Added I2C support for raspi & first rework of debugging

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

@@ -0,0 +1,60 @@
+#ifndef STA_CORE_RASPI_SPI_HPP
+#define STA_CORE_RASPI_SPI_HPP
+
+#include <sta/config.hpp>
+#ifdef STA_PLATFORM_RASPI
+
+#include <sta/bus/spi/device.hpp>
+#include <sta/bus/spi/spi.hpp>
+
+namespace sta 
+{
+    enum class SPINode {
+        DEV_0_0,
+        DEV_0_1
+    };
+
+    class RaspiSPI : public SPI 
+    {
+    public:
+        RaspiSPI(SPINode node, const SPISettings & settings, Mutex * mutex = nullptr, bool persistent_open = true);
+        ~RaspiSPI();
+
+        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 acquire() override;
+        void release() override;
+
+    private:
+        char * spidev_;
+        int spifd_;
+        bool open_;
+        const bool persistent_open_;
+        SPISettings settings_;
+
+        uint8_t mode_;
+        uint8_t dataSize_;
+        uint8_t bitOrder_;
+        uint32_t clkSpeed_;
+
+        void update_setting(int setting, int value);
+        void get_setting(int setting, void * rslt_ptr);
+        void update_settings();
+    };
+
+    class RaspiSPIDevice : public SPIDevice 
+    {
+    public:
+        RaspiSPIDevice(RaspiSPI * intf);
+    };
+} // namespace sta
+
+#endif // STA_PLATFORM_RASPI
+
+#endif // STA_CORE_RASPI_HPP

include/sta/devices/raspi/delay.hpp

@@ -0,0 +1,44 @@
+/**
+ * @file
+ * @brief Delay functions.
+ *
+ * Configuration:
+ *   * STA_RASPI_DELAY_US_TIM: 1 MHz TIM instance used by sta::delayUs
+ *
+ * NOTE: TIM time base must be started before use of sta::delayUs by calling sta::initHAL.
+ *       When using startup system task this is handled automatically.
+ */
+#ifndef STA_CORE_RASPI_DELAY_HPP
+#define STA_CORE_RASPI_DELAY_HPP
+
+
+// Only enable module on RASPI platform
+#include <sta/config.hpp>
+
+
+#if defined(STA_PLATFORM_RASPI) || 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_RASPI
+
+#endif // STA_CORE_RASPI_DELAY_HPP

include/sta/devices/raspi/gpio_pin.hpp

@@ -0,0 +1,46 @@
+#ifndef STA_CORE_RASPI_GPIO_PIN_HPP
+#define STA_CORE_RASPI_GPIO_PIN_HPP
+
+// Only enable module on Raspi platform w/ HAL GPIO module enabled
+#include <sta/config.hpp>
+#ifdef STA_PLATFORM_RASPI
+#   include <sta/devices/raspi/hal.hpp>
+#   define STA_RASPI_GPIO_ENABLED
+#endif // STA_PLATFORM_RASPI
+
+#if defined(STA_RASPI_GPIO_ENABLED) || defined(DOXYGEN)
+
+#include <sta/gpio_pin.hpp>
+#include <cstdint>
+
+namespace sta 
+{
+    enum class GpioMode {
+        GPIO_OUTPUT,
+        GPIO_INPUT
+    };
+
+    class RaspiGpioPin : public GpioPin
+    {
+    public: 
+        /**
+         * @param pin   Pin index
+         * @param mode  The mode of the GPIO pin. Either INPUT or OUTPUT
+         */
+        RaspiGpioPin(uint8_t pin, GpioMode mode);
+
+        void setState(GpioPinState state) override;
+
+        GpioPinState getState() override;
+
+        static RaspiGpioPin * DUMMY_GPIO;
+        
+    private:
+        uint8_t pin_;
+        GpioMode mode_;
+    };
+} // namespace sta
+
+#endif // STA_RASPI_GPIO_ENABLED
+
+#endif // STA_CORE_RASPI_GPIO_PIN_HPP

include/sta/devices/raspi/hal.hpp

@@ -0,0 +1,8 @@
+#ifndef STA_CORE_RASPI_HAL_HPP
+#define STA_CORE_RASPI_HAL_HPP
+
+#include <wiringPi.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+
+#endif //STA_CORE_RASPI_HAL_HPP

include/sta/devices/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