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<!DOCTYPE html>
<html lang="en">
<head>
<title>Classes - RBoardDocument</title>
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<div id="header"><h1> Class </h1></div>
<div id="main">
language：<a href="./class_common_en.html">English</a>/<a href="./class_common.html">日本語</a><br>
This content is based on a pre-release version (mruby/c3.3).<br>
- mruby/cIDE version:1.2<br>
- mrbwrite version:1.2<br>
- mrbc compiler version:3.0<br>
The corresponding firmware can be downloaded from <a href="https://github.com/YoshihiroOgura/pic32mx170_mrubyc/releases/tag/v3.3.1">here</a>.<br>
<h2 id="Ruby">Ruby</h2>
For Ruby classes supported by mruby/c, please refer to the official URL below.<br>
<a href="https://www.s-itoc.jp/activity/research/mrubyc/mrubyc_docs/library">
https://www.s-itoc.jp/activity/research/mrubyc/mrubyc_docs/library</a>
The implementation follows the standardization of the IO class in mruby/c.<br>
<a href="https://github.com/mruby/microcontroller-peripheral-interface-guide/blob/main/README.md">I/O API Guidelines</a><br>
The following explains the content based on the RBoard firmware.<br>
<hr id="first_boader">
<h2 id="GPIO">GPIO</h2>
<h3>Class method</h3>
<h3 id="GPIO_setmode">GPIO.setmode( pin, params ) -> nil</h3>
pin : 0~20 or Strings such as "B1", "A2"<br>
params : GPIO::IN GPIO::OUT etc..<br>
<pre><code class="ruby">
# Set pin number 1 output.
GPIO.setmode( 1, GPIO::OUT )
# Set B1 pin to input, with internal pull-up.
GPIO.setmode( "B1", GPIO::IN|GPIO::PULL_UP )
</code></pre>
<h3 id="GPIO_read_at">GPIO.read_at( pin ) -> Integer</h3>
pin : 0~20 or Strings such as "B1", "A2"<br>
Returns the value read from the specified pin as either 0 or 1.<br>
When reading from the pin set for output, if the hardware permits, the actual value should be read and returned instead of the set value.<br>
<pre><code class="ruby">
GPIO.setmode( 1, GPIO::IN )
v1 = GPIO.read_at( 1 ) # read from pin 1.
</code></pre>
<h3 id="GPIO_high_at?">GPIO.high_at?( pin ) -> bool</h3>
pin : 0~20 or Strings such as "B1", "A2"<br>
Return true If the value read from the specified pin is high (==1)<br>
<pre><code class="ruby">
if GPIO.high_at?( 1 )
</code></pre>
<h3 id="GPIO_low_at?">GPIO.low_at?( pin ) -> bool</h3>
pin : 0~20 or Strings such as "B1", "A2"<br>
If the value loaded from the specified pin is low-level (== 0), return true.<br>
<pre><code class="ruby">
if GPIO.low_at?( 1 )
</code></pre>
<h3 id="GPIO_write_at">GPIO.write_at( pin, integer_data )</h3>
pin : 0~20 or Strings such as "B1", "A2"<br>
Output a value to the specified pin.<br>
The value must be specified as either 0 or 1.<br>
If the data is out of range (i.e. not 0 or 1), a RangeError will occur.<br>
<pre><code class="ruby">
GPIO.setmode( 1, GPIO::OUT )
GPIO.write_at( 1, 0 ) # output zero to pin 1.
</code></pre>
<h2>Constructor</h2>
<h3 id="GPIO_new">GPIO.new( pin, params )</h3>
pin : 0~20 or Strings such as "B1", "A2"<br>
params : See Constants<br>
Specify the physical pin indicated by the pin and generate a GPIO object.<br>
At the same time, specify a param to indicate the mode, such as input/output direction.<br>
The pin is normally specified as an integer, but PIC-specific pin numbers such as "B1" can be specified as a string.<br>
Use the following constants for param and specify them connected by |.<br>
IN, OUT, or HIGH_Z instruction is mandatory, and an ArgumentError will occur if it is absent.<br>
Constants:<br>
<pre><code class="ruby">
GPIO::IN # Set as input
GPIO::OUT # Set as output
GPIO::HIGH_Z # Set as high impedance
GPIO::PULL_UP # Enable internal pull-up
GPIO::PULL_DOWN # Enable internal pull-down
GPIO::OPEN_DRAIN # Set to open-drain mode
</code></pre>
<pre><code class="ruby">
# Set GPIO pin 1 as output.
gpio1 = GPIO.new(1, GPIO::OUT)
# Set B1 pin as input with internal pull-up.
gpio1 = GPIO.new("B1", GPIO::IN|GPIO::PULL_UP)
</code></pre>
<hr id="second_boader">
<h2>Instance methods</h2>
<h3 id="GPIO_read">read() -> Integer</h3>
Return the loaded value as 0 or 1.<br>
<pre><code class="ruby">
v1 = gpio1.read()
</code></pre>
<h4 id="GPIO_high?">high?() -> bool</h4>
If the loaded value is high level (==1), it returns true.<br>
<pre><code class="ruby">
if gpio1.high?()
</code></pre>
<h4 id="GPIO_low?">low?() -> bool</h4>
If the loaded value is low-level (==0), return true.<br>
<pre><code class="ruby">
if gpio1.low?()
</code></pre>
<h4 id="GPIO_write">write( integer_data )</h4>
integer_data : 0 or 1<br>
Specify the value to output to the pin as either 0 or 1.<br>
<pre><code class="ruby">
gpio1.write( 1 )
</code></pre>
<h4 id="GPIO_setmode_Instance">setmode( param ) -> nil</h4>
params : GPIO::IN GPIO::OUTなど<br>
Change the GPIO mode at any timing.<br>
When IN, OUT, or HIGH_Z is specified while PULL_UP or other settings have already been set, the previous settings will be invalidated.<br>
<pre><code class="ruby">
# Enable internal pullup.
gpio1.setmode( GPIO::PULL_UP )
# Switch to input and enable internal pullup.
gpio1.setmode( GPIO::IN|GPIO::PULL_UP )
</code></pre>
<hr id="first_boader">
<h2 id="ADC">ADC</h2>
A class that supports Analog-to-Digital Conversion (ADC) functionality.<br>
Generally, it is capable of converting analog voltage values to digital values.<br>
<h3>Constructor</h3>
<h3 id="ADC_new">ADC.new( pin )</h3>
Generate an ADC object by specifying the physical pin indicated by "pin."<br>
The pin is normally specified as an integer, but PIC-specific pin numbers such as "B1" can be specified as a string.<br>
If the pin is already used in GPIO, etc., switch to ADC.<br>
<pre><code class="ruby">
adc1 = ADC.new( 1 )
</code></pre>
<hr id="second_boader">
<h3 id="ADC_read_voltage">read_voltage() -> Float</h3>
Reads the value and returns the voltage value (V).0 ~ 3.3V<br>
<pre><code class="ruby">
v1 = adc1.read_voltage()
</code></pre>
<hr id="second_boader">
<h3 id="ADC_read">read() -> Float</h3>
Alias for read_voltage<br>
<hr id="second_boader">
<h3 id="ADC_read_raw">read_raw() -> Integer</h3>
Read a value and return the raw value (the value before conversion to voltage). 0 ~ 1023<br>
<pre><code class="ruby">
v1 = adc1.read_raw()
</code></pre>
<hr id="first_boader">
<h2 id="I2C">I2C</h2>
A class that supports I2C bus.<br>
Supports master devices, 7-bit addresses only.<br>
<h3>Constructor</h3>
<h3 id="I2C_new">I2C.new( *params )</h3>
Optional Parameters<br>
<table border="1" class="table">
<thead class="thead-dark">
<tr>
<th>params</th>
<th>type</th>
<th>description</th>
</tr>
</thead>
<tr>
<td>frequency</td>
<td>Integer</td>
<td>Frequency (default 100kHz)</td>
</tr>
<tr>
<td>freq</td>
<td>(Same as above)</td>
<td>(Same as above)</td>
</tr>
<tr>
<td>scl_pin</td>
<td>---</td>
<td>SCL pin specification</td>
</tr>
<tr>
<td>sda_pin</td>
<td>---</td>
<td>SDA pin specification</td>
</tr>
</table>
<pre><code class="ruby">
# Generate an I2C object with the default settings.
i2c = I2C.new()
# Use an I2C device of unit 1 with a frequency of 400kHz.
i2c = I2C.new(1, frequency:400_000 ) # 400kHz
</code></pre>
<h3>Instance Methods</h3>
<h3 id="I2C_read">read( i2c_adrs_7, read_bytes, *param ) -> String</h3>
Reads data of read_bytes bytes from the device with the address i2c_adrs_7.<br>
If the device returns NAK in the middle, a String of shorter length than read_bytes may be returned.<br>
If data is specified in the param, it will be output before the repeated start, and then reading will start.<br>
<pre><code class="ruby">
s = i2c.read( 0x45, 3 ) # case 1
s = i2c.read( 0x45, 3, 0xf3, 0x2d ) # case 2
</code></pre>
<pre>
(case 1) S -- adrs(45) R A -- data1 A -- data2 A -- data3 A|N -- P
(case 2) S -- adrs(45) W A -- out1(f3) A -- out2(2d) A -- Sr -- adrs(45) R A -- data1 A -- data2 A -- data3 N -- P
S : Start condition
P : Stop condition
Sr: Repeated start condition
A : Ack
N : Nack
R : Read bit
W : Write bit
</pre>
<hr id="second_boader">
<h3 id="I2C_write">write( i2c_adrs_7 , *outputs ) -> Integer</h3>
Writes data specified in outputs to the device with the address i2c_adrs_7.<br>
The number of bytes successfully written is returned as the return value.<br>
outputs can be specified as an Integer, Array, or String.<br>
<pre><code class="ruby">
i2c.write( 0x45, 0x61, 0x47 )
i2c.write( 0x50, 0x00, 0x80, "aG" ) # useful for EEPROM
i2c.write( 0x11, [0x61, 0x47] )
</code></pre>
<pre>
S -- adrs W A -- data_1 A -- ... -- data_n N -- P
S : Start condition
P : Stop condition
A : Ack
N : Nack
W : Write bit
</pre>
<hr id="second_boader">
<h3 id="I2C_send_start">send_start()</h3>
<span style="color: red;">Low level method.</span><br>
Outputs a StartCondition to the I2C bus.<br>
<pre><code class="ruby">
i2c.send_start
</code></pre>
<hr id="second_boader">
<h3 id="I2C_send_restart">send_restart()</h3>
<span style="color: red;">Low level method.</span><br>
Outputs a Restart (RepeatedStart) Condition to the I2C bus.。<br>
<pre><code class="ruby">
i2c.send_restart
</code></pre>
<hr id="second_boader">
<h3 id="I2C_send_stop">send_stop()</h3>
<span style="color: red;">Low level method.</span><br>
Outputs a StopCondition to the I2C bus.<br>
<pre><code class="ruby">
i2c.send_stop
</code></pre>
<hr id="second_boader">
<h3 id="I2C_raw_read">raw_read( read_bytes, ack_nack = false ) -> String</h3>
<span style="color: red;">Low level method.</span><br>
Reads read_bytes bytes from the I2C bus and returns them.<br>
ack_nack = true outputs ACK at the last byte reading, and false outputs NACK.<br>
<pre><code class="ruby">
str = i2c.raw_read( 20 )
</code></pre>
<hr id="second_boader">
<h3 id="I2C_raw_write">raw_write( *outputs ) -> Integer</h3>
<span style="color: red;">Low level method.</span><br>
Writes data specified in outputs to the I2C bus.<br>
The number of bytes successfully written is returned as the return value.<br>
outputs can be specified as an Integer, Array, or String.<br>
<pre><code class="ruby">
i2c.raw_write( 0x45, 0x30, 0xa2 )
</code></pre>
<hr id="first_boader">
<h2 id="SPI">SPI</h2>
A class that supports SPI bus.<br>
This specification defines only master devices and transfers in 8-bit units.<br>
Use the GPIO function for Chip Select(CS/SS).<br>
<h3>Constructor</h3>
<h3 id="SPI_new">SPI.new( id=nil, *params )</h3>
id : 1 or 2<br>
Generates an SPI object by specifying the physical unit indicated by "id."<br>
Optional Parameters<br>
<table border="1" class="table">
<thead class="thead-dark">
<tr>
<th>params</th>
<th>type</th>
<th>description</th>
</tr>
</thead>
<tr>
<td>unit</td>
<td>---</td>
<td>Specification of the SPI unit</td>
</tr>
<tr>
<td>frequency</td>
<td>Integer</td>
<td>Frequency (default 1MHz)</td>
</tr>
<tr>
<td>mode</td>
<td>Integer</td>
<td>0 to 3 (default 0)</td>
</tr>
<tr>
<td>first_bit</td>
<td>Constant</td>
<td>SPI::MSB_FIRST or SPI::LSB_FIRST (default MSB_FIRST)</td>
</tr>
</table>
mode parameter<br>
<table border="1" class="table">
<thead class="thead-dark">
<tr>
<th>mode</th>
<th>CPOL</th>
<th>CPHA</th>
<th>Idle state clock polarity</th>
<th>Sampling timing</th>
</tr>
</thead>
<tr>
<td>0</td>
<td>0</td>
<td>0</td>
<td>Low</td>
<td>Rising edge</td>
</tr>
<tr>
<td>1</td>
<td>0</td>
<td>1</td>
<td>Low</td>
<td>Falling edge</td>
</tr>
<tr>
<td>2</td>
<td>1</td>
<td>0</td>
<td>High</td>
<td>Falling edge</td>
</tr>
<tr>
<td>3</td>
<td>1</td>
<td>1</td>
<td>High</td>
<td>Rising edge</td>
</tr>
</table>
<pre><code class="ruby">
# デフォルトの設定で、spiオブジェクトを生成する。
spi = SPI.new()
# ユニット1 の SPI デバイスを、周波数 10MHz で使う。
spi = SPI.new( unit:1, frequency:10_000_000 )
</code></pre>
<h3>Instance Methods</h3>
<h3 id="SPI_setmode">setmode( *params )</h3>
Changes the operating mode (parameters) of the SPI.<br>
The parameters are specified according to the constructor.<br>
<pre><code class="ruby">
spi.setmode( mode:3 )
</code></pre>
<hr id="second_boader">
<h3 id="SPI_read">read( read_bytes ) -> String</h3>
Reads data of read_bytes bytes from the SPI bus.<br>
At the same time, data will be output as 0.<br>
<pre><code class="ruby">
data = spi.read( 32 )
</code></pre>
<hr id="second_boader">
<h3 id="SPI_write">write( *outputs ) -> nil</h3>
Outputs data specified in outputs to the SPI bus.<br>
outputs can be specified as an Integer, Array, or String.<br>
<pre><code class="ruby">
spi.write( 0x30, 0xa2 )
spi.write( "\x30\xa2" )
spi.write( 0x02, 0xee, 0xad, 0x00, data_string ) # useful for EEPROM
</code></pre>
<hr id="second_boader">
<h3 id="SPI_transfer">transfer( outputs, additional_read_bytes = 0 ) -> String</h3>
Outputs data specified in outputs to the SPI bus while simultaneously reading data (General-purpose transfer).<br>
outputs can be specified as an Integer, Array, or String.<br>
If additional_read_bytes is specified, it will output 0x00 after the outputs.<br>
<pre><code class="ruby">
s = spi.transfer( 0b0000_0101, 1 ) # s will return a 2-byte String
</code></pre>
<hr id="first_boader">
<h2 id="PWM">PWM</h2>
A class that supports Pulse Width Modulation (PWM) functionality.<br>
<h3>Constructor</h3>
<h3 id="PWM_new">PWM.new( pin, *params )</h3>
pin : 0~20 or Strings such as "B1", "A2"<br>
Generate a PWM object by specifying the physical pin indicated by "pin."<br>
The pin is normally specified as an integer, but PIC-specific pin numbers such as "B1" can be specified as a string.<br>
When specifying the parameter frequency, the output starts with a duty cycle of 50%.<br>
If you want to start the output with a duty cycle other than 50%, specify the parameter duty simultaneously.<br>
Optional Parameters<br>
<table border="1" class="table">
<thead class="thead-dark">
<tr>
<th>params</th>
<th>type</th>
<th>description</th>
</tr>
</thead>
<tr>
<td>frequency</td>
<td>Integer,Float</td>
<td>Specifies the frequency.</td>
</tr>
<tr>
<td>freq</td>
<td>(Same as above)</td>
<td>(Same as above)</td>
</tr>
<tr>
<td>duty</td>
<td>Integer,Float</td>
<td>Specifies the duty cycle.</td>
</tr>
</table>
<pre><code class="ruby">
# Generate an object for PWM output on pin 1. Output is not started yet.
pwm1 = PWM.new( 1 )
# Generate an object for PWM output on pin 1 and start the output with a frequency of 440Hz and a duty cycle of 30%.
pwm1 = PWM.new( 1, frequency:440, duty:30 )
</code></pre>
<h3>Instance Methods</h3>
<h3 id="PWM_frequency">frequency( freq )</h3>
Starts the output or changes the frequency by specifying the frequency.<br>
freq is specified as an Integer or Float.<br>
Specifying 0 stops the output.<br>
Changing the frequency does not affect the duty cycle.<br>
<pre><code class="ruby">
pwm1.frequency( 440 ) # Output at 440Hz
</code></pre>
<hr id="second_boader">
<h3 id="PWM_period_us">period_us( micro_sec )</h3>
Starts the output or changes the period by specifying the time of one cycle in microseconds.<br>
micro_sec is specified as an Integer.<br>
Specifying 0 stops the output.<br>
Changing the period does not affect the duty cycle.<br>
<pre><code class="ruby">
pwm1.period_us( 2273 ) # 1/2273us = 440Hz
</code></pre>
<hr id="second_boader">
<h3 id="PWM_duty">duty( percent )</h3>
Changes the duty cycle by specifying a percentage from 0 to 100.<br>
percent is specified as an Integer or Float.<br>
<pre><code class="ruby">
pwm1.duty( 50 )
</code></pre>
<hr id="second_boader">
<h3 id="PWM_pulse_width_us">pulse_width_us( micro_sec )</h3>
Specifies the time in microseconds for which the output stays ON in one cycle.<br>
micro_sec is specified as an Integer.<br>
If a time longer than one cycle is specified, it will be set to the maximum value that can be ON without an error.<br>
<pre><code class="ruby">
pwm1.pulse_width_us( 1000 )
</code></pre>
<hr id="first_boader">
<h2 id="UART">UART</h2>
A class that supports asynchronous serial communication.<br>
<h3>Constructor</h3>
<h3 id="UART_new">UART.new( id=nil, *params )</h3>
id : 1 or 2(default is 2)<br>
Generates a UART object by specifying the physical unit indicated by "id."<br>
There are only 8 data bits.<br>
Since flow control is not implemented, RTSCTS cannot be specified.<br>
The default parameter. <br>
<ul>
<li>・Baud rate: 9600</li>
<li>・Data bits: 8 bits</li>
<li>・Stop bits: 1 bit</li>
<li>・Parity: None</li>
<li>・Flow control: None</li>
</ul>
Optional Parameters<br>
<table border="1" class="table">
<thead class="thead-dark">
<tr>
<th>baudrate</th>
<th>Integer</th>
<th>Baud rate (default 9600)</th>
</tr>
</thead>
<tr>
<td>baud</td>
<td>(Same as above)</td>
<td></td>
</tr>
<tr>
<td>stop_bits</td>
<td>Integer</td>
<td>Stop bits (default 1)</td>
</tr>
<tr>
<td>parity</td>
<td>Const</td>
<td>Parity bit (default NONE)</td>
</tr>
<tr>
<td>txd_pin</td>
<td>---</td>
<td>Specifies the TxD pin</td>
</tr>
<tr>
<td>rxd_pin</td>
<td>---</td>
<td>Specifies the RxD pin</td>
</tr>
</table>
Parameter Constants<br>
<pre>
UART::NONE
UART::EVEN
UART::ODD
UART::RTSCTS
</pre>
<pre><code class="ruby">
# Use UART1 with all default parameters.
uart1 = UART.new( 1 )
# Use the serial device with the specified device node at 19200 bps, even parity.
uart2 = UART.new("/dev/cu.usbserial1", baud:19200, parity:UART::EVEN )
</code></pre>
<h3>Instance Methods</h3>
<h3 id="UART_setmode">setmode( *params )</h3>
Changes the mode (parameters) of UART.<br>
The parameter specification follows that of the constructor.<br>
<pre><code class="ruby">
uart1.setmode( baudrate:38400 )
</code></pre>
<hr id="second_boader">
<h3 id="UART_read">read( read_bytes ) -> String</h3>
Reads data of the specified number of bytes, read_bytes.<br>
If the specified number of bytes has not arrived, it will block until they arrive.<br>
<pre><code class="ruby">
val = uart1.read( 10 )
</code></pre>
<hr id="second_boader">
<h3 id="UART_write">write( string ) -> Integer</h3>
Sends data.<br>
Returns the number of bytes sent.<br>
<pre><code class="ruby">
uart1.write("Output string\r\n")
</code></pre>
<hr id="second_boader">
<h3 id="UART_gets">gets() -> String</h3>
Reads a line of string. Internally, it returns the byte sequence until "\n" in the read buffer.<br>
If a complete line of data has not arrived, it will block until it arrives.<br>
<pre><code class="ruby">
val = uart1.gets()
</code></pre>
<hr id="second_boader">
<h3 id="UART_puts">puts( string ) -> nil</h3>
Sends one line and sends a newline code at the end of the argument string.<br>
The newline code is LF only by default.<br>
<pre><code class="ruby">
uart1.puts("Output string")
</code></pre>
<hr id="second_boader">
<h3 id="UART_bytes_available">bytes_available() -> Integer</h3>
Returns the number of readable bytes in the read buffer.<br>
<pre><code class="ruby">
len = uart1.bytes_available()
</code></pre>
<hr id="second_boader">
<h3 id="UART_bytes_to_write">bytes_to_write() -> 0</h3>
Returns the number of bytes of data in the transmission buffer that have not been actually sent.<br>
<pre><code class="ruby">
bytes = uart1.bytes_to_write()
</code></pre>
<hr id="second_boader">
<h3 id="UART_can_read_line">can_read_line() -> bool</h3>
Returns true if reading a line of data is possible.<br>
<pre><code class="ruby">
flag = uart1.can_read_line()
</code></pre>
<hr id="second_boader">
<h3 id="UART_flush">flush()</h3>
Block until transmission of data accumulated in the transmission buffer is completed.<br>
There is no send buffer so it actually does nothing.<br>
<pre><code class="ruby">
uart1.flush()
</code></pre>
<hr id="second_boader">
