IRQ and POlling now working as well

performed sensor readout
solves issue with DMA
2021-06-04 15:50:02 +02:00 · 2021-06-04 14:41:02 +02:00 · 2021-06-04 12:58:30 +02:00 · 2021-06-03 22:07:59 +02:00 · 2021-06-03 21:53:52 +02:00 · 2021-06-03 21:49:16 +02:00
30 changed files with 2194 additions and 51 deletions
--- a/common/spi/spiCommon.h
+++ b/common/spi/spiCommon.h
@ -0,0 +1,17 @@
+#ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+#define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+
+#include <cstdint>
+
+namespace spi {
+
+enum SpiModes: uint8_t {
+    MODE_0,
+    MODE_1,
+    MODE_2,
+    MODE_3
+};
+
+}
+
+#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */
--- a/linux/CMakeLists.txt
+++ b/linux/CMakeLists.txt
@ -9,4 +9,5 @@ target_sources(${LIB_FSFW_HAL_NAME} PRIVATE

 add_subdirectory(gpio)
 add_subdirectory(spi)
-add_subdirectory(i2c)
+add_subdirectory(i2c)
+add_subdirectory(uart)
--- a/linux/gpio/LinuxLibgpioIF.cpp
+++ b/linux/gpio/LinuxLibgpioIF.cpp
@ -82,7 +82,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
    chipname = regularGpio->chipname;
    chip = gpiod_chip_open_by_name(chipname.c_str());
    if (!chip) {
-        sif::warning << "LinuxLibgpioIF::configureGpios: Failed to open chip "
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
                << chipname << ". Gpio ID: " << gpioId << std::endl;
        return RETURN_FAILED;
    }
@ -90,9 +90,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
    lineNum = regularGpio->lineNum;
    lineHandle = gpiod_chip_get_line(chip, lineNum);
    if (!lineHandle) {
-        sif::warning << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO" << std::endl;
-        sif::warning << "GPIO ID " << gpioId << "with line number " << lineNum <<
-                " and chipname " << chipname << std::endl;
+        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+                ", chipname: " << chipname << std::endl;
+        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
        gpiod_chip_close(chip);
        return RETURN_FAILED;
    }
@ -105,7 +106,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
        result = gpiod_line_request_output(lineHandle, consumer.c_str(),
                regularGpio->initValue);
        if (result < 0) {
-            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum <<
+            sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
                    " from GPIO instance with ID: " << gpioId << std::endl;
            gpiod_line_release(lineHandle);
            return RETURN_FAILED;
--- a/linux/spi/SpiComIF.cpp
+++ b/linux/spi/SpiComIF.cpp
@ -2,10 +2,9 @@
 #include "SpiCookie.h"
 #include "../utility.h"
 #include "../UnixFileGuard.h"
-#include <FSFWConfig.h>
+#include "FSFWConfig.h"

 #include <fsfw/ipc/MutexFactory.h>
-#include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/globalfunctions/arrayprinter.h>

 #include <linux/spi/spidev.h>
@ -18,11 +17,11 @@

 /* Can be used for low-level debugging of the SPI bus */
 #ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
-#define FSFW_HAL_LINUX_SPI_WIRETAPPING                  1
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING                  0
 #endif

-SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId),
-        gpioComIF(gpioComIF) {
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
+        SystemObject(objectId), gpioComIF(gpioComIF) {
    if(gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -139,7 +138,6 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    int retval = 0;

    if(spiCookie == nullptr) {
        return NULLPOINTER;
@ -159,12 +157,34 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
        return DeviceCommunicationIF::TOO_MUCH_DATA;
    }

+    if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
+        result = performRegularSendOperation(spiCookie, sendData, sendLen);
+    }
+    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+        spi::send_callback_function_t sendFunc = nullptr;
+        void* funcArgs = nullptr;
+        spiCookie->getCallback(&sendFunc, &funcArgs);
+        if(sendFunc != nullptr) {
+            result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
+        }
+    }
+    return result;
+}

+ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
+        size_t sendLen) {
+    address_t spiAddress = spiCookie->getSpiAddress();
+    auto iter = spiDeviceMap.find(spiAddress);
+    if(iter != spiDeviceMap.end()) {
+        spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
+    }
+
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    int retval = 0;
    /* Prepare transfer */
    int fileDescriptor = 0;
    std::string device = spiCookie->getSpiDevice();
-    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
-            "SpiComIF::sendMessage: ");
+    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return OPENING_FILE_FAILED;
    }
@ -178,11 +198,15 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
    bool fullDuplex = spiCookie->isFullDuplex();
    gpioId_t gpioId = spiCookie->getChipSelectPin();

-    /* GPIO access is mutex protected */
-    MutexGuard(spiMutex, timeoutType, timeoutMs);
-
    /* Pull SPI CS low. For now, no support for active high given  */
    if(gpioId != gpio::NO_GPIO) {
+        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+#endif
+            return result;
+        }
        gpioComIF->pullLow(gpioId);
    }

