36 lines
1.5 KiB
C++
36 lines
1.5 KiB
C++
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#include "GyroL3GD20H.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "stm32h7xx_nucleo.h"
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#include "stm32h7xx_hal_spi.h"
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uint8_t ALIGN_32BYTES(GyroL3GD20H::recvBuffer[recvBufferSize]);
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GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle): spiHandle(spiHandle) {
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}
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ReturnValue_t GyroL3GD20H::performOperation() {
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/*##-1- Configure the SPI peripheral #######################################*/
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/* Set the SPI parameters */
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spiHandle->Instance = SPI1;
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spiHandle->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
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spiHandle->Init.Direction = SPI_DIRECTION_2LINES;
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spiHandle->Init.CLKPhase = SPI_PHASE_1EDGE;
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spiHandle->Init.CLKPolarity = SPI_POLARITY_LOW;
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spiHandle->Init.DataSize = SPI_DATASIZE_8BIT;
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spiHandle->Init.FirstBit = SPI_FIRSTBIT_MSB;
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spiHandle->Init.TIMode = SPI_TIMODE_DISABLE;
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spiHandle->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
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spiHandle->Init.CRCPolynomial = 7;
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spiHandle->Init.CRCLength = SPI_CRC_LENGTH_8BIT;
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spiHandle->Init.NSS = SPI_NSS_SOFT;
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spiHandle->Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
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/* Recommended setting to avoid glitches */
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spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
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spiHandle->Init.Mode = SPI_MODE_MASTER;
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if(HAL_SPI_Init(spiHandle) != HAL_OK) {
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sif::printWarning("Error initializing SPI\n");
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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