diff --git a/lib/print.c b/lib/print.c
index e9cb8fe..c250f33 100644
--- a/lib/print.c
+++ b/lib/print.c
@@ -22,6 +22,7 @@
 #include <stdlib.h> // standard definitions
 #include <stdbool.h> // boolean types
 #include <stdarg.h> // variadic utilities
+#include <math.h> // mathematics utilities to handle floating points
 
 /* own libraries */
 #include "print.h" // printing utilities
@@ -83,10 +84,10 @@ static size_t print_string(char** str, size_t* size, const char* s)
 	return length;
 }
 
-/** print unsigned number
- *  @param[out] str string to print unsigned number on (use NULL to print on user output)
+/** print unsigned integer
+ *  @param[out] str string to print unsigned integer on (use NULL to print on user output)
  *  @param[in,out] size size of string
- *  @param[in] u unsigned number to be printed
+ *  @param[in] u unsigned integer to be printed
  *  @param[in] padding number of 0's to pad
  *  @param[in] sign if sign should be printed
  *  @return number of characters printed
@@ -111,10 +112,10 @@ static size_t print_unsigned(char** str, size_t* size, uint64_t u, uint32_t padd
 	return length; // return number of characters printed
 }
 
-/** print signed number
- *  @param[out] str string to print signed number on (use NULL to print on user output)
+/** print signed integer
+ *  @param[out] str string to print signed integer on (use NULL to print on user output)
  *  @param[in,out] size size of string
- *  @param[in] d signed number to be printed
+ *  @param[in] d signed integer to be printed
  *  @param[in] padding number of 0's to pad
  *  @param[in] sign if sign should be printed
  *  @return number of characters printed
@@ -130,6 +131,85 @@ static size_t print_signed(char** str, size_t* size, int64_t d, uint32_t padding
 	return length; // return number of characters printed
 }
 
