From 4c546820fdb28bf46fae6606716ae34e2f4ba950 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 31 May 2021 20:40:16 +0200
Subject: [PATCH] added gyrol3gd20h stm32 test file

---
 stm32h7/CMakeLists.txt             |  1 +
 stm32h7/devicetest/CMakeLists.txt  |  3 +++
 stm32h7/devicetest/GyroL3GD20H.cpp | 35 ++++++++++++++++++++++++++++++
 stm32h7/devicetest/GyroL3GD20H.h   | 21 ++++++++++++++++++
 4 files changed, 60 insertions(+)
 create mode 100644 stm32h7/devicetest/CMakeLists.txt
 create mode 100644 stm32h7/devicetest/GyroL3GD20H.cpp
 create mode 100644 stm32h7/devicetest/GyroL3GD20H.h

diff --git a/stm32h7/CMakeLists.txt b/stm32h7/CMakeLists.txt
index e69de29..9197332 100644
--- a/stm32h7/CMakeLists.txt
+++ b/stm32h7/CMakeLists.txt
@@ -0,0 +1 @@
+add_subdirectory(devicetest)
diff --git a/stm32h7/devicetest/CMakeLists.txt b/stm32h7/devicetest/CMakeLists.txt
new file mode 100644
index 0000000..dab7eaf
--- /dev/null
+++ b/stm32h7/devicetest/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_sources(${TARGET_NAME} PRIVATE
+    GyroL3GD20H.cpp
+)
\ No newline at end of file
diff --git a/stm32h7/devicetest/GyroL3GD20H.cpp b/stm32h7/devicetest/GyroL3GD20H.cpp
new file mode 100644
index 0000000..567b8e8
--- /dev/null
+++ b/stm32h7/devicetest/GyroL3GD20H.cpp
@@ -0,0 +1,35 @@
+#include "GyroL3GD20H.h"
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "stm32h7xx_nucleo.h"
+#include "stm32h7xx_hal_spi.h"
+
+uint8_t ALIGN_32BYTES(GyroL3GD20H::recvBuffer[recvBufferSize]);
+
+GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle): spiHandle(spiHandle) {
+}
+
+ReturnValue_t GyroL3GD20H::performOperation() {
+    /*##-1- Configure the SPI peripheral #######################################*/
+    /* Set the SPI parameters */
+    spiHandle->Instance               = SPI1;
+    spiHandle->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
+    spiHandle->Init.Direction         = SPI_DIRECTION_2LINES;
+    spiHandle->Init.CLKPhase          = SPI_PHASE_1EDGE;
+    spiHandle->Init.CLKPolarity       = SPI_POLARITY_LOW;
+    spiHandle->Init.DataSize          = SPI_DATASIZE_8BIT;
+    spiHandle->Init.FirstBit          = SPI_FIRSTBIT_MSB;
+    spiHandle->Init.TIMode            = SPI_TIMODE_DISABLE;
+    spiHandle->Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+    spiHandle->Init.CRCPolynomial     = 7;
+    spiHandle->Init.CRCLength         = SPI_CRC_LENGTH_8BIT;
+    spiHandle->Init.NSS               = SPI_NSS_SOFT;
+    spiHandle->Init.NSSPMode          = SPI_NSS_PULSE_DISABLE;
+    /* Recommended setting to avoid glitches */
+    spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+    spiHandle->Init.Mode = SPI_MODE_MASTER;
+    if(HAL_SPI_Init(spiHandle) != HAL_OK) {
+        sif::printWarning("Error initializing SPI\n");
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/stm32h7/devicetest/GyroL3GD20H.h b/stm32h7/devicetest/GyroL3GD20H.h
new file mode 100644
index 0000000..29edacb
--- /dev/null
+++ b/stm32h7/devicetest/GyroL3GD20H.h
@@ -0,0 +1,21 @@
+#ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
+#define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
+
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_spi.h"
+#include <cstdint>
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class GyroL3GD20H {
+public:
+    GyroL3GD20H(SPI_HandleTypeDef* spiHandle);
+
+    ReturnValue_t performOperation();
+private:
+    SPI_HandleTypeDef* spiHandle;
+    static constexpr size_t recvBufferSize = 32 * 10;
+    static uint8_t recvBuffer[recvBufferSize];
+};
+
+#endif /*  FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */