From 20815c1d6b6e5f0ce90ff5c1fcd84502fdff9f1c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Jun 2021 22:07:59 +0200
Subject: [PATCH] polling transfer worked

---
 stm32h7/devicetest/GyroL3GD20H.cpp | 62 +++++++++++++++++++++++++-----
 stm32h7/devicetest/GyroL3GD20H.h   |  7 ++++
 2 files changed, 59 insertions(+), 10 deletions(-)

diff --git a/stm32h7/devicetest/GyroL3GD20H.cpp b/stm32h7/devicetest/GyroL3GD20H.cpp
index 30bd381..7c02e22 100644
--- a/stm32h7/devicetest/GyroL3GD20H.cpp
+++ b/stm32h7/devicetest/GyroL3GD20H.cpp
@@ -17,9 +17,15 @@ DMA_HandleTypeDef txDmaHandle;
 DMA_HandleTypeDef rxDmaHandle;
 
 GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode):
-        spiHandle(spiHandle), transferMode(transferMode) {
-    set_dma_handles(&txDmaHandle, &rxDmaHandle);
-    set_spi_msp_functions(&hal_spi_msp_init_dma, spiHandle, &hal_spi_msp_deinit_dma, spiHandle);
+                spiHandle(spiHandle), transferMode(transferMode) {
+    if(transferMode == spi::TransferModes::DMA) {
+        set_dma_handles(&txDmaHandle, &rxDmaHandle);
+        set_spi_msp_functions(&hal_spi_msp_init_dma, spiHandle, &hal_spi_msp_deinit_dma, spiHandle);
+    }
+    else if(transferMode == spi::TransferModes::POLLING) {
+        set_spi_msp_functions(&hal_spi_msp_init_polling, spiHandle,
+                &hal_spi_msp_deinit_polling, spiHandle);
+    }
     GPIO_InitTypeDef chipSelect = {};
     __HAL_RCC_GPIOD_CLK_ENABLE();
     chipSelect.Pin = GPIO_PIN_14;
@@ -53,13 +59,8 @@ ReturnValue_t GyroL3GD20H::initialize() {
 }
 
 ReturnValue_t GyroL3GD20H::performOperation() {
-
     transferState = TransferStates::WAIT;
 
-    const uint8_t WHO_AM_I_REG = 0b00001111;
-    const uint8_t STM_READ_MASK = 0b10000000;
-    const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
-
     sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
 
     txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
@@ -67,6 +68,21 @@ ReturnValue_t GyroL3GD20H::performOperation() {
 
     // Start SPI transfer via DMA
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    switch(transferMode)  {
+    case(spi::TransferModes::DMA): {
+        return handleDmaTransfer();
+    }
+    case(spi::TransferModes::POLLING): {
+        return handlePollingTransfer();
+    }
+    default: {
+
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleDmaTransfer() {
     if(HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), 2) != HAL_OK) {
         // Transfer error in transmission process
         sif::printWarning("Error transmitting SPI with DMA\n");
@@ -82,7 +98,7 @@ ReturnValue_t GyroL3GD20H::performOperation() {
 
     switch(transferState) {
     case(TransferStates::SUCCESS): {
-        sif::printInfo("Transfer success\n");
+        sif::printInfo("DMA transfer success\n");
         uint8_t whoAmIVal = rxBuffer[1];
         if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
             sif::printDebug("GyroL3GD20H::performOperation: "
@@ -97,7 +113,7 @@ ReturnValue_t GyroL3GD20H::performOperation() {
         break;
     }
     default: {
-        break;
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
     }
     return HasReturnvaluesIF::RETURN_OK;
@@ -125,3 +141,29 @@ void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
 void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
     transferState = TransferStates::FAILURE;
 }
+
+ReturnValue_t GyroL3GD20H::handlePollingTransfer() {
+    switch(HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000)) {
+    case(HAL_OK): {
+        sif::printInfo("Polling transfer success\n");
+        uint8_t whoAmIVal = rxBuffer[1];
+        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+            sif::printDebug("GyroL3GD20H::performOperation: "
+                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+        }
+        break;
+    }
+    case(HAL_TIMEOUT): {
+        sif::printDebug("Polling transfer timeout\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case(HAL_ERROR): {
+        sif::printDebug("Polling transfer failure\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/stm32h7/devicetest/GyroL3GD20H.h b/stm32h7/devicetest/GyroL3GD20H.h
index e9dacb0..ed2d9a2 100644
--- a/stm32h7/devicetest/GyroL3GD20H.h
+++ b/stm32h7/devicetest/GyroL3GD20H.h
@@ -26,11 +26,18 @@ public:
 
 private:
 
+    const uint8_t WHO_AM_I_REG = 0b00001111;
+    const uint8_t STM_READ_MASK = 0b10000000;
+    const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
+
     SPI_HandleTypeDef* spiHandle;
     spi::TransferModes transferMode;
     static constexpr size_t recvBufferSize = 32 * 10;
     static std::array<uint8_t, recvBufferSize> rxBuffer;
     std::array<uint8_t, 32> txBuffer;
+
+    ReturnValue_t handleDmaTransfer();
+    ReturnValue_t handlePollingTransfer();
 };
 
 #endif /*  FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */