Added I2C support for raspi & first rework of debugging

include/sta/bus/can/controller.hpp

@@ -12,9 +12,9 @@
  */
 
 
-#include <sta/can/filter.hpp>
-#include <sta/can/headers.hpp>
-#include <sta/can/iter.hpp>
+#include <sta/bus/can/filter.hpp>
+#include <sta/bus/can/headers.hpp>
+#include <sta/bus/can/iter.hpp>
 
 
 namespace sta

include/sta/bus/can/filter.hpp

@@ -5,7 +5,7 @@
 #ifndef STA_CORE_CAN_FILTER_HPP
 #define STA_CORE_CAN_FILTER_HPP
 
-#include <sta/can/id.hpp>
+#include <sta/bus/can/id.hpp>
 
 #include <cstdint>
 

include/sta/bus/can/headers.hpp

@@ -5,7 +5,7 @@
 #ifndef STA_CORE_CAN_HEADERS_HPP
 #define STA_CORE_CAN_HEADERS_HPP
 
-#include <sta/can/id.hpp>
+#include <sta/bus/can/id.hpp>
 
 #include <cstdint>
 

include/sta/bus/can/subscribable.hpp

@@ -5,8 +5,8 @@
 #ifndef STA_CORE_CAN_SUBSCRIBABLE_HPP
 #define STA_CORE_CAN_SUBSCRIBABLE_HPP
 
-#include <sta/can/filter.hpp>
-#include <sta/can/headers.hpp>
+#include <sta/bus/can/filter.hpp>
+#include <sta/bus/can/headers.hpp>
 
 
 namespace sta
@@ -96,7 +96,7 @@ namespace sta
 } // namespace sta
 
 
-#include <sta/can/subscribable.tpp>
+#include <sta/bus/can/subscribable.tpp>
 
 
-#endif // STA_CORE_CAN_SUBSCRIBABLE_HPP
+#endif // STA_CORE_CAN_SUBSCRIBABLE_HPP

include/sta/bus/device.hpp

@@ -1,33 +1,21 @@
-/**
- * @file
- * @brief SPI bus peripheral device.
- */
-#ifndef STA_CORE_SPI_DEVICE_HPP
-#define STA_CORE_SPI_DEVICE_HPP
-
-#include <sta/gpio_pin.hpp>
-#include <sta/spi/spi.hpp>
-
-#include <cstddef>
-#include <cstdint>
+#ifndef STA_CORE_BUS_SERIAL_DEVICE_HPP
+#define STA_CORE_BUS_SERIAL_DEVICE_HPP
 
+#include <sta/bus/interface.hpp>
 
 namespace sta
 {
     /**
-     * @brief Peripheral device connected via SPI.
-     *
-     * @ingroup sta_core_spi
-     */
-    class SPIDevice
+     * @brief Abstract device for serial communication.
+    */
+    class Device 
     {
     public:
-        /**
+         /**
          * @param intf      %SPI hardware interface
          * @param csPin     Chip select pin
          */
-        SPIDevice(SPI * intf, GpioPin * csPin);
-
+        Device(Interface * intf);
 
         /**
          * @brief Start transmission with device.
@@ -35,6 +23,7 @@ namespace sta
          * Must be called before any I/O operations.
          */
         void beginTransmission();
+
         /**
          * @brief End transmission with device.
          *
@@ -42,19 +31,20 @@ namespace sta
          */
         void endTransmission();
 
-
         /**
          * @brief Send single byte of data.
          *
          * @param value     8-bit value
          */
         void transfer(uint8_t value);
+
         /**
          * @brief Send two bytes of data.
          *
          * @param value     16-bit value
          */
         void transfer16(uint16_t value);
+
         /**
          * @brief Send data from buffer.
          *
@@ -62,6 +52,7 @@ namespace sta
          * @param size      Number of bytes to transfer
          */
         void transfer(const uint8_t * buffer, size_t size);
+
         /**
          * @brief Send and receive data simultaneously.
          *
@@ -70,6 +61,7 @@ namespace sta
          * @param size      Number of bytes to transfer
          */
         void transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size);
+
         /**
          * @brief Read incoming data to buffer.
          *
@@ -78,7 +70,6 @@ namespace sta
          */
         void receive(uint8_t * buffer, size_t size);
 
-
         /**
          * @brief Send byte value repeatedly.
          *
@@ -87,29 +78,21 @@ namespace sta
          */
         void fill(uint8_t value, size_t count);
 
+    protected:
+        /**
+         * @brief Activate device..
+         */
+        virtual void select() = 0;
 
         /**
-         * @brief Get %SPI interface settings.
-         *
-         * @return SPI settings
+         * @brief Deactivate device..
          */
-        const SPISettings & settings() const;
-
-
-        /**
-         * @brief Activate device via CS pin.
-         */
-        void select();
-        /**
-         * @brief Deactivate device via CS pin.
-         */
-        void deselect();
+        virtual void deselect() = 0;
 
     private:
-        SPI * 	    intf_;  /**< %SPI hardware interface */
-        GpioPin *   csPin_; /**< Chip select pin */
+        Interface * intf_;
+        bool    selected_ = false;
     };
 } // namespace sta
 
-
-#endif // STA_CORE_SPI_DEVICE_HPP
+#endif // STA_CORE_BUS_SERIAL_DEVICE_HPP

include/sta/bus/i2c/device.hpp

@@ -0,0 +1,37 @@
+#ifndef STA_CORE_I2C_DEVICE_HPP
+#define STA_CORE_I2C_DEVICE_HPP
+
+#include <sta/bus/i2c/i2c.hpp>
+#include <sta/bus/device.hpp>
+
+namespace sta
+{
+    /**
+     * @brief Peripheral device connected via I2c.
+     *
+     * @ingroup sta_core_i2c
+     */
+    class I2cDevice : public Device
+    {
+    public:
+        /**
+         * @param intf      %I2C hardware interface
+         * @param csPin     The peripheral's address.
+         */
+        I2cDevice(I2c * intf, int addr);
+
+    protected:
+        void select() override;
+
+        void deselect() override;
+        
+    private:
+        int addr_; /**< device address */
+    };
+    
+} // namespace sta
+
+
+
+
+#endif // STA_CORE_I2C_DEVICE_HPP

include/sta/bus/i2c/i2c.hpp

@@ -0,0 +1,33 @@
+#ifndef STA_CORE_I2C_I2C_HPP
+#define STA_CORE_I2C_I2C_HPP
+
+#include <sta/bus/interface.hpp>
+#include <sta/mutex.hpp>
+
+#include <cstddef>
+#include <cstdint>
+
+namespace sta
+{
+    /**
+     * @brief Interface class for %I2C hardware.
+     *
+     * Represents a single %I2C bus that can be shared by multiple devices.
+     *
+     * @ingroup sta_core_i2c
+     */
+    class I2c : public Interface
+    {
+    public:
+        I2c(Mutex * mutex=nullptr);
+
+        /**
+         * @brief Address selection for the I2C bus.
+         * 
+         * @param address The address to select.
+         */
+        virtual void selectAddress(uint16_t address) = 0;
+    };
+} // namespace sta
+
+#endif // STA_CORE_I2C_I2C_HPP

include/sta/bus/interface.hpp

@@ -1,35 +1,20 @@
-/**
- * @file
- * @brief SPI bus software interface.
- */
-#ifndef STA_CORE_SPI_SPI_HPP
-#define STA_CORE_SPI_SPI_HPP
+#ifndef STA_CORE_BUS_SERIAL_INTERFACE_HPP
+#define STA_CORE_BUS_SERIAL_INTERFACE_HPP
 
 #include <sta/mutex.hpp>
-#include <sta/spi/settings.hpp>
 
-#include <cstddef>
 #include <cstdint>
-
+#include <cstddef>
 
 namespace sta
 {
     /**
-     * @brief Interface class for %SPI hardware.
-     *
-     * Represents a single %SPI bus that can be shared by multiple devices.
-     *
-     * @ingroup sta_core_spi
-     */
-    class SPI
+     * @brief Abstract interface for serial communication.
+    */
+    class Interface
     {
     public:
-        /**
-         * @param settings  %SPI bus settings
-         * @param mutex     Mutex object for managing shared access. Pass nullptr for no access control
-         */
-        SPI(const SPISettings & settings, Mutex * mutex = nullptr);
-
+        Interface(Mutex * mutex);
 
         /**
          * @brief Send single byte of data.
@@ -66,7 +51,6 @@ namespace sta
          */
         virtual void receive(uint8_t * buffer, size_t size) = 0;
 
-
         /**
          * @brief Send byte value repeatedly.
          *
@@ -75,14 +59,6 @@ namespace sta
          */
         virtual void fill(uint8_t value, size_t count) = 0;
 
-
-        /**
-         * @brief Get %SPI interface settings.
-         *
-         * @return %SPI settings
-         */
-        const SPISettings & settings();
-
         /**
          * @brief Acquire usage rights to use the interface.
          *
@@ -96,11 +72,15 @@ namespace sta
          */
         virtual void release();
 
+        /**
+         * @returns true if the interface has been aquired.
+        */
+        bool isAquired();
     private:
-        SPISettings settings_;  /**< %SPI settings */
-        Mutex *     mutex_;	    /**< Mutex object */
+        Mutex * mutex_;
+        bool    aquired_ = false;
     };
 } // namespace sta
 
 
-#endif // STA_CORE_SPI_SPI_HPP
+#endif // STA_CORE_BUS_SERIAL_INTERFACE_HPP

include/sta/bus/spi/device.hpp

@@ -0,0 +1,51 @@
+/**
+ * @file
+ * @brief SPI bus peripheral device.
+ */
+#ifndef STA_CORE_SPI_DEVICE_HPP
+#define STA_CORE_SPI_DEVICE_HPP
+
+#include <sta/bus/device.hpp>
+#include <sta/bus/spi/spi.hpp>
+#include <sta/gpio_pin.hpp>
+
+#include <cstddef>
+#include <cstdint>
+
+
+namespace sta
+{
+    /**
+     * @brief Peripheral device connected via SPI.
+     *
+     * @ingroup sta_core_spi
+     */
+    class SPIDevice : public Device
+    {
+    public:
+        /**
+         * @param intf      %SPI hardware interface
+         * @param csPin     Chip select pin
+         */
+        SPIDevice(SPI * intf, GpioPin * csPin);
+
+        /**
+         * @brief Get %SPI interface settings.
+         *
+         * @return SPI settings
+         */
+        const SPISettings & settings() const;
+
+    protected:
+        void select() override;
+
+        void deselect() override;
+
+    private:
+        SPI * 	    intf_;  /**< %SPI hardware interface */
+        GpioPin *   csPin_; /**< Chip select pin */
+    };
+} // namespace sta
+
+
+#endif // STA_CORE_SPI_DEVICE_HPP

include/sta/bus/spi/settings.hpp

@@ -5,17 +5,14 @@
 #ifndef STA_CORE_SPI_SETTINGS_HPP
 #define STA_CORE_SPI_SETTINGS_HPP
 
-
 /**
  * @defgroup sta_core_spi SPI
  * @ingroup sta_core
  * @brief SPI interface.
  */
 
-
 #include <cstdint>
 
-
 namespace sta
 {
     /**

include/sta/bus/spi/spi.hpp

@@ -0,0 +1,47 @@
+/**
+ * @file
+ * @brief SPI bus software interface.
+ */
+#ifndef STA_CORE_SPI_SPI_HPP
+#define STA_CORE_SPI_SPI_HPP
+
+#include <sta/bus/interface.hpp>
+#include <sta/bus/spi/settings.hpp>
+#include <sta/mutex.hpp>
+
+#include <cstddef>
+#include <cstdint>
+
+
+namespace sta
+{
+    /**
+     * @brief Interface class for %SPI hardware.
+     *
+     * Represents a single %SPI bus that can be shared by multiple devices.
+     *
+     * @ingroup sta_core_spi
+     */
+    class SPI : public Interface
+    {
+    public:
+        /**
+         * @param settings  %SPI bus settings
+         * @param mutex     Mutex object for managing shared access. Pass nullptr for no access control
+         */
+        SPI(const SPISettings & settings, Mutex * mutex = nullptr);
+
+        /**
+         * @brief Get %SPI interface settings.
+         *
+         * @return %SPI settings
+         */
+        const SPISettings & settings();
+
+    private:
+        SPISettings settings_;  /**< %SPI settings */
+    };
+} // namespace sta
+
+
+#endif // STA_CORE_SPI_SPI_HPP

include/sta/bus/uart/settings.hpp

@@ -0,0 +1,24 @@
+#ifndef STA_CORE_UART_SETTINGS_HPP
+#define STA_CORE_UART_SETTINGS_HPP
+
+#include <stdint.h>
+
+namespace sta
+{
+    enum class UARTMode
+    {
+        RX,
+        TX,
+        RX_TX
+    };
+
+    /**
+     * @brief %UART settings.
+     */
+    struct UARTSettings
+    {
+        UARTMode mode;
+    };
+} // namespace sta
+
+#endif // STA_CORE_UART_SETTINGS_HPP

include/sta/bus/uart/uart.hpp

@@ -0,0 +1,25 @@
+#ifndef STA_CORE_UART_UART_HPP
+#define STA_CORE_UART_UART_HPP
+
+#include <sta/bus/interface.hpp>
+#include <sta/bus/uart/settings.hpp>
+
+namespace sta
+{
+    class UART : public Interface
+    {
+    public:
+        UART(const UARTSettings & settings, Mutex * mutex=nullptr);
+
+        /**
+         * @brief Get %UART interface settings.
+         * 
+         * @return %UART settings 
+         */
+        const UARTSettings & settings();
+    private:
+        UARTSettings settings_;  /**< %UART settings */
+    };
+} // namespace sta
+
+#endif // STA_CORE_UART_UART_HPP

include/sta/config.hpp

@@ -2,7 +2,7 @@
 #define STA_CONFIG
 
 // Use the raspberry pi for this project.
-#include <sta/raspi/mcu/common.hpp>
+#include <sta/devices/raspi/mcu/common.hpp>
 
 // #define DEBUG
 #define STA_PRINTF_USE_STDLIB

include/sta/devices/raspi/bus/i2c.hpp

@@ -0,0 +1,52 @@
+#ifndef STA_RASPI_I2C_HPP
+#define STA_RASPI_I2C_HPP
+
+#include <sta/config.hpp>
+#ifdef STA_PLATFORM_RASPI
+
+#include <sta/bus/i2c/i2c.hpp>
+#include <sta/bus/i2c/device.hpp>
+
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+
+namespace sta 
+{
+    enum class I2cNode {
+        DEV_1,
+        DEV_2
+    };
+
+    class RaspiI2c : public I2c 
+    {
+    public:
+        RaspiI2c(I2cNode node, Mutex * mutex=nullptr, bool persistent_open=false);
+        ~RaspiI2c();
+
+        void transfer(uint8_t value) override;
+        void transfer16(uint16_t value) override;
+        void transfer(const uint8_t * buffer, size_t size) override;
+        void transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size) override;
+        void receive(uint8_t * buffer, size_t size) override;
+
+        void fill(uint8_t value, size_t count) override;
+
+        void selectAddress(uint16_t address) override; 
+        void acquire() override;
+        void release() override;
+    private:
+        char * i2cdev_;
+        int i2cfd_;
+        bool open_ = false;
+        const bool persistent_open_;
+    };
+
+    class RaspiI2cDevice : public I2cDevice
+    {
+        RaspiI2cDevice(I2c * intf, uint16_t address_10bit, Mutex* mutex=nullptr, bool master=false, bool blocking=true);
+    };
+} // namespace sta
+
+#endif // STA_PLATFORM_RASPI
+
+#endif // STA_I2C_HPP

include/sta/devices/raspi/bus/spi.hpp

@@ -4,8 +4,8 @@
 #include <sta/config.hpp>
 #ifdef STA_PLATFORM_RASPI
 
-#include <sta/spi/device.hpp>
-#include <sta/spi/spi.hpp>
+#include <sta/bus/spi/device.hpp>
+#include <sta/bus/spi/spi.hpp>
 
 namespace sta 
 {

include/sta/devices/raspi/gpio_pin.hpp

@@ -4,7 +4,7 @@
 // Only enable module on Raspi platform w/ HAL GPIO module enabled
 #include <sta/config.hpp>
 #ifdef STA_PLATFORM_RASPI
-#   include <sta/raspi/hal.hpp>
+#   include <sta/devices/raspi/hal.hpp>
 #   define STA_RASPI_GPIO_ENABLED
 #endif // STA_PLATFORM_RASPI
 

include/sta/devices/template/delay.hpp

@@ -0,0 +1,43 @@
+/**
+ * @file delay.hpp
+ * @author <your name> (<you>@<your_domain>.com)
+ * @brief 
+ * @version 0.1
+ * @date 2023-06-13
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ * How to modify this file:
+ * - Ctrl + F and replace "YOUR_DEVICE" with the appropriate name.
+ */
+#ifndef STA_CORE_YOUR_DEVICE_DELAY_HPP
+#define STA_CORE_YOUR_DEVICE_DELAY_HPP
+
+// Only enable module on YOUR_DEVICE platform
+#include <sta/config.hpp>
+
+
+#if defined(STA_PLATFORM_YOUR_DEVICE) || defined(DOXYGEN)
+
+#include <cstdint>
+
+namespace sta
+{
+    /**
+     * @brief Millisecond delay.
+     *
+     * @param ms    Milliseconds
+     */
+    void delayMs(uint32_t ms);
+
+    /**
+     * @brief Microsecond delay.
+     *
+     * @param us    Microseconds
+     */
+    void delayUs(uint32_t us);
+} // namespace sta
+
+#endif // STA_PLATFORM_YOUR_DEVICE
+
+#endif // STA_CORE_YOUR_DEVICE_DELAY_HPP

include/sta/i2c.hpp

@@ -1,27 +0,0 @@
-#ifndef STA_I2C_HPP
-#define STA_I2C_HPP
-
-#include <cstdint>
-#include <sta/mutex.hpp>
-
-namespace sta {
-    class I2cDevice {
-    protected:
-        uint16_t address;
-        Mutex* mutex;
-        bool master;
-        bool blocking;
-    public:
-        I2cDevice(uint16_t address_10bit, Mutex* mutex=nullptr, bool master=false, bool blocking=true);
-
-        virtual bool transmit(uint8_t* data, uint16_t size) = 0;
-
-        virtual bool receive(uint8_t* data, uint16_t size) = 0;
-
-        virtual void acquire();
-
-        virtual void release();
-    };
-}
-
-#endif // STA_I2C_HPP

include/sta/lang.hpp

@@ -95,6 +95,14 @@
 #  define STA_UNREACHABLE() __builtin_unreachable()
 #endif // !STA_UNREACHABLE
 
+/**
+ * @brief A macro for marking code as not implemented. Causes a program to
+ * crash with the appropriate error message if the code is executed.
+ */
+#ifndef STA_NOT_IMPLEMENTED
+#  define STA_NOT_IMPLEMENTED() throw "myFunction is not implemented yet.";
+#endif // !STA_NOT_IMPLEMENTED
+
 /**
  * @brief Silencing compiler warnings for intended switch case fallthrough.
  *

include/sta/printable.hpp

@@ -5,8 +5,6 @@
 #ifndef STA_CORE_PRINTABLE_HPP
 #define STA_CORE_PRINTABLE_HPP
 
-#include <sta/printf.hpp>
-
 #include <cstddef>
 #include <cstdint>
 
@@ -25,165 +23,168 @@ namespace sta
         HEX     /**< Hexadecimal */
     };
 
-    /**
-     * @brief Print single character.
-     *
-     * @param c     Character to print
-     */
-    void print(char c);
+    class Printable
+    {
+        /**
+         * @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 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 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   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   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   32-bit unsigned integer
+         * @param base  Integer base
+         */
+        void print(uint32_t num, IntegerBase base = IntegerBase::DEC);
 
-    /**
-     * @brief Print c-string.
-     *
-     * @param str   Null terminated string
-     */
-    void print(const char * str);
+        /**
+         * @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 string.
+         *
+         * @param str       String buffer
+         * @param length    String length
+         */
+        virtual void print(const char * str, size_t length) = 0;
 
-    /**
-     * @brief Print new-line.
-     */
-    void println();
+        /**
+         * @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 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 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 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   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   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   32-bit unsigned integer
+         * @param base  Integer base
+         */
+        void println(uint32_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 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 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);
+    private:
+        /**
+         * @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 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);
+        /**
+         * @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
 
 

include/sta/printable_uart.hpp

@@ -5,7 +5,8 @@
 #ifndef STA_CORE_PRINTABLE_UART_HPP
 #define STA_CORE_PRINTABLE_UART_HPP
 
-#include <sta/uart.hpp>
+#include <sta/bus/uart/uart.hpp>
+#include <sta/printable.hpp>
 
 #include <cstddef>
 #include <cstdint>
@@ -13,24 +14,12 @@
 
 namespace sta
 {
-    /**
-     * @brief Integer representation.
-     *
-     * @ingroup sta_core
-     */
-    enum class IntegerBase
-    {
-        DEC,    /**< Decimal */
-        BIN,    /**< Binary */
-        HEX     /**< Hexadecimal */
-    };
-
     /**
      * @brief Printable interface for UART.
      *
      * @ingroup sta_core
      */
-    class PrintableUART
+    class PrintableUART : public Printable
     {
     public:
         /**
@@ -38,149 +27,14 @@ namespace sta
          */
         PrintableUART(UART * intf);
 
-        /**
-         * @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 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 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);
-
-    private:
-        /**
-         * @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);
-
+        void print(const char * str, size_t length) override;
+        
     private:
         UART * intf_;
     };

include/sta/uart.hpp

@@ -19,10 +19,10 @@
 namespace sta
 {
     /**
-        * @brief Interface for %UART.
-        *
-        * @ingroup sta_core_uart
-        */
+    * @brief Interface for %UART.
+    *
+    * @ingroup sta_core_uart
+    */
     class UART
     {
     public:
@@ -40,12 +40,14 @@ namespace sta
          * @param value     Unsigned integer value
          */
         void write(uint8_t value);
+
         /**
          * @brief Write unsigned integer to %UART.
          *
          * @param value     Unsigned integer value
          */
         void write(uint16_t value);
+        
         /**
          * @brief Write unsigned integer to %UART.
          *