+/** print floating number
+ *  @param[out] str string to print floating number on (use NULL to print on user output)
+ *  @param[in,out] size size of string
+ *  @param[in] f floating number to be printed
+ *  @param[in] padding number of 0's to pad
+ *  @param[in] sign if sign should be printed
+ *  @return number of characters printed
+ **/
+static size_t print_float(char** str, size_t* size, double f, uint32_t padding, uint32_t fractional, bool sign) {
+	size_t length = 0; // number of characters printed
+	if (isnan(f)) { // not a number
+		 print_printed(&length, print_string(str, size, "NaN")); // print NaN
+	} else if (isinf(f)) { // infinite
+		if (-1==isinf(f)) {
+			print_printed(&length, print_char(str, size, '-')); // print sign
+		} else if (sign) {
+			print_printed(&length, print_char(str, size, '+')); // print sign
+		}
+		print_printed(&length, print_string(str, size, "inf")); // print inf
+	} else if (isnormal(f)) { // it should be not 0
+		if (f<0) {
+			print_printed(&length, print_char(str, size, '-')); // print sign
+		} else if (sign) {
+			print_printed(&length, print_char(str, size, '+')); // print sign
+		}
+		double f_abs = fabs(f); // only work using the absolute value now that the sign is printed
+		// get the exponent
+		int8_t exponent = 0; // exponent min/max for double is 37
+		if (f_abs<1.0) {
+			while (f_abs<pow(10.0, exponent-1)) { // find negative exponent, base 10
+				exponent -= 1; // decrement in deci
+			}
+			if (padding) { // respect padding wish
+				exponent -= padding;
+			}
+		} else {
+			while (f_abs>pow(10.0, exponent)) { // find the positive exponent, base 10
+				exponent += 3; // increment in kilo
+			}
+			if (padding) { // respect padding wish
+				exponent -= padding;
+			} else {
+				exponent -= 3;
+			}
+		}
+		// print integer part
+		f_abs /= pow(10.0, exponent); // convert to scientific format
+		print_printed(&length, print_unsigned(str, size, f_abs, padding, false)); // print integer part as scientific number
+		// print fractional part
+		if (fractional) {
+			print_printed(&length, print_char(str, size, '.')); // print decimal point
+			f_abs -= (uint64_t)f_abs; // remove integer part
+			for (uint32_t frac=0; frac<fractional; frac++) { // print fractional parts
+				f_abs *= 10.0;
+				print_printed(&length, print_unsigned(str, size, f_abs, 0, false));
+				f_abs -= (uint64_t)f_abs;
+			}
+		}
+		// print exponent
+		if (exponent) {
+			print_printed(&length, print_char(str, size, 'E')); // print exponent mark
+			print_printed(&length, print_signed(str, size, exponent, 0, false));
+		}
+	} else { // f=0
+		// print sign
+		if (f<0) {
+			print_printed(&length, print_char(str, size, '-')); // print sign
+		} else if (sign) {
+			print_printed(&length, print_char(str, size, '+')); // print sign
+		}
+		print_printed(&length, print_unsigned(str, size, 0, padding, false)); // print integer part
+		if (fractional) {
+			print_printed(&length, print_char(str, size, '.')); // print decimal point
+			print_printed(&length, print_unsigned(str, size, 0, fractional, false)); // print fractional part
+		}
+	}
+	return length; // return number of characters printed
+}
+
 /** print nibble (half-byte)
  *  @param[out] str string to print nibble on (use NULL to print on user output)
  *  @param[in,out] size size of string
@@ -236,6 +316,7 @@ static size_t vsnprintf(char** str, size_t* size, const char *format, va_list va
 {
 	size_t length = 0; // total number of characters printed
 	uint32_t padding = 0; // number of padding 0's
+	uint32_t fractional = 0; // number or fractional digits for floating point numbers
 	bool sign = false; // if sign needs to be printed
 	while (*format) { // go through format string
 		padding = 0; // reset padding
@@ -278,8 +359,37 @@ static size_t vsnprintf(char** str, size_t* size, const char *format, va_list va
 					goto end;
 				}
 			}
+			// check fractional
+			if ('.'==*format) { // fractional required
+				format++; // go to fractional number
+				while (*format>='0' && *format<='9') {
+					if (fractional>UINT32_MAX/10) { // check for overflow
+						print_error |= PRINT_ERROR_UNSUPPORTED; // set error
+						goto end;
+					}
+					fractional *= 10; // go to next magnitude
+					if (fractional>UINT32_MAX-(*format-'0')) { // check for overflow
+						print_error |= PRINT_ERROR_UNSUPPORTED; // set error
+						goto end;
+					}
+					fractional += *format-'0'; // save digit
+					format++; // go to next character
+				}
+				if (0==*format) { // end of string detected
+					print_error |= PRINT_ERROR_MALFORMED; // set error
+					goto end;
+				}
+			} else {
+				fractional = 2; // default fractional precision
+			}
 			// check format specifier
 			switch (*format) {
+				case 'c': // for char, unsigned char
+					print_printed(&length, print_char(str, size, (char)(va_arg(va,int)))); // needs casting because the returned value is promoted
+					break;
+				case 's': // for strings
+					print_printed(&length, print_string(str, size, va_arg(va,char*)));
+					break;
 				case 'u': // for uint8_t, uint16_t, uint32_t, unsigned int, unsigned long
 					print_printed(&length, print_unsigned(str, size, va_arg(va,uint32_t), padding, sign));
 					break;
@@ -292,8 +402,8 @@ static size_t vsnprintf(char** str, size_t* size, const char *format, va_list va
 				case 'D': // for int64_t, long long
 					print_printed(&length, print_signed(str, size, va_arg(va,int64_t), padding, sign));
 					break;
-				case 'c': // for char, unsigned char
-					print_printed(&length, print_char(str, size, (char)(va_arg(va,int)))); // needs casting because the returned value is promoted
+				case 'f':
+					print_printed(&length, print_float(str, size, va_arg(va,double), padding, fractional, sign));
 					break;
 				case 'x': // for uint8_t, uint16_t, uint32_t downcase hexadecimal 
 					print_printed(&length, print_hex(str, size, va_arg(va,uint32_t), padding, sign, false));
@@ -313,9 +423,6 @@ static size_t vsnprintf(char** str, size_t* size, const char *format, va_list va
 				case 'B': // for uint64_t bits
 					print_printed(&length, print_bits(str, size, va_arg(va,uint64_t), padding, sign));
 					break;
-				case 's': // for strings
-					print_printed(&length, print_string(str, size, va_arg(va,char*)));
-					break;
 				default:
 					print_error |= PRINT_ERROR_UNSUPPORTED; // set error
 					print_printed(&length, print_char(str, size, *format)); // print character (unknown format specifier)
diff --git a/lib/print.h b/lib/print.h
index 7466024..85e811b 100644
--- a/lib/print.h
+++ b/lib/print.h
@@ -13,7 +13,7 @@
  *
  */
 /** printing utilities to replace the large printf from the standard library (API)
- *  @note use % as format specifier prefix, followed by + to enforce sign or 0x prefix, 0 followed by n for padding, . followed by n for number for fractional, and format specifier
+ *  @note use % as format specifier prefix, followed by + to enforce sign or 0x prefix, 0 followed by n for padding or forcing integer part of floating point number, . followed by n for number for fractional precision of floating point numbers, and format specifier
  *  format specifier supported are:
  *  - c for character
  *  - s for string
@@ -21,6 +21,7 @@
  *  - U for uint64_t unsigned integer
  *  - d for up to int32_t signed integer
  *  - D for int64_t signed integer
+ *  - f for float and double floating point numbers
  *  - x for up to uint32_t lower case hexadecimal
  *  - X for uint64_t lower case hexadecimal
  *  - h for up to uint32_t upper case hexadecimal