gpio bugfix

linux/boardtest/SpiTestClass.h

@@ -1,15 +1,47 @@
 #ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
 #define LINUX_BOARDTEST_SPITESTCLASS_H_
 
+#include <linux/gpio/GpioIF.h>
+#include <linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>
 
+#include <vector>
+
 class SpiTestClass: public TestTask {
 public:
-    SpiTestClass(object_id_t objectId);
+    enum TestModes {
+        MGM_LIS3MDL,
+        MGM_RM3100,
+        GYRO_L3GD20H,
+    };
 
+    TestModes testMode;
+
+    SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
+
+    ReturnValue_t performOneShotAction() override;
     ReturnValue_t performPeriodicAction() override;
 private:
 
+    GpioIF* gpioIF;
+
+    std::array<uint8_t, 128> recvBuffer;
+    std::array<uint8_t, 128> sendBuffer;
+    struct spi_ioc_transfer spiTransferStruct;
+
+    void performRm3100Test();
+    /* ACS board specific code which pulls all GPIOs high */
+    void acsInit();
+
+    /* ACS board specific variables */
+    uint8_t mgm0Lis3ChipSelect = 0;
+    uint8_t mgm1Rm3100ChipSelect = 1;
+    uint8_t gyro0AdisChipSelect = 5;
+    uint8_t gyro1L3gd20ChipSelect = 6;
+    uint8_t gyro2L3gd20ChipSelect = 4;
+    uint8_t mgm2Lis3mdlChipSelect = 17;
+    uint8_t mgm3Rm3100ChipSelect = 27;
+
 };