66 lines
2.0 KiB
C++
66 lines
2.0 KiB
C++
#ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
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#define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
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#include <array>
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#include <cstdint>
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#include "../spi/mspInit.h"
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#include "../spi/spiDefinitions.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "stm32h7xx_hal.h"
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#include "stm32h7xx_hal_spi.h"
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#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
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#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
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#endif
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enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
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class GyroL3GD20H {
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public:
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GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
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~GyroL3GD20H();
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ReturnValue_t initialize();
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ReturnValue_t performOperation();
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private:
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const uint8_t WHO_AM_I_REG = 0b00001111;
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const uint8_t STM_READ_MASK = 0b10000000;
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const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
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const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
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const uint8_t CTRL_REG_1 = 0b00100000;
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const uint32_t L3G_RANGE = 245;
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SPI_HandleTypeDef* spiHandle;
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static spi::TransferModes transferMode;
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static constexpr size_t recvBufferSize = 32 * 10;
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static std::array<uint8_t, recvBufferSize> rxBuffer;
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static constexpr size_t txBufferSize = 32;
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static std::array<uint8_t, txBufferSize> txBuffer;
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ReturnValue_t handleDmaTransferInit();
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ReturnValue_t handlePollingTransferInit();
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ReturnValue_t handleInterruptTransferInit();
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ReturnValue_t handleDmaSensorRead();
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HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
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ReturnValue_t handlePollingSensorRead();
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ReturnValue_t handleInterruptSensorRead();
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uint8_t readRegPolling(uint8_t reg);
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static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
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static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
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void prepareConfigRegs(uint8_t* configRegs);
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void handleSensorReadout();
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DMA_HandleTypeDef* txDmaHandle = {};
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DMA_HandleTypeDef* rxDmaHandle = {};
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spi::MspCfgBase* mspCfg = {};
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};
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#endif /* FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */
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