From a9390b145bb19e98809e36d26187be91c8cdc73c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Jun 2021 16:44:02 +0200
Subject: [PATCH] stll some issues

---
 stm32h7/devicetest/GyroL3GD20H.cpp | 24 +++++++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/stm32h7/devicetest/GyroL3GD20H.cpp b/stm32h7/devicetest/GyroL3GD20H.cpp
index fad9923..10e5335 100644
--- a/stm32h7/devicetest/GyroL3GD20H.cpp
+++ b/stm32h7/devicetest/GyroL3GD20H.cpp
@@ -17,12 +17,17 @@ DMA_HandleTypeDef rxDmaHandle;
 
 GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle): spiHandle(spiHandle) {
     setDmaHandles(&txDmaHandle, &rxDmaHandle);
+    GPIO_InitTypeDef chipSelect = {};
+    chipSelect.Pin = GPIO_PIN_14;
+    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
+    HAL_GPIO_Init(GPIOD, &chipSelect);
+    HAL_GPIO_WritePin(GPIOD, 14, GPIO_PIN_SET);
 }
 
 ReturnValue_t GyroL3GD20H::initialize() {
     // Configure the SPI peripheral
     spiHandle->Instance               = SPI1;
-    uint32_t test = HAL_RCC_GetHCLKFreq();
+    //uint32_t test = HAL_RCC_GetHCLKFreq();
     spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
     spiHandle->Init.Direction         = SPI_DIRECTION_2LINES;
     spi::assignSpiMode(spi::SpiModes::MODE_3, spiHandle);
@@ -47,7 +52,18 @@ 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;
+    txBuffer[1] = 0;
+
     // Start SPI transfer via DMA
+    HAL_GPIO_WritePin(GPIOD, 14, GPIO_PIN_RESET);
     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");
@@ -64,6 +80,11 @@ ReturnValue_t GyroL3GD20H::performOperation() {
     switch(transferState) {
     case(TransferStates::SUCCESS): {
         sif::printInfo("Transfer success\n");
+        uint8_t whoAmIVal = rxBuffer[1];
+        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+            sif::printDebug("GyroL3GD20H::performOperation: "
+                    "Read WHO AM I value not equal to expected value!\n");
+        }
         transferState = TransferStates::IDLE;
         break;
     }
@@ -88,6 +109,7 @@ ReturnValue_t GyroL3GD20H::performOperation() {
  */
 void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
     transferState = TransferStates::SUCCESS;
+    HAL_GPIO_WritePin(GPIOD, 14, GPIO_PIN_SET);
 }
 
 /**