Updated debug printing for raspi + added persistent_open setting for raspi spi

include/sta/debug_printf.hpp

@@ -0,0 +1,49 @@
+#ifndef STA_CORE_DEBUG_PRINTF_HPP
+#define STA_CORE_DEBUG_PRINTF_HPP
+
+#include <sta/config.hpp>
+
+// Determine if module should be enabled
+// Condition 1: STA_DEBUG_PRINTF is defined
+// Condition 2:
+//     STA_DEBUG_PRINTF_FORCE is defined
+//   or
+//     DEBUG is defined but not NDEBUG
+#ifdef STA_DEBUG_PRINTF
+#  ifdef STA_DEBUG_PRINTF_FORCE
+#    define STA_DEBUG_SERIAL_ENABLED
+#  else // !STA_DEBUG_PRINTF_FORCE
+#    if defined(DEBUG) && !defined(NDEBUG)
+#      define STA_DEBUG_PRINTF_ENABLED
+#    endif // DEBUG && !NDEBUG
+#  endif // !STA_DEBUG_PRINTF_FORCE
+#endif // STA_DEBUG_PRINTF
+
+#if defined(STA_DEBUG_PRINTF_ENABLED) || defined(DOXYGEN)
+
+#include <sta/printable.hpp>
+
+/**
+ * @brief Print debug output.
+ *
+ * @param ... See @ref sta::PrintableUART::print
+ *
+ * @ingroup sta_core_debug
+ */
+#  define STA_DEBUG_PRINT(...)      sta::print(__VA_ARGS__)
+/**
+ * @brief Print debug output followed by new-line to UART.
+ *
+ * @param ... See @ref sta::PrintableUART::println
+ *
+ * @ingroup sta_core_debug
+ */
+#  define STA_DEBUG_PRINTLN(...)    sta::println(__VA_ARGS__)
+
+
+#else // !STA_DEBUG_PRINTF_ENABLED
+#  define STA_DEBUG_PRINT(...)      ((void)0)
+#  define STA_DEBUG_PRINTLN(...)    ((void)0)
+#endif // !STA_DEBUG_PRINTF_ENABLED
+
+#endif // STA_CORE_DEBUG_PRINTF_HPP

include/sta/printable.hpp

@@ -0,0 +1,206 @@
+/**
+ * @file
+ * @brief Printable UART interface definition.
+ */
+#ifndef STA_CORE_PRINTABLE_HPP
+#define STA_CORE_PRINTABLE_HPP
+
+#include <sta/printf.hpp>
+
+#include <cstddef>
+#include <cstdint>
+
+
+namespace sta
+{
+    /**
+     * @brief Integer representation.
+     *
+     * @ingroup sta_core
+     */
+    enum class IntegerBase
+    {
+        DEC,    /**< Decimal */
+        BIN,    /**< Binary */
+        HEX     /**< Hexadecimal */
+    };
+
+    /**
+     * @brief Print single character.
+     *
+     * @param c     Character to print
+     */
+    void print(char c);
+
+    /**
+     * @brief Print boolean value.
+     *
+     * @param b     Boolean value
+     */
+    void print(bool b);
+
+    /**
+     * @brief Print floating point value.
+     *
+     * @param d     Floating point value
+     */
+    void print(double d);
+
+    /**
+     * @brief Print integer in selected base.
+     *
+     * @param num   8-bit unsigned integer
+     * @param base  Integer base
+     */
+    void print(uint8_t num, IntegerBase base = IntegerBase::DEC);
+
+    /**
+     * @brief Print integer in selected base.
+     *
+     * @param num   16-bit unsigned integer
+     * @param base  Integer base
+     */
+    void print(uint16_t num, IntegerBase base = IntegerBase::DEC);
+
+    /**
+     * @brief Print integer in selected base.
+     *
+     * @param num   32-bit unsigned integer
+     * @param base  Integer base
+     */
+    void print(uint32_t num, IntegerBase base = IntegerBase::DEC);
+
+    /**
+     * @brief Print integer in selected base.
+     *
+     * @param num   Integer
+     * @param base  Integer base
+     */
+    void print(size_t num, IntegerBase base = IntegerBase::DEC);
+    
+    /**
+     * @brief Print c-string.
+     *
+     * @param str   Null terminated string
+     */
+    void print(const char * str);
+
+    /**
+     * @brief Print string.
+     *
+     * @param str       String buffer
+     * @param length    String length
+     */
+    void print(const char * str, size_t length);
+
+    /**
+     * @brief Print new-line.
+     */
+    void println();
+
+    /**
+     * @brief Print single character followed by a new-line.
+     *
+     * @param c     Character to print
+     */
+    void println(char c);
+
+    /**
+     * @brief Print boolean value followed by a new-line.
+     *
+     * @param b     Boolean value
+     */
+    void println(bool b);
+
+    /**
+     * @brief Print floating point value followed by a new-line.
+     *
+     * @param d     Floating point value
+     */
+    void println(double d);
+
+    /**
+     * @brief Print integer in selected base followed by a new-line.
+     *
+     * @param num   8-bit unsigned integer
+     * @param base  Integer base
+     */
+    void println(uint8_t num, IntegerBase base = IntegerBase::DEC);
+
+    /**
+     * @brief Print integer in selected base followed by a new-line.
+     *
+     * @param num   16-bit unsigned integer
+     * @param base  Integer base
+     */
+    void println(uint16_t num, IntegerBase base = IntegerBase::DEC);
+
+    /**
+     * @brief Print integer in selected base followed by a new-line.
+     *
+     * @param num   32-bit unsigned integer
+     * @param base  Integer base
+     */
+    void println(uint32_t num, IntegerBase base = IntegerBase::DEC);
+
+    /**
+     * @brief Print integer in selected base followed by a new-line.
+     *
+     * @param num   Integer
+     * @param base  Integer base
+     */
+    void println(size_t num, IntegerBase base = IntegerBase::DEC);
+
+    /**
+     * @brief Print c-string followed by a new-line.
+     *
+     * @param str   Null terminated string
+     */
+    void println(const char * str);
+
+    /**
+     * @brief Print string followed by a new-line.
+     *
+     * @param str       String buffer
+     * @param length    String length
+     */
+    void println(const char * str, size_t length);
+
+    /**
+     * @brief Print unsigned integer in selected base.
+     *
+     * @param value     Unsigned integer value
+     * @param base      Integer base
+     * @param fmt       printf format string for base 10
+     * @param size      Size of value in bytes
+     */
+    void printBase(uintmax_t value, IntegerBase base, const char * fmt, size_t size);
+
+    /**
+     * @brief Print unsigned integer in base 10.
+     *
+     * @param value     Unsigned integer value
+     * @param fmt       printf format string
+     */
+    void printDec(uintmax_t value, const char * fmt);
+
+    /**
+     * @brief Print unsigned integer in base 2.
+     *
+     * @param value     Unsigned integer value
+     * @param digits    Number of digits to print
+     */
+    void printBin(uintmax_t value, size_t digits);
+
+    /**
+     * @brief Print unsigned integer in base 16.
+     *
+     * @param value     Unsigned integer value
+     * @param digits    Number of digits to print
+     */
+    void printHex(uintmax_t value, size_t digits);
+
+} // namespace sta
+
+
+#endif // STA_CORE_PRINTABLE_HPP

include/sta/printable_uart.hpp

@@ -77,13 +77,6 @@ namespace sta
          * @param base  Integer base
          */
         void print(uint32_t num, IntegerBase base = IntegerBase::DEC);
-        /**
-         * @brief Print integer in selected base.
-         *
-         * @param num   Integer
-         * @param base  Integer base
-         */
-        void print(size_t num, IntegerBase base = IntegerBase::DEC);
         /**
          * @brief Print c-string.
          *
@@ -142,13 +135,6 @@ namespace sta
          * @param base  Integer base
          */
         void println(uint32_t num, IntegerBase base = IntegerBase::DEC);
-        /**
-         * @brief Print integer in selected base followed by a new-line.
-         *
-         * @param num   Integer
-         * @param base  Integer base
-         */
-        void println(size_t num, IntegerBase base = IntegerBase::DEC);
         /**
          * @brief Print c-string followed by a new-line.
          *

include/sta/raspi/gpio_pin.hpp

@@ -15,7 +15,7 @@
 
 namespace sta 
 {
-    class RaspiGpioPin : GpioPin
+    class RaspiGpioPin : public GpioPin
     {
     public: 
         enum class GpioMode {
@@ -31,18 +31,18 @@ namespace sta
 
         void setState(GpioPinState state) override;
 
-        static RaspiGpioPin DUMMY_GPIO;
+        static RaspiGpioPin * DUMMY_GPIO;
         
     private:
         uint8_t pin_;
         GpioMode mode_;
     };
 
-    class DummyGpioPin : RaspiGpioPin {
+    class DummyGpioPin : public RaspiGpioPin {
         DummyGpioPin();
 
         void setState(GpioPinState state) override;
-    }
+    };
 } // namespace sta
 
 #endif // STA_RASPI_GPIO_ENABLED

include/sta/raspi/hal.hpp

@@ -2,7 +2,7 @@
 #define STA_CORE_RASPI_HAL_HPP
 
 #include <wiringPi.h>
-#include <wiringPiI2C.h>
+#include <stdio.h>
 #include <sys/ioctl.h>
 
 #endif //STA_CORE_RASPI_HAL_HPP

include/sta/raspi/mcu/common.hpp

@@ -0,0 +1,13 @@
+/**
+ * @file
+ * @brief Common configuration for Raspberry Pi MCUs
+ */
+#ifndef STA_CORE_RASPI_MCU_COMMON_HPP
+#define STA_CORE_RASPI_MCU_COMMON_HPP
+
+#define STA_MCU_LITTLE_ENDIAN
+
+// Enable STM32 platform
+#define STA_PLATFORM_RASPI
+
+#endif // STA_CORE_RASPI_MCU_COMMON_HPP

include/sta/raspi/spi.hpp

@@ -9,10 +9,15 @@
 
 namespace sta 
 {
+    enum class SPINode {
+        DEV_0_0,
+        DEV_0_1
+    };
+
     class RaspiSPI : public SPI 
     {
     public:
-        RaspiSPI(const char * dev, const SPISettings & settings, Mutex * mutex = nullptr);
+        RaspiSPI(SPINode node, const SPISettings & settings, Mutex * mutex = nullptr, bool persistent_open = true);
         ~RaspiSPI();
 
         void transfer(uint8_t value) override;
@@ -30,18 +35,17 @@ namespace sta
         char * spidev_;
         int spifd_;
         bool open_;
+        const bool persistent_open_;
 
         void update_setting(int setting, int value);
+        int get_setting(int setting, void * rslt_ptr);
+        void update_settings();
     };
 
-    class RaspiSPIDevice : SPIDevice 
+    class RaspiSPIDevice : public SPIDevice 
     {
     public:
         RaspiSPIDevice(RaspiSPI * intf);
-
-        void select() override;
-
-        void deselect() override;
     };
 } // namespace sta
 

include/sta/spi/device.hpp

@@ -93,7 +93,7 @@ namespace sta
          *
          * @return SPI settings
          */
-        const SpiSettings & settings() const;
+        const SPISettings & settings() const;
 
 
         /**