<h3 id="UART_clear_rx_buffer">clear_rx_buffer()</h3>
Clears the receive buffer.<br>
<pre><code class="ruby">
uart1.clear_rx_buffer()
</code></pre>
<hr id="second_boader">
<h3 id="UART_clear_tx_buffer">clear_tx_buffer()</h3>
Clears the transmission buffer.<br>
There is no send buffer so it actually does nothing.<br>
<pre><code class="ruby">
uart1.clear_tx_buffer()
</code></pre>
<hr id="second_boader">
<h3 id="UART_send_break">send_break( time )</h3>
Sends a break signal.<br>
The time is optional and specified in seconds.<br>
<pre><code class="ruby">
uart1.send_break( 0.1 )
</code></pre>
<hr id="first_boader">
<h2 id="ETC">Unique Methods</h2>
<h3 id="leds_write">leds_write(bit)</h3>
on board LED control<br>
bit : Integer<br>
<table border="1" class="table">
<thead class="thead-dark">
<tr>
<th>led</th>
<th>Decimal</th>
<th>Binary number</th>
</tr>
</thead>
<tr>
<td>1</td>
<td>1</td>
<td>0b0001</td>
</tr>
<tr>
<td>2</td>
<td>2</td>
<td>0b0010</td>
</tr>
<tr>
<td>3</td>
<td>4</td>
<td>0b0100</td>
</tr>
<tr>
<td>4</td>
<td>8</td>
<td>0b1000</td>
</tr>
</table>
<pre><code class="ruby">
leds_write( 9 ) # LED1, LED4 ON
leds_write( 0x06 ) # LED1, LED4 OFF / LED2, LED3 ON
</code></pre>
<hr id="second_boader">
<h3 id="sw">sw()</h3>
Read switch status<br>
Default pullup.(When pressed, 0 is output.)<br>
return：0 or 1<br>
<pre><code class="ruby">
switch_status = sw()
</code></pre>
<hr id="second_boader">
<h3 id="puts">puts(txt)</h3>
Output string<br>
Click <a href="./console.html">here</a> for information on setting up the terminal software.<br>
txt：String<br>
<pre><code class="ruby">
puts("Hello World")
</code></pre>
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<details>
<summary><a href="#GPIO">GPIO</a></summary>
<ul id="class_ul">
<li><a href="#GPIO_setmode">GPIO.setmode</a></li>
<li><a href="#GPIO_read_at">GPIO.read_at</a></li>
<li><a href="#GPIO_high_at?">GPIO.high_at?</a></li>
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<li><a href="#GPIO_read">read</a></li>
<li><a href="#GPIO_high?">high?</a></li>
<li><a href="#GPIO_low?">low?</a></li>
<li><a href="#GPIO_write">write</a></li>
<li><a href="#GPIO_setmode_Instance">setmode</a></li>
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<summary><a href="#ADC">ADC</a></summary>
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<li><a href="#SPI_new">SPI.new</a></li>
<li><a href="#SPI_setmode">setmode</a></li>
<li><a href="#SPI_read">read</a></li>
<li><a href="#SPI_write">write</a></li>
<li><a href="#SPI_transfer">transfer</a></li>
</ul>
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<summary><a href="#PWM">PWM</a></summary>
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<li><a href="#PWM_new">PWM.new</a></li>
<li><a href="#PWM_frequency">frequency</a></li>
<li><a href="#PWM_period_us">period_us</a></li>
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<li><a href="#PWM_pulse_width_us">pulse_width_us</a></li>
</ul>
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<li><a href="#UART_puts">puts</a></li>
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<li><a href="#UART_bytes_to_write">bytes_to_write</a></li>
<li><a href="#UART_can_read_line">can_read_line</a></li>
<li><a href="#UART_bytes_to_write">bytes_to_write</a></li>
<li><a href="#UART_flush">flush</a></li>
<li><a href="#UART_clear_rx_buffer">clear_rx_buffer</a></li>
<li><a href="#UART_clear_tx_buffer">clear_tx_buffer</a></li>
<li><a href="#UART_send_break">send_break</a></li>
</ul>
</details>
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<summary><a href="#ETC">Unique Methods</a></summary>
<ul id="class_ul">
<li><a href="#leds_write">leds_write</a></li>
<li><a href="#sw">sw</a></li>
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