, b, alpha)
+      );
+    }
+
     static RGB from_hsv(float h, float s, float v) {
       float i = floor(h * 6.0f);
       float f = h * 6.0f - i;
@@ -108,6 +121,14 @@ namespace pimoroni {
       return __builtin_bswap16(p);
     }
 
+    constexpr RGB555 to_rgb555() {
+      uint16_t p = ((r & 0b11111000) << 7) |
+                   ((g & 0b11111000) << 2) |
+                   ((b & 0b11111000) >> 3);
+
+      return p;
+    }
+
     constexpr RGB565 to_rgb332() {
       return (r & 0b11100000) | ((g & 0b11100000) >> 3) | ((b & 0b11000000) >> 6);
     }
@@ -192,7 +213,10 @@ namespace pimoroni {
       PEN_RGB332,
       PEN_RGB565,
       PEN_RGB888,
-      PEN_INKY7
+      PEN_INKY7,
+      PEN_DV_RGB555,
+      PEN_DV_P5,
+      PEN_DV_RGB888,
     };
 
     void *frame_buffer;
@@ -256,6 +280,7 @@ namespace pimoroni {
 
     virtual int get_palette_size();
     virtual RGB* get_palette();
+    virtual bool supports_alpha_blend();
 
     virtual int create_pen(uint8_t r, uint8_t g, uint8_t b);
     virtual int create_pen_hsv(float h, float s, float v);
@@ -264,9 +289,12 @@ namespace pimoroni {
     virtual void set_pixel_dither(const Point &p, const RGB &c);
     virtual void set_pixel_dither(const Point &p, const RGB565 &c);
     virtual void set_pixel_dither(const Point &p, const uint8_t &c);
+    virtual void set_pixel_alpha(const Point &p, const uint8_t a);
     virtual void frame_convert(PenType type, conversion_callback_func callback);
     virtual void sprite(void* data, const Point &sprite, const Point &dest, const int scale, const int transparent);
 
+    virtual bool render_pico_vector_tile(const Rect &bounds, uint8_t* alpha_data, uint32_t stride, uint8_t alpha_type) { return false; }
+
     void set_font(const bitmap::font_t *font);
     void set_font(const hershey::font_t *font);
     void set_font(std::string_view name);
@@ -459,6 +487,9 @@ namespace pimoroni {
       void set_pixel_span(const Point &p, uint l) override;
       void set_pixel_dither(const Point &p, const RGB &c) override;
       void set_pixel_dither(const Point &p, const RGB565 &c) override;
+      void set_pixel_alpha(const Point &p, const uint8_t a) override;
+
+      bool supports_alpha_blend() override {return true;}
 
       void sprite(void* data, const Point &sprite, const Point &dest, const int scale, const int transparent) override;
 
@@ -528,6 +559,12 @@ namespace pimoroni {
        virtual void read_pixel_span(const Point &p, uint l, T *data) {};
    };
 
+  class IPaletteDisplayDriver {
+    public:
+      virtual void write_palette_pixel(const Point &p, uint8_t colour) = 0;
+      virtual void write_palette_pixel_span(const Point &p, uint l, uint8_t colour) = 0;
+      virtual void set_palette_colour(uint8_t entry, RGB888 colour) = 0;
+  };
 
   class PicoGraphics_PenInky7 : public PicoGraphics {
     public:

libraries/pico_graphics/pico_graphics_pen_1bitY.cpp

@@ -15,7 +15,7 @@ namespace pimoroni {
   }
 
   void PicoGraphics_Pen1BitY::set_pen(uint8_t r, uint8_t g, uint8_t b) {
-    color = std::max(r, std::max(g, b));
+    color = std::max(r, std::max(g, b)) >> 4;
   }
 
   void PicoGraphics_Pen1BitY::set_pixel(const Point &p) {

libraries/pico_graphics/pico_graphics_pen_rgb332.cpp

@@ -34,6 +34,15 @@ namespace pimoroni {
             *buf++ = color;
         }
     }
+    void PicoGraphics_PenRGB332::set_pixel_alpha(const Point &p, const uint8_t a) {
+        if(!bounds.contains(p)) return;
+
+        uint8_t *buf = (uint8_t *)frame_buffer;
+
+        RGB332 blended = RGB(buf[p.y * bounds.w + p.x]).blend(RGB(color), a).to_rgb332();
+
+        buf[p.y * bounds.w + p.x] = blended;
+    };
     void PicoGraphics_PenRGB332::set_pixel_dither(const Point &p, const RGB &c) {
         if(!bounds.contains(p)) return;
         uint8_t _dmv = dither16_pattern[(p.x & 0b11) | ((p.y & 0b11) << 2)];

libraries/pico_motor_shim/pico_motor_shim.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET motor)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/motor/motor.cmake)
+endif()
+
 add_library(pico_motor_shim INTERFACE)
 
 target_include_directories(pico_motor_shim INTERFACE ${CMAKE_CURRENT_LIST_DIR})

libraries/pico_scroll/pico_scroll.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
 add_library(pico_scroll INTERFACE)
 
 set(PICO_SCROLL_SOURCES

libraries/pico_unicorn/pico_unicorn.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
 add_library(pico_unicorn INTERFACE)
 
 pico_generate_pio_header(pico_unicorn ${CMAKE_CURRENT_LIST_DIR}/pico_unicorn.pio)

libraries/pico_unicorn/pico_unicorn.cpp

@@ -2,7 +2,9 @@
 #include "hardware/irq.h"
 #include "common/pimoroni_common.hpp"
 
+#ifndef NO_QSTR
 #include "pico_unicorn.pio.h"
+#endif
 #include "pico_unicorn.hpp"
 
 // pixel data is stored as a stream of bits delivered in the

libraries/pico_vector/alright_fonts.cpp

@@ -0,0 +1,181 @@
+#include <cstdint>
+#include <math.h>
+#include <string.h>
+#include <algorithm>
+#include <vector>
+#include <optional>
+#include <map>
+
+#include "alright_fonts.hpp"
+
+using namespace pretty_poly;
+
+namespace alright_fonts {
+  /*
+    utility functions
+  */
+  pretty_poly::rect_t measure_character(text_metrics_t &tm, uint16_t codepoint) {
+    if(tm.face.glyphs.count(codepoint) == 1) {
+      glyph_t glyph = tm.face.glyphs[codepoint];
+
+      return {0, 0, ((glyph.advance * tm.size) / 128), tm.size};
+    }
+
+    return {0, 0, 0, 0};
+  }
+
+  /*
+    render functions
+  */
+
+  void render_character(text_metrics_t &tm, uint16_t codepoint, pretty_poly::point_t<int> origin) {
+    if(tm.face.glyphs.count(codepoint) == 1) {
+      glyph_t glyph = tm.face.glyphs[codepoint];
+
+      // scale is a fixed point 16:16 value, our font data is already scaled to
+      // -128..127 so to get the pixel size we want we can just shift the
+      // users requested size up one bit
+      unsigned scale = tm.size << 9;
+
+      pretty_poly::draw_polygon<int8_t>(glyph.contours, origin, scale);
+    }
+  }
+
+  template<typename mat_t>
+  void render_character(text_metrics_t &tm, uint16_t codepoint, pretty_poly::point_t<int> origin, mat_t transform) {
+    if(tm.face.glyphs.count(codepoint) == 1) {
+      glyph_t glyph = tm.face.glyphs[codepoint];
+
+      // scale is a fixed point 16:16 value, our font data is already scaled to
+      // -128..127 so to get the pixel size we want we can just shift the
+      // users requested size up one bit
+      unsigned scale = tm.size << 9;
+
+      std::vector<pretty_poly::contour_t<int8_t>> contours;
+      contours.reserve(glyph.contours.size());
+
+      unsigned int total_points = 0;
+      for(auto i = 0u; i < glyph.contours.size(); i++) {
+        total_points += glyph.contours[i].count;;
+      }
+
+      point_t<int8_t> *points = (point_t<int8_t> *)malloc(sizeof(point_t<int8_t>) * total_points);
+
+      for(auto i = 0u; i < glyph.contours.size(); i++) {
+        const unsigned int count = glyph.contours[i].count;
+        for(auto j = 0u; j < count; j++) {
+          point_t<float> point(glyph.contours[i].points[j].x, glyph.contours[i].points[j].y);
+          point *= transform;
+          points[j] = point_t<int8_t>(point.x, point.y);
+        }
+        contours.emplace_back(points, count);
+        points += count;
+      }
+
+      pretty_poly::draw_polygon<int8_t>(contours, origin, scale);
+
+      free(contours[0].points);
+    }
+  }
+
+  template void render_character<pretty_poly::mat3_t>(text_metrics_t &tm, uint16_t codepoint, pretty_poly::point_t<int> origin, pretty_poly::mat3_t transform);
+  template void render_character<pretty_poly::mat2_t>(text_metrics_t &tm, uint16_t codepoint, pretty_poly::point_t<int> origin, pretty_poly::mat2_t transform);
+
+  /*
+    load functions
+  */
+
+  // big endian stream value helpers
+  uint16_t  ru16(file_io &ifs) {uint8_t w[2]; ifs.read((char *)w, 2); return w[0] << 8 | w[1];}
+  int16_t   rs16(file_io &ifs) {uint8_t w[2]; ifs.read((char *)w, 2); return w[0] << 8 | w[1];}
+  uint32_t  ru32(file_io &ifs) {uint8_t dw[4]; ifs.read((char *)dw, 4); return dw[0] << 24 | dw[1] << 16 | dw[2] << 8 | dw[3];}
+  uint8_t   ru8(file_io &ifs) {uint8_t w; ifs.read(&w, 1); return w;}
+  int8_t    rs8(file_io &ifs) {int8_t w; ifs.read(&w, 1); return w;}
+
+  bool face_t::load(file_io &ifs) {
+    char marker[4];
+    ifs.read(marker, sizeof(marker));
+
+    // check header magic bytes are present
+    if(memcmp(marker, "af!?", 4) != 0) {
+      // doesn't start with magic marker
+      return false;
+    }
+
+    // number of glyphs embedded in font file
+    this->glyph_count = ru16(ifs);
+
+    // extract flags and ensure none set
+    this->flags = ru16(ifs);
+    if(this->flags != 0) {
+      // unknown flags set
+      return false;
+    }
+
+    // extract glyph dictionary
+    uint16_t glyph_entry_size = 9;
+    uint32_t contour_data_offset = 8 + this->glyph_count * glyph_entry_size;
+    for(auto i = 0; i < this->glyph_count; i++) {
+      glyph_t g;
+      g.codepoint = ru16(ifs);
+      g.bounds.x  = rs8(ifs);
+      g.bounds.y  = rs8(ifs);
+      g.bounds.w  = ru8(ifs);
+      g.bounds.h  = ru8(ifs);
+      g.advance   = ru8(ifs);
+
+      if(ifs.fail()) {
+        // could not read glyph dictionary entry
+        return false;
+      }
+
+      // allocate space for the contour data and read it from the font file
+      uint16_t contour_data_length = ru16(ifs);
+
+      // remember where we are in the dictionary
+      int pos = ifs.tell();
+
+      // read contour data
+      ifs.seek(contour_data_offset);
+      while(true) {
+        // get number of points in contour
+        uint16_t count = ru16(ifs);
+
+        // if count is zero then this is the end of contour marker
+        if(count == 0) {
+          break;
+        }
+
+        // allocate space to store point data for contour and read
+        // from file
+        pretty_poly::point_t<int8_t> *points = new pretty_poly::point_t<int8_t>[count];
+        ifs.read((char *)points, count * 2);
+
+        g.contours.push_back({points, count});
+      }
+
+      // return back to position in dictionary
+      ifs.seek(pos);
+      contour_data_offset += contour_data_length;
+
+      if(ifs.fail()) {
+        // could not read glyph contour data
+        return false;
+      }
+
+      this->glyphs[g.codepoint] = g;
+    }
+
+    return true;
+  }
+
+  bool face_t::load(std::string_view path) {
+    file_io ifs(path);
+    if(ifs.fail()) {
+      // could not open file
+      return false;
+    }
+    return load(ifs);
+  }
+
+}

libraries/pico_vector/alright_fonts.hpp

@@ -0,0 +1,75 @@
+#include <cstdint>
+#include <math.h>
+#include <string.h>
+#include <algorithm>
+#include <vector>
+#include <optional>
+#include <map>
+
+#include "pretty_poly.hpp"
+
+namespace alright_fonts {
+
+  struct glyph_t {
+    uint16_t codepoint;
+    pretty_poly::rect_t bounds;
+    uint8_t advance;
+    std::vector<pretty_poly::contour_t<int8_t>> contours;
+  };
+
+  struct face_t {
+    uint16_t glyph_count;
+    uint16_t flags;
+    std::map<uint16_t, glyph_t> glyphs;
+
+    face_t() {};
+    face_t(pretty_poly::file_io &ifs) {load(ifs);}
+    face_t(std::string_view path) {load(path);}
+
+    bool load(pretty_poly::file_io &ifs);
+    bool load(std::string_view path);
+  };
+
+  enum alignment_t {
+    left    = 0,
+    center  = 1,
+    right   = 2,
+    justify = 4,
+    top     = 8,
+    bottom  = 16
+  };
+
+  struct text_metrics_t {
+    face_t face;                      // font to write in
+    int size;                         // text size in pixels
+    uint scroll;                      // vertical scroll offset
+    int line_height;                  // spacing between lines (%)
+    int letter_spacing;               // spacing between characters
+    int word_spacing;                 // spacing between words
+    alignment_t align;                // horizontal and vertical alignment
+    //optional<mat3_t> transform;     // arbitrary transformation
+    pretty_poly::antialias_t antialiasing = pretty_poly::X4;    // level of antialiasing to apply
+
+    void set_size(int s) {
+      size = s;
+      line_height = size;
+      letter_spacing = 0;
+      word_spacing = size / 2;
+    }
+
+    text_metrics_t() {};
+  };
+
+  /*
+    utility functions
+  */
+  pretty_poly::rect_t measure_character(text_metrics_t &tm, uint16_t codepoint);
+
+  /* 
+    render functions
+  */
+
+  void render_character(text_metrics_t &tm, uint16_t codepoint, pretty_poly::point_t<int> origin);
+  template<typename mat_t>
+  void render_character(text_metrics_t &tm, uint16_t codepoint, pretty_poly::point_t<int> origin, mat_t transform);
+}

libraries/pico_vector/pico_vector.cmake

@@ -0,0 +1,9 @@
+add_library(pico_vector 
+    ${CMAKE_CURRENT_LIST_DIR}/pico_vector.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/pretty_poly.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/alright_fonts.cpp
+)
+
+target_include_directories(pico_vector INTERFACE ${CMAKE_CURRENT_LIST_DIR})
+
+target_link_libraries(pico_vector pico_stdlib hardware_interp)

libraries/pico_vector/pico_vector.cpp

@@ -0,0 +1,192 @@
+#include "pico_vector.hpp"
+#include <vector>
+
+namespace pimoroni {
+  void PicoVector::polygon(std::vector<pretty_poly::contour_t<picovector_point_type>> contours, Point origin, int scale) {
+    pretty_poly::settings::clip = {graphics->clip.x, graphics->clip.y, graphics->clip.w, graphics->clip.h};
+    pretty_poly::draw_polygon<picovector_point_type>(
+        contours,
+        pretty_poly::point_t<int>(origin.x, origin.y),
+        scale);
+  }
+
+  void PicoVector::rotate(std::vector<pretty_poly::contour_t<picovector_point_type>> &contours, Point origin, float angle) {
+    pretty_poly::point_t<picovector_point_type> t{(picovector_point_type)origin.x, (picovector_point_type)origin.y};
+    angle = (2 * (float)M_PI / 360.f) * angle;
+    pretty_poly::mat2_t r = pretty_poly::mat2_t::rotation(angle);
+    for(auto &contour : contours) {
+      for(auto i = 0u; i < contour.count; i++) {
+        contour.points[i] -= t;
+        contour.points[i] *= r;
+        contour.points[i] += t;
+      }
+    }
+  }
+
+  void PicoVector::translate(std::vector<pretty_poly::contour_t<picovector_point_type>> &contours, Point translation) {
+    pretty_poly::point_t<picovector_point_type> t{(picovector_point_type)translation.x, (picovector_point_type)translation.y};
+    for(auto &contour : contours) {
+      for(auto i = 0u; i < contour.count; i++) {
+        contour.points[i] += t;
+      }
+    }
+  }
+
+  void PicoVector::rotate(pretty_poly::contour_t<picovector_point_type> &contour, Point origin, float angle) {
+    pretty_poly::point_t<picovector_point_type> t{(picovector_point_type)origin.x, (picovector_point_type)origin.y};
+    angle = (2 * (float)M_PI / 360.f) * angle;
+    pretty_poly::mat2_t r = pretty_poly::mat2_t::rotation(angle);
+    for(auto i = 0u; i < contour.count; i++) {
+      contour.points[i] -= t;
+      contour.points[i] *= r;
+      contour.points[i] += t;
+    }
+  }
+
+  void PicoVector::translate(pretty_poly::contour_t<picovector_point_type> &contour, Point translation) {
+    pretty_poly::point_t<picovector_point_type> t{(picovector_point_type)translation.x, (picovector_point_type)translation.y};
+    for(auto i = 0u; i < contour.count; i++) {
+      contour.points[i] += t;
+    }
+  }
+
+  Point PicoVector::text(std::string_view text, Point origin) {
+    // Copy clipping bounds from the PicoGraphics instance
+    pretty_poly::settings::clip = {graphics->clip.x, graphics->clip.y, graphics->clip.w, graphics->clip.h};
+    // TODO: Normalize types somehow, so we're not converting?
+    pretty_poly::point_t<int> caret = pretty_poly::point_t<int>(origin.x, origin.y);
+
+    // Align text from the bottom left
+    caret.y += text_metrics.size;
+
+    int16_t space_width = alright_fonts::measure_character(text_metrics, ' ').w;
+    if (space_width == 0) {
+      space_width = text_metrics.word_spacing;
+    }
+
+    size_t i = 0;
+
+    while(i < text.length()) {
+      size_t next_space = text.find(' ', i + 1);
+
+      if(next_space == std::string::npos) {
+        next_space = text.length();
+      }
+
+      size_t next_linebreak = text.find('\n', i + 1);
+
+      if(next_linebreak == std::string::npos) {
+        next_linebreak = text.length();
+      }
+
+      size_t next_break = std::min(next_space, next_linebreak);
+
+      uint16_t word_width = 0;
+      for(size_t j = i; j < next_break; j++) {
+        word_width += alright_fonts::measure_character(text_metrics, text[j]).w;
+        word_width += text_metrics.letter_spacing;
+      }
+
+      if(caret.x != 0 && caret.x + word_width > graphics->clip.w) {
+        caret.x = origin.x;
+        caret.y += text_metrics.line_height;
+      }
+
+      for(size_t j = i; j < std::min(next_break + 1, text.length()); j++) {
+        if (text[j] == '\n') { // Linebreak
+          caret.x = origin.x;
+          caret.y += text_metrics.line_height;
+        } else if (text[j] == ' ') { // Space
+          caret.x += space_width;
+        } else {
+          alright_fonts::render_character(text_metrics, text[j], caret);
+        }
+        caret.x += alright_fonts::measure_character(text_metrics, text[j]).w;
+        caret.x += text_metrics.letter_spacing;
+      }
+
+      i = next_break + 1;
+    }
+
+    return Point(caret.x, caret.y);
+  }
+
+  Point PicoVector::text(std::string_view text, Point origin, float angle) {
+    // Copy clipping bounds from the PicoGraphics instance
+    pretty_poly::settings::clip = {graphics->clip.x, graphics->clip.y, graphics->clip.w, graphics->clip.h};
+    // TODO: Normalize types somehow, so we're not converting?
+    pretty_poly::point_t<float> caret(0, 0);
+
+    // Prepare a transformation matrix for character and offset rotation
+    angle = (2 * (float)M_PI / 360.f) * angle;
+    pretty_poly::mat2_t transform = pretty_poly::mat2_t::rotation(angle);
+
+    // Align text from the bottom left
+    caret.y += text_metrics.line_height;
+    caret *= transform;
+
+    pretty_poly::point_t<float> space;
+    pretty_poly::point_t<float> carriage_return(0, -text_metrics.line_height);
+
+    space.x = alright_fonts::measure_character(text_metrics, ' ').w;
+    if (space.x == 0) {
+      space.x = text_metrics.word_spacing;
+    }
+
+    space *= transform;
+    carriage_return *= transform;
+    const pretty_poly::point_t<float> initial_carriage_return = carriage_return;
+
+    size_t i = 0;
+
+    while(i < text.length()) {
+      size_t next_space = text.find(' ', i + 1);
+
+      if(next_space == std::string::npos) {
+        next_space = text.length();
+      }
+
+      size_t next_linebreak = text.find('\n', i + 1);
+
+      if(next_linebreak == std::string::npos) {
+        next_linebreak = text.length();
+      }
+
+      size_t next_break = std::min(next_space, next_linebreak);
+
+      uint16_t word_width = 0;
+      for(size_t j = i; j < next_break; j++) {
+        word_width += alright_fonts::measure_character(text_metrics, text[j]).w;
+        word_width += text_metrics.letter_spacing;
+      }
+
+      if(caret.x != 0 && caret.x + word_width > graphics->clip.w) {
+        caret -= carriage_return;
+        carriage_return = initial_carriage_return;
+      }
+
+      for(size_t j = i; j < std::min(next_break + 1, text.length()); j++) {
+        if (text[j] == '\n') { // Linebreak
+          caret -= carriage_return;
+          carriage_return = initial_carriage_return;
+        } else if (text[j] == ' ') { // Space
+          caret += space;
+          carriage_return += space;
+        } else {
+          alright_fonts::render_character(text_metrics, text[j], pretty_poly::point_t<int>(origin.x + caret.x, origin.y + caret.y), transform);
+        }
+        pretty_poly::point_t<float> advance(
+          alright_fonts::measure_character(text_metrics, text[j]).w + text_metrics.letter_spacing,
+          0
+        );
+        advance *= transform;
+        caret += advance;
+        carriage_return += advance;
+      }
+
+      i = next_break + 1;
+    }
+
+    return Point(caret.x, caret.y);
+  }
+}

