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