Driver catalogue¶

Every driver in the umbrella, grouped by what it controls, with its bus and a link to its documentation site.

The cards are generated from .gitmodules and the facts in tools/docs/drivers.yml; CI fails when a submodule is added without a card.

Motor and actuator control¶

Smart servo (wrapper around the DYNAMIXEL SDK) DYNAMIXEL X-series ROBOTIS

Bus: Half-duplex UART (Protocol 2.0)
Language: C++17

Documentation · GitHub

CANopen client for Vortex motor controllers (CiA 301 / 402) HardFOC Vortex HardFOC

Bus: CAN
Language: C++20

No site yet · GitHub

Octal solenoid and motor driver MAX22200 Analog Devices

Bus: SPI
Language: C++20

Documentation · GitHub

Six-channel low-side solenoid driver TLE92466ED Infineon

Bus: SPI
Language: C++20

Documentation · GitHub

Stepper motor controller and driver TMC5130 / TMC5160 Analog Devices (Trinamic)

Bus: SPI or UART
Language: C++17

Documentation · GitHub

BLDC / stepper / DC motor controller with on-chip FOC TMC9660 Analog Devices (Trinamic)

Bus: SPI or UART (TMCL)
Language: C++20

Documentation · GitHub

Position and motion sensing¶

Magnetic rotary position encoder AS5047U ams OSRAM

Bus: SPI
Language: C++20

Documentation · GitHub

9-axis IMU and sensor-fusion hub BNO080 / BNO085 / BNO086 CEVA (Hillcrest)

Bus: I²C
Language: C++

Documentation · GitHub

Data conversion¶

12-channel 12-bit SAR ADC ADS7952 Texas Instruments

Bus: SPI
Language: C++20

Documentation · GitHub

16-channel 16-bit simultaneous-sampling SAR ADC ADS9324 Texas Instruments

Bus: SPI
Language: C++20

Documentation · GitHub

Environmental and process sensors¶

Mass flow meter and controller BASIS-2 Alicat Scientific

Bus: Modbus RTU over UART
Language: C++17

Documentation · GitHub

Barometric pressure sensor BMP581 Bosch Sensortec

Bus: I²C or SPI
Language: C++17 (header-only)

Documentation · GitHub

Optical oxygen sensor FDO2-G2 PyroScience

Bus: UART
Language: C++17

Documentation · GitHub

Analog temperature sensor MCP9700 / MCP9700A Microchip

Bus: ADC
Language: C++17

Documentation · GitHub

Thermistor temperature (table NTC thermistor Generic

Bus: ADC
Language: C++

Documentation · GitHub

SF06-family gas mass flow meter SFM4300 Sensirion

Bus: I²C
Language: C++17 (header-only)

Documentation · GitHub

I/O, PWM and display¶

96 × 64 RGB OLED SmartDisplay pushbutton ISF15ACP4 NKK Switches

Bus: SPI
Language: C++20

Documentation · GitHub

16-bit I/O expander PCA9555 / PCAL9555A NXP

Bus: I²C
Language: C++

Documentation · GitHub

16-channel 12-bit PWM controller PCA9685 NXP

Bus: I²C
Language: C++

Documentation · GitHub

Addressable RGB(W) LEDs WS2812 / NeoPixel Worldsemi

Bus: ESP32 RMT
Language: C++ (ESP32 only)

Documentation · GitHub

Power, memory and security¶

Serial EEPROM AT25010B / AT25020B / AT25040B Microchip

Bus: SPI
Language: C++17 (header-only)

Documentation · GitHub

PMIC with 3 buck PF1550 NXP

Bus: I²C
Language: C++20 (header-only)

Documentation · GitHub

EdgeLock secure element SE050 NXP

Bus: I²C (T=1)
Language: C++17

Documentation · GitHub

Platform layer (internal/)¶

MCU peripheral interfaces (GPIO Base interfaces HardFOC

Bus: All
Language: C++

Documentation · GitHub

Compile-time functional pin maps per board (Vortex V1 Pin maps HardFOC

Bus: none
Language: C++20 (header-only)

Documentation · GitHub

The same list as one table: All drivers.