libraries/pico_vector/pico_vector.hpp

@@ -0,0 +1,87 @@
+#include "pretty_poly.hpp"
+#include "alright_fonts.hpp"
+#include "pico_graphics.hpp"
+
+namespace pimoroni {
+
+    // Integer point types cause compound error in transformations
+    typedef float picovector_point_type;
+
+    class PicoVector {
+        private:
+            PicoGraphics *graphics;
+            alright_fonts::text_metrics_t text_metrics;
+            const uint8_t alpha_map[4] {0, 128, 192, 255};
+
+        public:
+            PicoVector(PicoGraphics *graphics, void *mem = nullptr) : graphics(graphics) {
+                pretty_poly::init(mem);
+
+                set_options([this](const pretty_poly::tile_t &tile) -> void {
+                    uint8_t *tile_data = tile.data;
+
+                    if(this->graphics->supports_alpha_blend() && pretty_poly::settings::antialias != pretty_poly::NONE) {
+                        if (this->graphics->render_pico_vector_tile({tile.bounds.x, tile.bounds.y, tile.bounds.w, tile.bounds.h},
+                                                                    tile.data,
+                                                                    tile.stride,
+                                                                    (uint8_t)pretty_poly::settings::antialias)) {
+                            return;
+                        }
+                        for(auto y = 0; y < tile.bounds.h; y++) {
+                            for(auto x = 0; x < tile.bounds.w; x++) {
+                                uint8_t alpha = *tile_data++;
+                                if (alpha >= 4) {
+                                    this->graphics->set_pixel({x + tile.bounds.x, y + tile.bounds.y});
+                                } else if (alpha > 0) {
+                                    alpha = alpha_map[alpha];
+                                    this->graphics->set_pixel_alpha({x + tile.bounds.x, y + tile.bounds.y}, alpha);
+                                }
+                            }
+                            tile_data += tile.stride - tile.bounds.w;
+                        }
+                    } else {
+                        for(auto y = 0; y < tile.bounds.h; y++) {
+                            for(auto x = 0; x < tile.bounds.w; x++) {
+                                uint8_t alpha = *tile_data++;
+                                if (alpha) {
+                                    this->graphics->set_pixel({x + tile.bounds.x, y + tile.bounds.y});
+                                }
+                            }
+                            tile_data += tile.stride - tile.bounds.w;
+                        }
+                    }
+                }, graphics->supports_alpha_blend() ? pretty_poly::X4 : pretty_poly::NONE, {graphics->clip.x, graphics->clip.y, graphics->clip.w, graphics->clip.h});
+            }
+
+            void set_antialiasing(pretty_poly::antialias_t antialias) {
+                set_options(pretty_poly::settings::callback, antialias, pretty_poly::settings::clip);
+            }
+
+            void set_font_size(unsigned int font_size) {
+                text_metrics.set_size(font_size);
+            }
+
+            bool set_font(std::string_view font_path, unsigned int font_size) {
+                bool result = text_metrics.face.load(font_path);
+
+                set_font_size(font_size);
+
+                return result;
+            }
+
+            void rotate(std::vector<pretty_poly::contour_t<picovector_point_type>> &contours, Point origin, float angle);
+            void translate(std::vector<pretty_poly::contour_t<picovector_point_type>> &contours, Point translation);
+
+            void rotate(pretty_poly::contour_t<picovector_point_type> &contour, Point origin, float angle);
+            void translate(pretty_poly::contour_t<picovector_point_type> &contour, Point translation);
+
+            Point text(std::string_view text, Point origin);
+            Point text(std::string_view text, Point origin, float angle);
+
+            void polygon(std::vector<pretty_poly::contour_t<picovector_point_type>> contours, Point origin = Point(0, 0), int scale=65536);
+
+            static constexpr size_t pretty_poly_buffer_size() {
+                return pretty_poly::buffer_size();
+            };
+    };
+}

