#ifndef BSP_LINUX_TEST_SPITEST_H_
#define BSP_LINUX_TEST_SPITEST_H_

#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <linux/spi/spidev.h>
#include <string>

class SpiTest:
        public SystemObject,
        public ExecutableObjectIF {
public:
	SpiTest(object_id_t objectId);

	ReturnValue_t performOperation(uint8_t opCode) override;
	ReturnValue_t initialize() override;
private:
	// These chip selects (BCM number) will be pulled high if not used
	// ACS board specific.
	enum SpiChipSelects {
	    SS_MGM_0_LIS3 = 0,  //!< MGM 0, LIS3MDLTR, U6, A side
	    SS_MGM_1_RM = 1, //!< MGM 1, RM3100, U7, A side
	    SS_GYRO_0_ADIS = 2, //!< Gyro 0, ADIS16485, U3, A side
	    SS_GYRO_1_L3G = 3, //!< Gyro 1, L3GD20H, U4, A side
	    SS_GYRO_2_L3G = 4, //!< Gyro 2, L3GD20h, U5, B side
	    SS_MGM_2_LIS3 = 17, //!< MGM 2, LIS3MDLTR, U8, B side
	    SS_MGM_3_RM = 27, //!< MGM 3, RM3100, U9, B side
	};

	const std::string spiDeviceName = "/dev/spidev0.0";
	int spiFd = 0;

	uint8_t spiMode = SPI_MODE_3;
	uint32_t spiSpeed = 976000;

	uint8_t sendBuffer[32];
	uint8_t receiveBuffer[32];
	struct spi_ioc_transfer transferHandle;

	bool oneShot = true;

};


#endif /* BSP_LINUX_TEST_SPITEST_H_ */