libraries/pico_vector/pretty_poly.cpp

@@ -0,0 +1,339 @@
+#include <cstdint>
+#include <algorithm>
+#include <optional>
+#include <cstring>
+#include <new>
+#include <filesystem>
+#include <fstream>
+
+#include "pretty_poly.hpp"
+
+#include "hardware/interp.h"
+
+#ifdef PP_DEBUG
+#define debug(...) printf(__VA_ARGS__)
+#else
+#define debug(...)
+#endif
+
+namespace pretty_poly {
+
+  uint8_t *tile_buffer;
+
+  int (*nodes)[32];
+  unsigned *node_counts;
+
+  // default tile bounds to X1 antialiasing
+  rect_t tile_bounds(0, 0, tile_buffer_size / node_buffer_size, node_buffer_size);
+
+  // user settings
+  namespace settings {
+    rect_t clip(0, 0, 320, 240);
+    tile_callback_t callback;
+    antialias_t antialias = antialias_t::NONE;
+  }
+
+  void init(void *memory) {
+    uintptr_t m = (uintptr_t)memory;
+    tile_buffer = new(memory) uint8_t[tile_buffer_size];
+    node_counts = new((void *)(m + tile_buffer_size)) unsigned[node_buffer_size];
+    nodes = new((void *)(m + tile_buffer_size + (node_buffer_size * sizeof(unsigned)))) int[node_buffer_size][32];
+  }
+
+  void set_options(tile_callback_t callback, antialias_t antialias, rect_t clip) {
+    settings::callback = callback;
+    settings::antialias = antialias;
+    settings::clip = clip;
+
+    // recalculate the tile size for rendering based on antialiasing level
+    int tile_height = node_buffer_size >> antialias;
+    tile_bounds = rect_t(0, 0, tile_buffer_size / tile_height, tile_height);
+  }
+
+  // dy step (returns 1, 0, or -1 if the supplied value is > 0, == 0, < 0)
+  inline constexpr int sign(int v) {
+    // assumes 32-bit int/unsigned
+    return ((unsigned)-v >> 31) - ((unsigned)v >> 31);
+  }
+
+  // write out the tile bits
+  void debug_tile(const tile_t &tile) {
+    debug("  - tile %d, %d (%d x %d)\n", tile.bounds.x, tile.bounds.y, tile.bounds.w, tile.bounds.h);
+    for(auto y = 0; y < tile.bounds.h; y++) {
+      debug("[%3d]: ", y);
+      for(auto x = 0; x < tile.bounds.w; x++) {
+        debug("%d", tile.get_value(x, y));
+      }  
+      debug("\n");              
+    }
+    debug("-----------------------\n");
+  }
+
+  void add_line_segment_to_nodes(const point_t<int> &start, const point_t<int> &end) {
+    // swap endpoints if line "pointing up", we do this because we
+    // alway skip the last scanline (so that polygons can but cleanly
+    // up against each other without overlap)
+    int sx = start.x, sy = start.y, ex = end.x, ey = end.y;
+
+    if(ey < sy) {
+      std::swap(sy, ey);
+      std::swap(sx, ex);
+    }
+
+    // Early out if line is completely outside the tile, or has no lines
+    if (ey < 0 || sy >= (int)node_buffer_size || sy == ey) return;
+
+    debug("      + line segment from %d, %d to %d, %d\n", sx, sy, ex, ey);
+
+    // Determine how many in-bounds lines to render
+    int y = std::max(0, sy);
+    int count = std::min((int)node_buffer_size, ey) - y;
+
+    // Handle cases where x is completely off to one side or other
+    if (std::max(sx, ex) <= 0) {
+      while (count--) {
+        nodes[y][node_counts[y]++] = 0;
+        ++y;
+      }
+      return;
+    }
+
+    const int full_tile_width = (tile_bounds.w << settings::antialias);
+    if (std::min(sx, ex) >= full_tile_width) {
+      while (count--) {
+        nodes[y][node_counts[y]++] = full_tile_width;
+        ++y;
+      }
+      return;
+    }
+
+    // Normal case
+    int x = sx;
+    int e = 0;
+
+    const int xinc = sign(ex - sx);
+    const int einc = abs(ex - sx) + 1;
+    const int dy = ey - sy;
+
+    // If sy < 0 jump to the start, note this does use a divide
+    // but potentially saves many wasted loops below, so is likely worth it.
+    if (sy < 0) {
+      e = einc * -sy;
+      int xjump = e / dy;
+      e -= dy * xjump;
+      x += xinc * xjump;
+    }
+
+    interp1->base[1] = full_tile_width;
+    interp1->accum[0] = x;
+
+    // loop over scanlines
+    while(count--) {
+      // consume accumulated error
+      while(e > dy) {e -= dy; interp1->add_raw[0] = xinc;}
+
+      // clamp node x value to tile bounds
+      const int nx = interp1->peek[0];
+      debug("      + adding node at %d, %d\n", x, y);
+      // add node to node list
+      nodes[y][node_counts[y]++] = nx;
+
+      // step to next scanline and accumulate error
+      y++;
+      e += einc;
+    }
+  }
+
+  template<typename T>
+  void build_nodes(const contour_t<T> &contour, const tile_t &tile, point_t<int> origin, int scale) {
+    int ox = (origin.x - tile.bounds.x) << settings::antialias;
+    int oy = (origin.y - tile.bounds.y) << settings::antialias;
+
+    // start with the last point to close the loop
+    point_t<int> last(
+      (((int(contour.points[contour.count - 1].x) * scale) << settings::antialias) / 65536) + ox,
+      (((int(contour.points[contour.count - 1].y) * scale) << settings::antialias) / 65536) + oy
+    );
+
+    for(auto i = 0u; i < contour.count; i++) {
+      point_t<int> point(
+        (((int(contour.points[i].x) * scale) << settings::antialias) / 65536) + ox,
+        (((int(contour.points[i].y) * scale) << settings::antialias) / 65536) + oy
+      );
+
+      add_line_segment_to_nodes(last, point);
+      
+      last = point;
+    }
+  }
+
+  void render_nodes(const tile_t &tile, rect_t &bounds) {
+    int maxy = -1;
+    bounds.y = 0;
+    bounds.x = tile.bounds.w;
+    int maxx = 0;
+    int anitialias_mask = (1 << settings::antialias) - 1;
+
+    for(auto y = 0; y < (int)node_buffer_size; y++) {
+      if(node_counts[y] == 0) {
+        if (y == bounds.y) ++bounds.y;
+        continue;
+      }
+
+      std::sort(&nodes[y][0], &nodes[y][0] + node_counts[y]);
+
+      uint8_t* row_data = &tile.data[(y >> settings::antialias) * tile.stride];
+      bool rendered_any = false;
+      for(auto i = 0u; i < node_counts[y]; i += 2) {
+        int sx = nodes[y][i + 0];
+        int ex = nodes[y][i + 1];
+
+        if(sx == ex) {
+          continue;
+        }
+
+        rendered_any = true;
+
+        maxx = std::max((ex - 1) >> settings::antialias, maxx);
+
+        debug(" - render span at %d from %d to %d\n", y, sx, ex);
+
+        if (settings::antialias) {
+          int ax = sx >> settings::antialias;
+          const int aex = ex >> settings::antialias;
+
+          bounds.x = std::min(ax, bounds.x);
+
+          if (ax == aex) {
+            row_data[ax] += ex - sx;
+            continue;
+          }
+
+          row_data[ax] += (1 << settings::antialias) - (sx & anitialias_mask);
+          for(ax++; ax < aex; ax++) {
+            row_data[ax] += (1 << settings::antialias);
+          }
+
+          // This might add 0 to the byte after the end of the row, we pad the tile data
+          // by 1 byte to ensure that is OK
+          row_data[ax] += ex & anitialias_mask;
+        }
+        else {
+          bounds.x = std::min(sx, bounds.x);
+          for(int x = sx; x < ex; x++) {
+            row_data[x]++;
+          }       
+        }
+      }
+
+      if (rendered_any) {
+        debug("  - rendered line %d\n", y);
+        maxy = y;
+      }
+      else if (y == bounds.y) {
+        debug(" - render nothing on line %d\n", y);
+        ++bounds.y;
+      }
+    }
+
+    bounds.y >>= settings::antialias;
+    maxy >>= settings::antialias;
+    bounds.w = (maxx >= bounds.x) ? maxx + 1 - bounds.x : 0;
+    bounds.h = (maxy >= bounds.y) ? maxy + 1 - bounds.y : 0;
+    debug(" - rendered tile bounds %d, %d (%d x %d)\n", bounds.x, bounds.y, bounds.w, bounds.h);
+  }
+
+  template<typename T>
+  void draw_polygon(T *points, unsigned count) {
+    std::vector<contour_t<T>> contours;
+    contour_t<T> c(points, count);
+    contours.push_back(c);
+    draw_polygon<T>(contours);
+  }
+  
+  template<typename T>
+  void draw_polygon(const std::vector<contour_t<T>>& contours, point_t<int> origin, int scale) {    
+
+    debug("> draw polygon with %lu contours\n", contours.size());
+
+    if(contours.size() == 0) {
+      return;
+    }
+
+    // determine extreme bounds
+    rect_t polygon_bounds = contours[0].bounds();
+    for(auto &contour : contours) {
+      polygon_bounds = polygon_bounds.merge(contour.bounds());
+    }
+
+    polygon_bounds.x = ((polygon_bounds.x * scale) / 65536) + origin.x;
+    polygon_bounds.y = ((polygon_bounds.y * scale) / 65536) + origin.y;
+    polygon_bounds.w = ((polygon_bounds.w * scale) / 65536);
+    polygon_bounds.h = ((polygon_bounds.h * scale) / 65536);
+
+    debug("  - bounds %d, %d (%d x %d)\n", polygon_bounds.x, polygon_bounds.y, polygon_bounds.w, polygon_bounds.h);
+    debug("  - clip %d, %d (%d x %d)\n", settings::clip.x, settings::clip.y, settings::clip.w, settings::clip.h);
+
+    interp_hw_save_t interp1_save;
+    interp_save(interp1, &interp1_save);
+
+    interp_config cfg = interp_default_config();
+    interp_config_set_clamp(&cfg, true);
+    interp_config_set_signed(&cfg, true);
+    interp_set_config(interp1, 0, &cfg);
+    interp1->base[0] = 0;
+
+    //memset(nodes, 0, node_buffer_size * sizeof(unsigned) * 32);
+
+    // iterate over tiles
+    debug("  - processing tiles\n");
+    for(auto y = polygon_bounds.y; y < polygon_bounds.y + polygon_bounds.h; y += tile_bounds.h) {
+      for(auto x = polygon_bounds.x; x < polygon_bounds.x + polygon_bounds.w; x += tile_bounds.w) {
+        tile_t tile;
+        tile.bounds = rect_t(x, y, tile_bounds.w, tile_bounds.h).intersection(settings::clip);
+        tile.stride = tile_bounds.w;
+        tile.data = tile_buffer;
+        debug("    : %d, %d (%d x %d)\n", tile.bounds.x, tile.bounds.y, tile.bounds.w, tile.bounds.h);
+
+        // if no intersection then skip tile
+        if(tile.bounds.empty()) {
+          debug("    : empty when clipped, skipping\n");
+          continue;
+        }
+
+        // clear existing tile data and nodes
+        memset(node_counts, 0, node_buffer_size * sizeof(unsigned));
+        memset(tile.data, 0, tile_buffer_size);
+
+        // build the nodes for each contour
+        for(const contour_t<T> &contour : contours) {
+          debug("    : build nodes for contour\n");
+          build_nodes(contour, tile, origin, scale);
+        }
+
+        debug("    : render the tile\n");
+        // render the tile
+        rect_t bounds;
+        render_nodes(tile, bounds);
+        if (bounds.empty()) {
+          continue;
+        }
+
+        tile.data += bounds.x + tile.stride * bounds.y;
+        tile.bounds.x += bounds.x;
+        tile.bounds.y += bounds.y;
+        tile.bounds.w = bounds.w;
+        tile.bounds.h = bounds.h;
+
+        settings::callback(tile);
+      }
+    }
+
+    interp_restore(interp1, &interp1_save);
+  }
+}
+
+template void pretty_poly::draw_polygon<int>(const std::vector<contour_t<int>>& contours, point_t<int> origin, int scale);
+template void pretty_poly::draw_polygon<float>(const std::vector<contour_t<float>>& contours, point_t<int> origin, int scale);
+template void pretty_poly::draw_polygon<uint8_t>(const std::vector<contour_t<uint8_t>>& contours, point_t<int> origin, int scale);
+template void pretty_poly::draw_polygon<int8_t>(const std::vector<contour_t<int8_t>>& contours, point_t<int> origin, int scale);

libraries/pico_vector/pretty_poly.hpp

@@ -0,0 +1,73 @@
+#pragma once
+#include <cstdint>
+#include <algorithm>
+#include <optional>
+#include <cstring>
+#include <new>
+#include <filesystem>
+#include <fstream>
+#include <functional>
+
+#include "pretty_poly_types.hpp"
+
+namespace pretty_poly {
+ 
+  class file_io {
+    private:
+      void *state;
+      size_t filesize = 0;
+  
+    public:
+      file_io(std::string_view path);
+      ~file_io();
+      size_t seek(size_t pos);
+      size_t read(void *buf, size_t len);
+      size_t tell();
+      bool fail();
+  };
+
+  // buffer that each tile is rendered into before callback
+  constexpr unsigned tile_buffer_size = 1024;
+
+  // polygon node buffer handles at most 16 line intersections per scanline
+  // is this enough for cjk/emoji? (requires a 2kB buffer)
+  constexpr unsigned node_buffer_size = 32;
+
+  typedef std::function<void(const tile_t &tile)> tile_callback_t;
+
+  // user settings
+  namespace settings {
+    extern rect_t clip;
+    extern tile_callback_t callback;
+    extern antialias_t antialias;
+  }
+
+  constexpr size_t buffer_size() {
+    return tile_buffer_size + (node_buffer_size * sizeof(unsigned)) + (node_buffer_size * 32 * sizeof(int));
+  }
+
+  constexpr size_t buffer_size();
+
+  void init(void *memory);
+
+  void set_options(tile_callback_t callback, antialias_t antialias, rect_t clip);
+
+  // dy step (returns 1, 0, or -1 if the supplied value is > 0, == 0, < 0)
+  inline constexpr int sign(int v);
+
+  // write out the tile bits
+  void debug_tile(const tile_t &tile);
+
+  void add_line_segment_to_nodes(const point_t<int> &start, const point_t<int> &end);
+
+  template<typename T>
+  void build_nodes(const contour_t<T> &contour, const tile_t &tile, point_t<int> origin = point_t<int>(0, 0), int scale = 65536);
+
+  void render_nodes(const tile_t &tile, rect_t &bounds);
+
+  template<typename T>
+  void draw_polygon(T *points, unsigned count);
+
+  template<typename T>
+  void draw_polygon(const std::vector<contour_t<T>>& contours, point_t<int> origin = point_t<int>(0, 0), int scale = 65536);
+}

libraries/pico_vector/pretty_poly_types.hpp

@@ -0,0 +1,162 @@
+#pragma once
+#include <cstdint>
+#include <math.h>
+#include <vector>
+
+#ifdef PP_DEBUG
+#define debug(...) printf(__VA_ARGS__)
+#else
+#define debug(...)
+#endif
+
+namespace pretty_poly {
+
+  enum antialias_t {NONE = 0, X4 = 1, X16 = 2};
+
+  // 3x3 matrix for coordinate transformations
+  struct mat3_t {
+    float v00 = 0.0f, v10 = 0.0f, v20 = 0.0f, v01 = 0.0f, v11 = 0.0f, v21 = 0.0f, v02 = 0.0f, v12 = 0.0f, v22 = 0.0f;
+    mat3_t() = default;
+    mat3_t(const mat3_t &m) = default;
+    inline mat3_t& operator*= (const mat3_t &m) {        
+      float r00 = this->v00 * m.v00 + this->v01 * m.v10 + this->v02 * m.v20;
+      float r01 = this->v00 * m.v01 + this->v01 * m.v11 + this->v02 * m.v21;
+      float r02 = this->v00 * m.v02 + this->v01 * m.v12 + this->v02 * m.v22;
+      float r10 = this->v10 * m.v00 + this->v11 * m.v10 + this->v12 * m.v20;
+      float r11 = this->v10 * m.v01 + this->v11 * m.v11 + this->v12 * m.v21;
+      float r12 = this->v10 * m.v02 + this->v11 * m.v12 + this->v12 * m.v22;
+      float r20 = this->v20 * m.v00 + this->v21 * m.v10 + this->v22 * m.v20;
+      float r21 = this->v20 * m.v01 + this->v21 * m.v11 + this->v22 * m.v21;
+      float r22 = this->v20 * m.v02 + this->v21 * m.v12 + this->v22 * m.v22;    
+      this->v00 = r00; this->v01 = r01; this->v02 = r02;
+      this->v10 = r10; this->v11 = r11; this->v12 = r12;
+      this->v20 = r20; this->v21 = r21; this->v22 = r22;
+      return *this;
+    }
+
+    static mat3_t identity() {mat3_t m; m.v00 = m.v11 = m.v22 = 1.0f; return m;}
+    static mat3_t rotation(float a) {
+      float c = cosf(a), s = sinf(a); mat3_t r = mat3_t::identity();
+      r.v00 = c; r.v01 = -s; r.v10 = s; r.v11 = c; return r;}
+    static mat3_t translation(float x, float y) {
+      mat3_t r = mat3_t::identity(); r.v02 = x; r.v12 = y; return r;}
+    static mat3_t scale(float x, float y) {
+      mat3_t r = mat3_t::identity(); r.v00 = x; r.v11 = y; return r;}
+  };
+
+  // 2x2 matrix for rotations and scales
+  struct mat2_t {
+    float v00 = 0.0f, v10 = 0.0f, v01 = 0.0f, v11 = 0.0f;
+    mat2_t() = default;
+    mat2_t(const mat2_t &m) = default;
+    inline mat2_t& operator*= (const mat2_t &m) {        
+      float r00 = this->v00 * m.v00 + this->v01 * m.v10;
+      float r01 = this->v00 * m.v01 + this->v01 * m.v11;
+      float r10 = this->v10 * m.v00 + this->v11 * m.v10;
+      float r11 = this->v10 * m.v01 + this->v11 * m.v11;
+      this->v00 = r00; this->v01 = r01;
+      this->v10 = r10; this->v11 = r11;
+      return *this;
+    }
+
+    static mat2_t identity() {mat2_t m; m.v00 = m.v11 = 1.0f; return m;}
+    static mat2_t rotation(float a) {
+      float c = cosf(a), s = sinf(a); mat2_t r;
+      r.v00 = c; r.v01 = -s; r.v10 = s; r.v11 = c; return r;}
+    static mat2_t scale(float x, float y) {
+      mat2_t r; r.v00 = x; r.v11 = y; return r;}
+  };
+
+  // point type for contour points
+  template<typename T = int>
+  struct __attribute__ ((packed)) point_t {
+    T x, y;
+    point_t(T x, T y) : x(x), y(y) {}
+    point_t() : x(0), y(0) {}
+    inline point_t& operator-= (const point_t &a) {x -= a.x; y -= a.y; return *this;}
+    inline point_t& operator+= (const point_t &a) {x += a.x; y += a.y; return *this;}
+    inline point_t& operator*= (const float a) {x *= a; y *= a; return *this;}
+    inline point_t& operator*= (const mat2_t &a) {this->transform(a); return *this;}
+    inline point_t& operator*= (const mat3_t &a) {this->transform(a); return *this;}
+    inline point_t& operator/= (const float a) {x /= a; y /= a; return *this;}
+    inline point_t& operator/= (const point_t &a) {x /= a.x; y /= a.y; return *this;}
+    void transform(const mat3_t &m) {
+      float tx = x, ty = y;
+      this->x = (m.v00 * tx + m.v01 * ty + m.v02);
+      this->y = (m.v10 * tx + m.v11 * ty + m.v12);
+    }
+    void transform(const mat2_t &m) {
+      float tx = x, ty = y;
+      this->x = (m.v00 * tx + m.v01 * ty);
+      this->y = (m.v10 * tx + m.v11 * ty);
+    }
+
+  };
+
+  template<typename T> inline point_t<T> operator-  (point_t<T> lhs, const point_t<T> &rhs) { lhs -= rhs; return lhs; }
+  template<typename T> inline point_t<T> operator-  (const point_t<T> &rhs) { return point_t<T>(-rhs.x, -rhs.y); }
+  template<typename T> inline point_t<T> operator+  (point_t<T> lhs, const point_t<T> &rhs) { lhs += rhs; return lhs; }
+  template<typename T> inline point_t<T> operator*  (point_t<T> lhs, const float rhs) { lhs *= rhs; return lhs; }
+  template<typename T> inline point_t<T> operator*  (point_t<T> lhs, const point_t<T> &rhs) { lhs *= rhs; return lhs; }
+  template<typename T> inline point_t<T> operator*  (point_t<T> lhs, const mat3_t &rhs) { lhs *= rhs; return lhs; }
+  template<typename T> inline point_t<T> operator/  (point_t<T> lhs, const float rhs) { lhs /= rhs; return lhs; }
+  template<typename T> inline point_t<T> operator/  (point_t<T> lhs, const point_t<T> &rhs) { lhs.x /= rhs.x; lhs.y /= rhs.y; return lhs; }
+
+
+  // rect type for bounds and clipping rectangles
+  struct rect_t {
+    int x, y, w, h;    
+    rect_t() : x(0), y(0), w(0), h(0) {}
+    rect_t(int x, int y, int w, int h) : x(x), y(y), w(w), h(h) {}
+    bool empty() const {return this->w == 0 || this->h == 0;}
+    rect_t intersection(const rect_t &c) {
+      return rect_t(std::max(this->x, c.x), std::max(this->y, c.y),
+        std::max(0, std::min(this->x + this->w, c.x + c.w) - std::max(this->x, c.x)),
+        std::max(0, std::min(this->y + this->h, c.y + c.h) - std::max(this->y, c.y)));
+    }
+    rect_t merge(const rect_t &c) {
+      return rect_t(std::min(this->x, c.x), std::min(this->y, c.y),
+        std::max(this->x + this->w, c.x + c.w) - std::min(this->x, c.x),
+        std::max(this->y + this->h, c.y + c.h) - std::min(this->y, c.y));
+    }
+  };
+
+  struct tile_t {
+    rect_t bounds;
+    unsigned stride;
+    uint8_t *data;
+
+    tile_t() {};
+
+    inline int get_value(int x, int y) const {
+      return this->data[x + y * this->stride];
+    }
+  };
+
+  template<typename T>
+  struct contour_t {
+    point_t<T> *points;
+    unsigned count;
+
+    contour_t() {}
+    contour_t(const std::vector<point_t<T>>& v) : points(v.data()), count(v.size()) {};
+    contour_t(point_t<T> *points, unsigned count) : points(points), count(count) {};
+
+    // TODO: Make this work, it's so much nicer to use auto point : contour
+    //point_t<T> *begin() const { return points; };
+    //point_t<T> *end() const { return points + count * sizeof(point_t<T>); };
+
+    rect_t bounds() const {
+      T minx = this->points[0].x, maxx = minx;
+      T miny = this->points[0].y, maxy = miny;
+      for(auto i = 1u; i < this->count; i++) {
+        minx = std::min(minx, this->points[i].x);
+        miny = std::min(miny, this->points[i].y);
+        maxx = std::max(maxx, this->points[i].x); 
+        maxy = std::max(maxy, this->points[i].y);
+      }
+      return rect_t(minx, miny, maxx - minx, maxy - miny);
+    }
+  };
+  
+}

libraries/pico_wireless/pico_wireless.cmake

@@ -1,4 +1,7 @@
-include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/esp32spi/esp32spi.cmake)
+if(NOT TARGET esp32spi)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/esp32spi/esp32spi.cmake)
+endif()
+
 add_library(pico_wireless INTERFACE)
 
 target_sources(pico_wireless INTERFACE

libraries/plasma2040/plasma2040.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET plasma)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/plasma/plasma.cmake)
+endif()
+
 add_library(plasma2040 INTERFACE)
 
 target_include_directories(plasma2040 INTERFACE ${CMAKE_CURRENT_LIST_DIR})

libraries/plasma_stick/plasma_stick.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET plasma)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/plasma/plasma.cmake)
+endif()
+
 add_library(plasma_stick INTERFACE)
 
 target_include_directories(plasma_stick INTERFACE ${CMAKE_CURRENT_LIST_DIR})

libraries/servo2040/servo2040.cmake

@@ -1,3 +1,15 @@
+if(NOT TARGET plasma)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/plasma/plasma.cmake)
+endif()
+
+if(NOT TARGET servo)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/servo/servo.cmake)
+endif()
+
+if(NOT TARGET servo_cluster)
+  include(${CMAKE_CURRENT_LIST_DIR}/../../drivers/servo/servo_cluster.cmake)
+endif()
+
 add_library(servo2040 INTERFACE)
 
 target_include_directories(servo2040 INTERFACE ${CMAKE_CURRENT_LIST_DIR})

libraries/servo2040/servo2040.hpp

@@ -30,6 +30,10 @@ namespace servo {
     const uint LED_DATA = 18;
     const uint NUM_LEDS = 6;
 
+    const uint I2C_INT = 19;
+    const uint I2C_SDA = 20;
+    const uint I2C_SCL = 21;
+
     const uint USER_SW = 23;
 
     const uint ADC_ADDR_0 = 22;

libraries/stellar_unicorn/stellar_unicorn.cmake

@@ -1,3 +1,7 @@
+if(NOT TARGET pico_graphics)
+  include(${CMAKE_CURRENT_LIST_DIR}/../pico_graphics/pico_graphics.cmake)
+endif()
+
 add_library(stellar_unicorn INTERFACE)
 
 pico_generate_pio_header(stellar_unicorn ${CMAKE_CURRENT_LIST_DIR}/stellar_unicorn.pio)

libraries/stellar_unicorn/stellar_unicorn.cpp

@@ -6,8 +6,10 @@
 #include "hardware/clocks.h"
 
 
+#ifndef NO_QSTR
 #include "stellar_unicorn.pio.h"
 #include "audio_i2s.pio.h"
+#endif
 
 #include "stellar_unicorn.hpp"
 
@@ -483,11 +485,14 @@ namespace pimoroni {
   void StellarUnicorn::set_brightness(float value) {
     value = value < 0.0f ? 0.0f : value;
     value = value > 1.0f ? 1.0f : value;
+    // Max brightness is - in fact - 256 since it's applied with:
+    // result = (channel * brightness) >> 8
+    // eg: (255 * 256) >> 8 == 255
     this->brightness = floor(value * 256.0f);
   }
 
   float StellarUnicorn::get_brightness() {
-    return this->brightness / 255.0f;
+    return this->brightness / 256.0f;
   }
 
   void StellarUnicorn::adjust_brightness(float delta) {

micropython/board/PICO_W_ENVIRO/mpconfigboard.cmake

@@ -1,5 +1,6 @@
 # cmake file for Pimoroni Enviro with Raspberry Pi Pico W
-set(MICROPY_BOARD PICO_W)
+set(MICROPY_BOARD RPI_PICO_W)
+set(PICO_BOARD "pico_w")
 
 # The C malloc is needed by cyw43-driver Bluetooth and Pimoroni Pico modules
 set(MICROPY_C_HEAP_SIZE 4096)

micropython/board/PICO_W_INKY/manifest.py

@@ -5,6 +5,9 @@ require("bundle-networking")
 require("urllib.urequest")
 require("umqtt.simple")
 
+# SD Card
+require("sdcard")
+
 # Bluetooth
 require("aioble")
 

micropython/board/PICO_W_INKY/mpconfigboard.cmake

@@ -1,5 +1,6 @@
 # cmake file for Pimoroni Inky with Raspberry Pi Pico W
-set(MICROPY_BOARD PICO_W)
+set(MICROPY_BOARD RPI_PICO_W)
+set(PICO_BOARD "pico_w")
 
 # The C malloc is needed by cyw43-driver Bluetooth and Pimoroni Pico modules
 set(MICROPY_C_HEAP_SIZE 4096)

micropython/board/RPI_PICO/mpconfigboard.cmake

@@ -1,4 +1,5 @@
 # cmake file for Raspberry Pi Pico
+set(PICO_BOARD "pico")
 
 # Board specific version of the frozen manifest
 set(MICROPY_FROZEN_MANIFEST ${MICROPY_BOARD_DIR}/manifest.py)

micropython/board/RPI_PICO_W/manifest.py

@@ -2,6 +2,9 @@ include("$(PORT_DIR)/boards/manifest.py")
 
 require("bundle-networking")
 
+# SD Card
+require("sdcard")
+
 # Bluetooth
 require("aioble")
 

micropython/board/RPI_PICO_W/mpconfigboard.cmake

@@ -1,4 +1,5 @@
 # cmake file for Raspberry Pi Pico W
+set(PICO_BOARD "pico_w")
 
 # The C malloc is needed by cyw43-driver Bluetooth and Pimoroni Pico modules
 set(MICROPY_C_HEAP_SIZE 4096)

micropython/board/pico-sdk-patch.sh

@@ -7,4 +7,6 @@ if [[ -f "$FIXUP_DIR/$BOARD/pico_sdk.patch" ]]; then
     echo "Applying pico_sdk.patch"
     cd $MPY_DIR/lib/pico-sdk
     git apply "$FIXUP_DIR/$BOARD/pico_sdk.patch"
+else
+    echo "Skipping patch. $FIXUP_DIR/$BOARD/pico_sdk.patch not found!"
 fi

micropython/examples/badger2040/README.md

@@ -1,104 +1,3 @@
 # Badger 2040 Examples <!-- omit in toc -->
 
 :warning: This code has been deprecated in favour of a dedicated Badger 2040 project: https://github.com/pimoroni/badger2040
-
-- [Function Examples](#function-examples)
-  - [Battery](#battery)
-  - [Button Test](#button-test)
-  - [LED](#led)
-  - [Pin interrupt](#pin-interrupt)
-- [Application Examples](#application-examples)
-  - [Badge](#badge)
-  - [Checklist](#checklist)
-  - [Clock](#clock)
-  - [E-Book](#e-book)
-  - [Fonts](#fonts)
-  - [Image](#image)
-  - [QR gen](#qr-gen)
-  - [Launcher](#launcher)
-  - [Conway](#conway)
-
-
-## Function Examples
-
-### Battery
-[battery.py](battery.py)
-
-An example of how to read the battery voltage and display a battery level indicator.
-
-### Button Test
-[button_test.py](button_test.py)
-
-An example of how to read Badger2040's buttons and display a unique message for each.
-
-### LED
-[led.py](led.py)
-
-Blinks Badger's LED on and off.
-
-### Pin interrupt
-[pin_interrupt.py](pin_interrupt.py)
-
-An example of drawing text and graphics and using the buttons.
-
-## Application Examples
-
-### Badge
-[badge.py](badge.py)
-
-Create your own name badge! This application looks for two files on your MicroPython drive:
-* `badge.txt` - A text file containing 6 lines, corresponding to the 6 different pieces of text on the badge
-* `badge-image.bin` - A 104x128px 1-bit colour depth image to display alongside the text. You can use `examples/badger2040/image_converter/convert.py` to convert them:
-
-```shell
-python3 convert.py --binary --resize image_file_1.png image_file_2.png image_file_3.png
-```
-
-### Checklist
-[list.py](list.py)
-
-A checklist application, letting you navigate through items and tick each of them off.
-
-* `checklist.txt` - A text file containing the titles of items for the list.
-
-### Clock
-[clock.py](clock.py)
-
-A simple clock showing the time and date, that uses the E Ink's fast speed to update every second.
-
-### E-Book
-[ebook.py](ebook.py)
-
-A mini text file e-reader. Comes pre-loaded with an excerpt of The Wind In the Willows.
-
-### Fonts
-[fonts.py](fonts.py)
-
-A demonstration of the various fonts that can be used in your programs.
-
-### Image
-[image.py](image.py)
-
-An image gallery. Displays and lets you cycle through any images stored within the MicroPython device's `/images` directory. Images must be 296x128 pixels with 1-bit colour depth. You can use `examples/badger2040/image_converter/convert.py` to convert them:
-
-```shell
-python3 convert.py --binary --resize image_file_1.png image_file_2.png image_file_3.png
-```
-
-### QR gen
-[qrgen.py](qrgen.py)
-
-Displays and lets you cycle through multiple QR codes, with configuration stored in text files within the MicroPython device's `/qrcodes` directory.
-
-- `/qrcodes/qrcode.txt` - A text file containing 9 lines. The first line should be a URL which will be converted into and displayed as a QR code. Up to 8 more lines of information can be added, which will be shown as plain text to the right of the QR code.
-- `/qrcodes/*.txt` - additional text files can be created using the same format. All text files can be cycled through.
-
-### Launcher
-[launcher.py](launcher.py)
-
-A launcher-style application, providing a menu of other applications that can be loaded, as well as information such as battery level.
-
-### Conway
-[conway.py](conway.py)
-
-Conway's classic Game of Life, implemented on the Badger. Note: this application is *not* linked from the Launcher by default - it can be run directly using Thonny or your MicroPython editor of choice, or you can modify the Launcher to add it (you'll want to update `launchericons.png` as well)