@ -195,19 +219,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
            result = FULL_DUPLEX_TRANSFER_FAILED;
        }
 #if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
-        size_t dataLen = spiCookie->getTransferStructHandle()->len;
-        uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "Sent SPI data: " << std::endl;
-        arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
-        sif::info << "Received SPI data: " << std::endl;
-#else
-        sif::printInfo("Sent SPI data: \n");
-        arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
-        sif::printInfo("Received SPI data: \n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
-        arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+        performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
    }
    else {
@ -227,6 +239,13 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s

    if(gpioId != gpio::NO_GPIO) {
        gpioComIF->pullHigh(gpioId);
+        result = spiMutex->unlockMutex();
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
+#endif
+            return result;
+        }
    }
    return result;
 }
@ -236,17 +255,21 @@ ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
 }

 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }

-    bool fullDuplex = spiCookie->isFullDuplex();
-    if(fullDuplex) {
+    if(spiCookie->isFullDuplex()) {
        return HasReturnvaluesIF::RETURN_OK;
    }

+    return performHalfDuplexReception(spiCookie);
+}
+
+
+ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    std::string device = spiCookie->getSpiDevice();
    int fileDescriptor = 0;
    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
@ -263,8 +286,14 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
    }

    gpioId_t gpioId = spiCookie->getChipSelectPin();
-    MutexGuard(spiMutex, timeoutType, timeoutMs);
    if(gpioId != gpio::NO_GPIO) {
+        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
+#endif
+            return result;
+        }
        gpioComIF->pullLow(gpioId);
    }

@ -281,9 +310,16 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe

    if(gpioId != gpio::NO_GPIO) {
        gpioComIF->pullHigh(gpioId);
+        result = spiMutex->unlockMutex();
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
+#endif
+            return result;
+        }
    }

-    return HasReturnvaluesIF::RETURN_OK;
+    return result;
 }

 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@ -302,6 +338,35 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
    return HasReturnvaluesIF::RETURN_OK;
 }

+MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
+    if(timeoutType != nullptr) {
+        *timeoutType = this->timeoutType;
+    }
+    if(timeoutMs != nullptr) {
+        *timeoutMs = this->timeoutMs;
+    }
+    return spiMutex;
+}
+
+void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
+    if(spiCookie == nullptr) {
+        return;
+    }
+    size_t dataLen = spiCookie->getTransferStructHandle()->len;
+    uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "Sent SPI data: " << std::endl;
+    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+    sif::info << "Received SPI data: " << std::endl;
+#else
+    sif::printInfo("Sent SPI data: \n");
+    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+    sif::printInfo("Received SPI data: \n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+    dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
+    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+}
+
 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
    if(buffer == nullptr) {
        return HasReturnvaluesIF::RETURN_FAILED;
@ -316,6 +381,10 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
    return HasReturnvaluesIF::RETURN_OK;
 }

+GpioIF* SpiComIF::getGpioInterface() {
+    return gpioComIF;
+}
+
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
    if(retval != 0) {
--- a/linux/spi/SpiComIF.h
+++ b/linux/spi/SpiComIF.h
@ -2,8 +2,8 @@
 #define LINUX_SPI_SPICOMIF_H_

 #include "spiDefinitions.h"
-#include <returnvalues/classIds.h>
-#include <fsfw_hal/common/gpio/GpioIF.h>
+#include "returnvalues/classIds.h"
+#include "../../common/gpio/GpioIF.h"

 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
@ -11,10 +11,13 @@
 #include <vector>
 #include <unordered_map>

+class SpiCookie;
+
 /**
 * @brief   Encapsulates access to linux SPI driver for FSFW objects
 * @details
- * Right now, only full-duplex SPI is supported.
+ * Right now, only full-duplex SPI is supported. Most device specific transfer properties
+ * are contained in the SPI cookie.
 * @author  R. Mueller
 */
 class SpiComIF: public DeviceCommunicationIF, public SystemObject {
@ -39,6 +42,28 @@ public:
            size_t requestLen) override;
    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
            size_t *size) override;
+
+    /**
+     * @brief   This function returns the mutex which can be used to protect the spi bus when
+     *          the chip select must be driven from outside of the com if.
+     */
+    MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
+
+    /**
+     * Perform a regular send operation using Linux iotcl. This is public so it can be used
+     * in functions like a user callback if special handling is only necessary for certain commands.
+     * @param spiCookie
+     * @param sendData
+     * @param sendLen
+     * @return
+     */
+    ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
+            size_t sendLen);
+
+    GpioIF* getGpioInterface();
+    void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
+    void performSpiWiretapping(SpiCookie* spiCookie);
+
 private:

    struct SpiInstance {
@ -56,9 +81,9 @@ private:

    SpiDeviceMap spiDeviceMap;

+    ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);

    ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
-    void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
 };

 #endif /* LINUX_SPI_SPICOMIF_H_ */
--- a/linux/spi/SpiCookie.cpp
+++ b/linux/spi/SpiCookie.cpp
@ -1,14 +1,34 @@
 #include "SpiCookie.h"

 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
-        chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
-        spiSpeed(spiSpeed) {
+        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
+        SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {
+
 }

 SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
        spi::SpiModes spiMode, uint32_t spiSpeed):
-        SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
+                SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
+}
+
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+        spi::send_callback_function_t callback, void *args):
+		        SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
+		                spiMode, spiSpeed, callback, args) {
+}
+
+SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+        std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+        spi::send_callback_function_t callback, void* args):
+                spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
+                comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
+                sendCallback(callback), callbackArgs(args) {
+}
+
+spi::SpiComIfModes SpiCookie::getComIfMode() const {
+    return this->comIfMode;
 }

 void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
@ -78,6 +98,13 @@ void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
    }
 }

+void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
+        void *args) {
+    this->comIfMode = spi::SpiComIfModes::CALLBACK;
+    this->sendCallback = callback;
+    this->callbackArgs = args;
+}
+
 spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
    return &spiTransferStruct;
 }
@ -105,3 +132,9 @@ void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
 void SpiCookie::setSpiMode(spi::SpiModes newMode) {
    this->spiMode = newMode;
 }
+
+void SpiCookie::getCallback(spi::send_callback_function_t *callback,
+        void **args) {
+    *callback = this->sendCallback;
+    *args = this->callbackArgs;
+}
--- a/linux/spi/SpiCookie.h
+++ b/linux/spi/SpiCookie.h
@ -2,13 +2,25 @@
 #define LINUX_SPI_SPICOOKIE_H_

 #include "spiDefinitions.h"
+#include "../../common/gpio/gpioDefinitions.h"
+
 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+
 #include <linux/spi/spidev.h>

+/**
+ * @brief   This cookie class is passed to the SPI communication interface
+ * @details
+ * This cookie contains device specific properties like speed and SPI mode or the SPI transfer
+ * struct required by the Linux SPI driver. It also contains a handle to a GPIO interface
+ * to perform slave select switching when necessary.
+ *
+ * The user can specify gpio::NO_GPIO as the GPIO ID or use a custom send callback to meet
+ * special requirements like expander slave select switching (e.g. GPIO or I2C expander)
+ * or special timing related requirements.
+ */
 class SpiCookie: public CookieIF {
 public:
-
    /**
     * Each SPI device will have a corresponding cookie. The cookie is used by the communication
     * interface and contains device specific information like the largest expected size to be
@ -19,7 +31,7 @@ public:
     * @param maxSize
     */
    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-            const size_t maxReplySize, spi::SpiModes spiMode, uint32_t spiSpeed);
+            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);

    /**
     * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@ -28,16 +40,41 @@ public:
    SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
            spi::SpiModes spiMode, uint32_t spiSpeed);

+    /**
+     * Use the callback mode of the SPI communication interface. The user can pass the callback
+     * function here or by using the setter function #setCallbackMode
+     */
+    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
+            void *args);
+
+    /**
+     * Get the callback function
+     * @param callback
+     * @param args
+     */
+    void getCallback(spi::send_callback_function_t* callback, void** args);
+
    address_t getSpiAddress() const;
    std::string getSpiDevice() const;
    gpioId_t getChipSelectPin() const;
    size_t getMaxBufferSize() const;

+    spi::SpiComIfModes getComIfMode() const;
+
    /** Enables changing SPI speed at run-time */
    void setSpiSpeed(uint32_t newSpeed);
    /** Enables changing the SPI mode at run-time */
    void setSpiMode(spi::SpiModes newMode);

+    /**
+     * Set the SPI to callback mode and assigns the user supplied callback and an argument
+     * passed to the callback.
+     * @param callback
+     * @param args
+     */
+    void setCallbackMode(spi::send_callback_function_t callback, void* args);
+
    /**
     * True if SPI transfers should be performed in full duplex mode
     * @return
@ -99,17 +136,40 @@ public:

    spi_ioc_transfer* getTransferStructHandle();
 private:
+
+    /**
+     * Internal constructor which initializes every field
+     * @param spiAddress
+     * @param chipSelect
+     * @param spiDev
+     * @param maxSize
+     * @param spiMode
+     * @param spiSpeed
+     * @param callback
+     * @param args
+     */
+    SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            spi::send_callback_function_t callback, void* args);
+
    size_t currentTransferSize = 0;

    address_t spiAddress;
    gpioId_t chipSelectPin;
    std::string spiDevice;

+    spi::SpiComIfModes comIfMode;
+
+    // Required for regular mode
    const size_t maxSize;
    spi::SpiModes spiMode;
    uint32_t spiSpeed;
    bool halfDuplex = false;

+    // Required for callback mode
+    spi::send_callback_function_t sendCallback = nullptr;
+    void* callbackArgs = nullptr;
+
    struct spi_ioc_transfer spiTransferStruct = {};
    UncommonParameters uncommonParameters;
 };
--- a/linux/spi/spiDefinitions.h
+++ b/linux/spi/spiDefinitions.h
@ -1,17 +1,28 @@
 #ifndef LINUX_SPI_SPIDEFINITONS_H_
 #define LINUX_SPI_SPIDEFINITONS_H_

+#include "../../common/gpio/gpioDefinitions.h"
+#include "../../common/spi/spiCommon.h"
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include <linux/spi/spidev.h>
+
 #include <cstdint>

+class SpiCookie;
+class SpiComIF;
+
 namespace spi {

-enum SpiModes: uint8_t {
-    MODE_0,
-    MODE_1,
-    MODE_2,
-    MODE_3
+enum SpiComIfModes {
+	REGULAR,
+	CALLBACK
 };

+
+using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie,
+        const uint8_t *sendData, size_t sendLen, void* args);
+
 }

 #endif /* LINUX_SPI_SPIDEFINITONS_H_ */
--- a/linux/uart/CMakeLists.txt
+++ b/linux/uart/CMakeLists.txt
@ -0,0 +1,8 @@
+target_sources(${TARGET_NAME} PUBLIC
+	UartComIF.cpp
+	UartCookie.cpp
+)
+
+
+
+
--- a/linux/uart/UartComIF.cpp
+++ b/linux/uart/UartComIF.cpp
@ -0,0 +1,370 @@
+#include "UartComIF.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include <cstring>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+
+UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
+}
+
+UartComIF::~UartComIF() {}
+
+ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) {
+
+	std::string deviceFile;
+	UartDeviceMapIter uartDeviceMapIter;
+
+	if(cookie == nullptr) {
+		return NULLPOINTER;
+	}
+
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if (uartCookie == nullptr) {
+        sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    deviceFile = uartCookie->getDeviceFile();
+
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+	if(uartDeviceMapIter == uartDeviceMap.end()) {
+	    int fileDescriptor = configureUartPort(uartCookie);
+	    if (fileDescriptor < 0) {
+	        return RETURN_FAILED;
+	    }
+	    size_t maxReplyLen = uartCookie->getMaxReplyLen();
+		UartElements_t uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
+		std::pair status = uartDeviceMap.emplace(deviceFile, uartElements);
+        if (status.second == false) {
+            sif::debug << "UartComIF::initializeInterface: Failed to insert device "  << deviceFile
+                    << "to Uart device map" << std::endl;
+            return RETURN_FAILED;
+        }
+	}
+	else {
+		sif::debug << "UartComIF::initializeInterface: Uart device " << deviceFile << "already in "
+		        << "use" << std::endl;
+		return RETURN_FAILED;
+	}
+
+	return RETURN_OK;
+}
+
+int UartComIF::configureUartPort(UartCookie* uartCookie) {
+
+    struct termios options;
+
+    std::string deviceFile = uartCookie->getDeviceFile();
+    int fd = open(deviceFile.c_str(), O_RDWR);
+
+    if (fd < 0) {
+        sif::debug << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with"
+                << " error code " << errno << strerror(errno) << std::endl;
+        return fd;
+    }
+
+    /* Read in existing settings */
+    if(tcgetattr(fd, &options) != 0) {
+        sif::debug << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
+                << strerror(errno) << std::endl;
+        return fd;
+    }
+
+    setParityOptions(&options, uartCookie);
+    setStopBitOptions(&options, uartCookie);
+    setDatasizeOptions(&options, uartCookie);
+    setFixedOptions(&options);
+
+    /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
+    options.c_cc[VTIME] = 0;
+    options.c_cc[VMIN] = 0;
+
+    configureBaudrate(&options, uartCookie);
+
+    /* Save option settings */
+    if (tcsetattr(fd, TCSANOW, &options) != 0) {
+        sif::debug << "UartComIF::configureUartPort: Failed to set options with error " << errno
+                << ": " << strerror(errno);
+        return fd;
+    }
+    return fd;
+}
+
+void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
+    /* Clear parity bit */
+    options->c_cflag &= ~PARENB;
+    switch (uartCookie->getParity()) {
+    case Parity::EVEN:
+        options->c_cflag |= PARENB;
+        options->c_cflag &= ~PARODD;
+        break;
+    case Parity::ODD:
+        options->c_cflag |= PARENB;
+        options->c_cflag |= PARODD;
+        break;
+    default:
+        break;
+    }
+}
+
+void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
+    /* Clear stop field. Sets stop bit to one bit */
+    options->c_cflag &= ~CSTOPB;
+    switch (uartCookie->getStopBits()) {
+    case StopBits::TWO_STOP_BITS:
+        options->c_cflag |= CSTOPB;
+        break;
+    default:
+        break;
+    }
+}
+
+void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
+    /* Clear size bits */
+    options->c_cflag &= ~CSIZE;
+    switch (uartCookie->getBitsPerWord()) {
+    case 5:
+        options->c_cflag |= CS5;
+        break;
+    case 6:
+        options->c_cflag |= CS6;
+        break;
+    case 7:
+        options->c_cflag |= CS7;
+        break;
+    case 8:
+        options->c_cflag |= CS8;
+        break;
+    default:
+        sif::debug << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+        break;
+    }
+}
+
+void UartComIF::setFixedOptions(struct termios* options) {
+    /* Disable RTS/CTS hardware flow control */
+    options->c_cflag &= ~CRTSCTS;
+    /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
+    options->c_cflag |= CREAD | CLOCAL;
+    /* Disable canonical mode */
+    options->c_lflag &= ~ICANON;
+    /* Disable echo */
+    options->c_lflag &= ~ECHO;
+    /* Disable erasure */
+    options->c_lflag &= ~ECHOE;
+    /* Disable new-line echo */
+    options->c_lflag &= ~ECHONL;
+    /* Disable interpretation of INTR, QUIT and SUSP */
+    options->c_lflag &= ~ISIG;
+    /* Turn off s/w flow ctrl */
+    options->c_iflag &= ~(IXON | IXOFF | IXANY);
+    /* Disable any special handling of received bytes */
+    options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
+    /* Prevent special interpretation of output bytes (e.g. newline chars) */
+    options->c_oflag &= ~OPOST;
+    /* Prevent conversion of newline to carriage return/line feed */
+    options->c_oflag &= ~ONLCR;
+}
+
+void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
+    switch (uartCookie->getBaudrate()) {
+    case 50:
+        cfsetispeed(options, B50);
+        cfsetospeed(options, B50);
+        break;
+    case 75:
+        cfsetispeed(options, B75);
+        cfsetospeed(options, B75);
+        break;
+    case 110:
+        cfsetispeed(options, B110);
+        cfsetospeed(options, B110);
+        break;
+    case 134:
+        cfsetispeed(options, B134);
+        cfsetospeed(options, B134);
+        break;
+    case 150:
+        cfsetispeed(options, B150);
+        cfsetospeed(options, B150);
+        break;
+    case 200:
+        cfsetispeed(options, B200);
+        cfsetospeed(options, B200);
+        break;
+    case 300:
+        cfsetispeed(options, B300);
+        cfsetospeed(options, B300);
+        break;
+    case 600:
+        cfsetispeed(options, B600);
+        cfsetospeed(options, B600);
+        break;
+    case 1200:
+        cfsetispeed(options, B1200);
+        cfsetospeed(options, B1200);
+        break;
+    case 1800:
+        cfsetispeed(options, B1800);
+        cfsetospeed(options, B1800);
+        break;
+    case 2400:
+        cfsetispeed(options, B2400);
+        cfsetospeed(options, B2400);
+        break;
+    case 4800:
+        cfsetispeed(options, B4800);
+        cfsetospeed(options, B4800);
+        break;
+    case 9600:
+        cfsetispeed(options, B9600);
+        cfsetospeed(options, B9600);
+        break;
+    case 19200:
+        cfsetispeed(options, B19200);
+        cfsetospeed(options, B19200);
+        break;
+    case 38400:
+        cfsetispeed(options, B38400);
+        cfsetospeed(options, B38400);
+        break;
+    case 57600:
+        cfsetispeed(options, B57600);
+        cfsetospeed(options, B57600);
+        break;
+    case 115200:
+        cfsetispeed(options, B115200);
+        cfsetospeed(options, B115200);
+        break;
+    case 230400:
+        cfsetispeed(options, B230400);
+        cfsetospeed(options, B230400);
+        break;
+    case 460800:
+        cfsetispeed(options, B460800);
+        cfsetospeed(options, B460800);
+        break;
+    default:
+        sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+        break;
+    }
+}
+
+ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
+        const uint8_t *sendData, size_t sendLen) {
+
+	int fd = 0;
+	std::string deviceFile;
+	UartDeviceMapIter uartDeviceMapIter;
+
+	if(sendData == nullptr) {
+        sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
+	    return RETURN_FAILED;
+	}
+
+	if(sendLen == 0) {
+		return RETURN_OK;
+	}
+
+	UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+	if(uartCookie == nullptr) {
+        sif::debug << "UartComIF::sendMessasge: Invalid Uart Cookie!" << std::endl;
+		return NULLPOINTER;
+	}
+
+	deviceFile = uartCookie->getDeviceFile();
+	uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+	if (uartDeviceMapIter == uartDeviceMap.end()) {
+		sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in uart map"
+		        << std::endl;
+		return RETURN_FAILED;
+	}
+
+	fd = uartDeviceMapIter->second.fileDescriptor;
+
+	if (write(fd, sendData, sendLen) != (int)sendLen) {
+		sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
+		        << ": Error description: " << strerror(errno) << std::endl;
+		return RETURN_FAILED;
+	}
+
+	return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
+	return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
+		size_t requestLen) {
+
+    int fd = 0;
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+    uint8_t* bufferPtr;
+
+    if(requestLen == 0) {
+        return RETURN_OK;
+    }
+
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    if (uartDeviceMapIter == uartDeviceMap.end()) {
+        sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
+                << " not in uart map" << std::endl;
+        return RETURN_FAILED;
+    }
+
+    fd = uartDeviceMapIter->second.fileDescriptor;
+    bufferPtr = uartDeviceMapIter->second.replyBuffer.data();
+    int bytesRead = read(fd, bufferPtr, requestLen);
+    if (bytesRead != static_cast<int>(requestLen)) {
+        sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead
+        << " of " << requestLen << " bytes" << std::endl;
+        return RETURN_FAILED;
+    }
+    else {
+        uartDeviceMapIter->second.replyLen = bytesRead;
+    }
+
+    return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
+		uint8_t **buffer, size_t* size) {
+
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+	if(uartCookie == nullptr) {
+        sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+		return NULLPOINTER;
+	}
+
+	deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    if (uartDeviceMapIter == uartDeviceMap.end()) {
+        sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile
+                << " not in uart map" << std::endl;
+        return RETURN_FAILED;
+    }
+
+	*buffer = uartDeviceMapIter->second.replyBuffer.data();
+	*size = uartDeviceMapIter->second.replyLen;
+
+	/* Length is reset to 0 to prevent reading the same data twice */
+	uartDeviceMapIter->second.replyLen = 0;
+
+	return RETURN_OK;
+}
--- a/linux/uart/UartComIF.h
+++ b/linux/uart/UartComIF.h
@ -0,0 +1,94 @@
+#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
+#define BSP_Q7S_COMIF_UARTCOMIF_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+
+#include <unordered_map>
+#include <vector>
+
+#include "UartCookie.h"
+
+/**
+ * @brief 	This is the communication interface to access serial ports on linux based operating
+ *          systems.
+ *
+ * @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
+ *          operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
+ *
+ * @author 	J. Meier
+ */
+class UartComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+	UartComIF(object_id_t objectId);
+
+	virtual ~UartComIF();
+
+	ReturnValue_t initializeInterface(CookieIF * cookie) override;
+	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+			size_t sendLen) override;
+	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+	        size_t requestLen) override;
+	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) override;
+
+private:
+
+	using UartDeviceFile_t = std::string;
+
+	typedef struct UartElements {
+	    int fileDescriptor;
+		std::vector<uint8_t> replyBuffer;
+		/** Number of bytes read will be written to this variable */
+		size_t replyLen;
+	} UartElements_t;
+
+	using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements_t>;
+	using UartDeviceMapIter = UartDeviceMap::iterator;
+
+	/**
+	 * The uart devie map stores informations of initialized uart ports.
+	 */
+	UartDeviceMap uartDeviceMap;
+
+	/**
+	 * @brief	This function opens and configures a uart device by using the information stored
+	 *          in the uart cookie.
+	 * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
+	 *                      uart device file, baudrate, parity, stopbits etc.
+	 * @return  The file descriptor of the configured uart.
+	 */
+	int configureUartPort(UartCookie* uartCookie);
+
+	/**
+	 * @brief   This function adds the parity settings to the termios options struct.
+	 *
+	 * @param options   Pointer to termios options struct which will be modified to enable or disable
+	 *                  parity checking.
+	 * @param uartCookie    Pointer to uart cookie containing the information about the desired
+	 *                      parity settings.
+	 *
+	 */
+	void setParityOptions(struct termios* options, UartCookie* uartCookie);
+
+	void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
+
+	/**
+	 * @brief   This function sets options which are not configurable by the uartCookie.
+	 */
+	void setFixedOptions(struct termios* options);
+
+	/**
+	 * @brief   With this function the datasize settings are added to the termios options struct.
+	 */
+	void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
+
+	/**
+	 * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
+	 *          struct.
+	 */
+	void configureBaudrate(struct termios* options, UartCookie* uartCookie);
+};
+
+#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */
--- a/linux/uart/UartCookie.cpp
+++ b/linux/uart/UartCookie.cpp
@ -0,0 +1,63 @@
+#include "UartCookie.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+UartCookie::UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen) :
+        deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen) {
+}
+
+UartCookie::~UartCookie() {}
+
+uint32_t UartCookie::getBaudrate() const {
+	return baudrate;
+}
+
+size_t UartCookie::getMaxReplyLen() const {
+	return maxReplyLen;
+}
+
+std::string UartCookie::getDeviceFile() const {
+	return deviceFile;
+}
+
+void UartCookie::setParityOdd() {
+    parity = Parity::ODD;
+}
+
+void UartCookie::setParityEven() {
+    parity = Parity::EVEN;
+}
+
+Parity UartCookie::getParity() const {
+    return parity;
+}
+
+void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
+    switch(bitsPerWord_) {
+    case 5:
+    case 6:
+    case 7:
+    case 8:
+        break;
+    default:
+        sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+        return;
+    }
+    bitsPerWord = bitsPerWord_;
+}
+
+uint8_t UartCookie::getBitsPerWord() const {
+    return bitsPerWord;
+}
+
+StopBits UartCookie::getStopBits() const {
+    return stopBits;
+}
+
+void UartCookie::setTwoStopBits() {
+    stopBits = StopBits::TWO_STOP_BITS;
+}
+
+void UartCookie::setOneStopBit() {
+    stopBits = StopBits::ONE_STOP_BIT;
+}
--- a/linux/uart/UartCookie.h
+++ b/linux/uart/UartCookie.h
@ -0,0 +1,81 @@
+#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
+#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <string>
+
+enum class Parity {
+    NONE,
+    EVEN,
+    ODD
+};
+
+enum class StopBits {
+    ONE_STOP_BIT,
+    TWO_STOP_BITS
+};
+
+/**
+ * @brief   Cookie for the UartComIF. There are many options available to configure the uart driver.
+ *          The constructor only requests for common options like the baudrate. Other options can
+ *          be set by member functions.
+ *
+ * @author 	J. Meier
+ */
+class UartCookie: public CookieIF {
+public:
+
+	/**
+	 * @brief	Constructor for the uart cookie.
+	 * @param deviceFile    The device file specifying the uart to use. E.g. "/dev/ttyPS1".
+     * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
+     *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
+     *                      38400, 57600, 115200, 230400, 460800
+     * @param maxReplyLen   The maximum size an object using this cookie expects.
+     *
+     * @details Default configuration: No parity
+     *                                 8 databits (number of bits transfered with one uart frame)
+     *                                 One stop bit
+     *
+     *
+	 */
+    UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen);
+
+	virtual ~UartCookie();
+
+	uint32_t getBaudrate() const;
+	size_t getMaxReplyLen() const;
+	std::string getDeviceFile() const;
+	Parity getParity() const;
+	uint8_t getBitsPerWord() const;
+	StopBits getStopBits() const;
+
+	/**
+	 * Functions two enable parity checking.
+	 */
+	void setParityOdd();
+    void setParityEven();
+
+    /**
+     * Function two set number of bits per UART frame.
+     */
+	void setBitsPerWord(uint8_t bitsPerWord_);
+
+	/**
+	 * Function to specify the number of stopbits.
+	 */
+	void setTwoStopBits();
+	void setOneStopBit();
+
+
+private:
+
+	std::string deviceFile;
+	uint32_t baudrate;
+	size_t maxReplyLen = 0;
+	Parity parity = Parity::NONE;
+	uint8_t bitsPerWord = 8;
+	StopBits stopBits = StopBits::ONE_STOP_BIT;
+};
+
+#endif
--- a/stm32h7/CMakeLists.txt
+++ b/stm32h7/CMakeLists.txt
@ -0,0 +1,7 @@
+add_subdirectory(spi)
+add_subdirectory(devicetest)
+
+target_sources(${TARGET_NAME} PRIVATE
+    interrupts.c
+    dma_interrupts.c
+)
--- a/stm32h7/devicetest/CMakeLists.txt
+++ b/stm32h7/devicetest/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${TARGET_NAME} PRIVATE
+    GyroL3GD20H.cpp
+)
--- a/stm32h7/devicetest/GyroL3GD20H.cpp
+++ b/stm32h7/devicetest/GyroL3GD20H.cpp
@ -0,0 +1,531 @@
+#include "GyroL3GD20H.h"
+#include "spiConf.h"
+#include "../spi/mspInit.h"
+#include "../spi/spiDefinitions.h"
+#include "../spi/spiCore.h"
+
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+#include "stm32h7xx_nucleo.h"
+#include "stm32h7xx_hal_spi.h"
+#include "stm32h7xx_hal_rcc.h"
+
+#include <cstring>
+
+alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
+alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
+        GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
+
+TransferStates transferState = TransferStates::IDLE;
+spi::TransferModes  GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
+
+DMA_HandleTypeDef txDmaHandle;
+DMA_HandleTypeDef rxDmaHandle;
+
+GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
+                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::INTERRUPT) {
+        set_spi_msp_functions(&hal_spi_msp_init_interrupt, spiHandle,
+                &hal_spi_msp_deinit_interrupt, 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;
+    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
+    HAL_GPIO_Init(GPIOD, &chipSelect);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+}
+
+ReturnValue_t GyroL3GD20H::initialize() {
+    // Configure the SPI peripheral
+    spiHandle->Instance               = SPI1;
+    spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
+    spiHandle->Init.Direction         = SPI_DIRECTION_2LINES;
+    spi::assignSpiMode(spi::SpiModes::MODE_3, spiHandle);
+    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_FAILED;
+    }
+
+    transferState = TransferStates::WAIT;
+
+    sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
+
+    txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
+    txBuffer[1] = 0;
+
+    switch(transferMode)  {
+    case(spi::TransferModes::DMA): {
+        return handleDmaTransferInit();
+    }
+    case(spi::TransferModes::INTERRUPT): {
+        return handleInterruptTransferInit();
+    }
+    case(spi::TransferModes::POLLING): {
+        return handlePollingTransferInit();
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::performOperation() {
+    switch(transferMode)  {
+    case(spi::TransferModes::DMA): {
+        return handleDmaSensorRead();
+    }
+    case(spi::TransferModes::POLLING): {
+        return handlePollingSensorRead();
+    }
+    case(spi::TransferModes::INTERRUPT): {
+        return handleInterruptSensorRead();
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
+    /* Clean D-cache */
+    /* Make sure the address is 32-byte aligned and add 32-bytes to length,
+    in case it overlaps cacheline */
+    // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
+    HAL_StatusTypeDef result = performDmaTransfer(2);
+    if(result != HAL_OK) {
+        // Transfer error in transmission process
+        sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
+    }
+
+    // Wait for the transfer to complete
+    while (transferState == TransferStates::WAIT) {
+        TaskFactory::delayTask(1);
+    }
+
+    switch(transferState) {
+    case(TransferStates::SUCCESS): {
+        uint8_t whoAmIVal = rxBuffer[1];
+        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+            sif::printDebug("GyroL3GD20H::initialize: "
+                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+        }
+        transferState = TransferStates::IDLE;
+        break;
+    }
+    case(TransferStates::FAILURE): {
+        sif::printWarning("Transfer failure\n");
+        transferState = TransferStates::FAILURE;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+
+    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+    // Configure the 5 configuration registers
+    uint8_t configRegs[5];
+    prepareConfigRegs(configRegs);
+
+    result = performDmaTransfer(6);
+    if(result != HAL_OK) {
+        // Transfer error in transmission process
+        sif::printWarning("Error transmitting SPI with DMA\n");
+    }
+
+    // Wait for the transfer to complete
+    while (transferState == TransferStates::WAIT) {
+        TaskFactory::delayTask(1);
+    }
+
+    switch(transferState) {
+    case(TransferStates::SUCCESS): {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
+        transferState = TransferStates::IDLE;
+        break;
+    }
+    case(TransferStates::FAILURE): {
+        sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
+        transferState = TransferStates::FAILURE;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+
+
+    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+    std::memset(txBuffer.data() + 1, 0 , 5);
+    result = performDmaTransfer(6);
+    if(result != HAL_OK) {
+        // Transfer error in transmission process
+        sif::printWarning("Error transmitting SPI with DMA\n");
+    }
+    // Wait for the transfer to complete
+    while (transferState == TransferStates::WAIT) {
+        TaskFactory::delayTask(1);
+    }
+
+    switch(transferState) {
+    case(TransferStates::SUCCESS): {
+        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+                rxBuffer[5] != configRegs[4]) {
+            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+        }
+        else {
+            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+        }
+        transferState = TransferStates::IDLE;
+        break;
+    }
+    case(TransferStates::FAILURE): {
+        sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
+        transferState = TransferStates::FAILURE;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
+    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+    std::memset(txBuffer.data() + 1, 0 , 14);
+
+    HAL_StatusTypeDef result = performDmaTransfer(15);
+    if(result != HAL_OK) {
+        // Transfer error in transmission process
+        sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
+    }
+    // Wait for the transfer to complete
+    while (transferState == TransferStates::WAIT) {
+        TaskFactory::delayTask(1);
+    }
+
+    switch(transferState) {
+    case(TransferStates::SUCCESS): {
+        handleSensorReadout();
+        break;
+    }
+    case(TransferStates::FAILURE): {
+        sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
+        transferState = TransferStates::FAILURE;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
+    transferState = TransferStates::WAIT;
+#if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
+    SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
+            txBuffer.size()+32);
+#endif
+
+    // Start SPI transfer via DMA
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
+}
+
+ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+    switch(result) {
+    case(HAL_OK): {
+        sif::printInfo("GyroL3GD20H::initialize: 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("GyroL3GD20H::initialize: Polling transfer timeout\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case(HAL_ERROR): {
+        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+
+    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+    // Configure the 5 configuration registers
+    uint8_t configRegs[5];
+    prepareConfigRegs(configRegs);
+
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+    switch(result) {
+    case(HAL_OK): {
+        break;
+    }
+    case(HAL_TIMEOUT): {
+        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case(HAL_ERROR): {
+        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+
+    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+    std::memset(txBuffer.data() + 1, 0 , 5);
+
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+    switch(result) {
+    case(HAL_OK): {
+        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+                rxBuffer[5] != configRegs[4]) {
+            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+        }
+        else {
+            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+        }
+        break;
+    }
+    case(HAL_TIMEOUT): {
+        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case(HAL_ERROR): {
+        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
+    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+    std::memset(txBuffer.data() + 1, 0 , 14);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+    switch(result) {
+    case(HAL_OK): {
+        handleSensorReadout();
+        break;
+    }
+    case(HAL_TIMEOUT): {
+        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case(HAL_ERROR): {
+        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
+    case(HAL_OK): {
+        sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
+        // Wait for the transfer to complete
+        while (transferState == TransferStates::WAIT) {
+            TaskFactory::delayTask(1);
+        }
+
+        uint8_t whoAmIVal = rxBuffer[1];
+        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+            sif::printDebug("GyroL3GD20H::initialize: "
+                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+        }
+        break;
+    }
+    case(HAL_BUSY):
+    case(HAL_ERROR):
+    case(HAL_TIMEOUT): {
+        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+
+    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+    transferState = TransferStates::WAIT;
+    // Configure the 5 configuration registers
+    uint8_t configRegs[5];
+    prepareConfigRegs(configRegs);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+    case(HAL_OK): {
+        // Wait for the transfer to complete
+        while (transferState == TransferStates::WAIT) {
+            TaskFactory::delayTask(1);
+        }
+        break;
+    }
+    case(HAL_BUSY):
+    case(HAL_ERROR):
+    case(HAL_TIMEOUT): {
+        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+
+    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+    std::memset(txBuffer.data() + 1, 0 , 5);
+    transferState = TransferStates::WAIT;
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+    case(HAL_OK): {
+        // Wait for the transfer to complete
+        while (transferState == TransferStates::WAIT) {
+            TaskFactory::delayTask(1);
+        }
+        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+                rxBuffer[5] != configRegs[4]) {
+            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+        }
+        else {
+            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+        }
+        break;
+    }
+    case(HAL_BUSY):
+    case(HAL_ERROR):
+    case(HAL_TIMEOUT): {
+        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
+    transferState = TransferStates::WAIT;
+    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+    std::memset(txBuffer.data() + 1, 0 , 14);
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
+    case(HAL_OK): {
+        // Wait for the transfer to complete
+        while (transferState == TransferStates::WAIT) {
+            TaskFactory::delayTask(1);
+        }
+        handleSensorReadout();
+        break;
+    }
+    case(HAL_BUSY):
+    case(HAL_ERROR):
+    case(HAL_TIMEOUT): {
+        sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) {
+    // Enable sensor
+    configRegs[0] = 0b00001111;
+    configRegs[1] = 0b00000000;
+    configRegs[2] = 0b00000000;
+    configRegs[3] = 0b01000000;
+    // Big endian select
+    configRegs[4] = 0b00000000;
+
+    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
+    std::memcpy(txBuffer.data() + 1, configRegs, 5);
+}
+
+void GyroL3GD20H::handleSensorReadout() {
+    uint8_t statusReg = rxBuffer[8];
+    int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
+    float gyroX = static_cast<float>(gyroXRaw) / INT16_MAX * L3G_RANGE;
+    int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
+    float gyroY =  static_cast<float>(gyroYRaw) / INT16_MAX * L3G_RANGE;
+    int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
+    float gyroZ =  static_cast<float>(gyroZRaw) / INT16_MAX * L3G_RANGE;
+    sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
+    sif::printInfo("Gyro X: %f\n", gyroX);
+    sif::printInfo("Gyro Y: %f\n", gyroY);
+    sif::printInfo("Gyro Z: %f\n", gyroZ);
+}
+
+/**
+ * @brief  TxRx Transfer completed callback.
+ * @param  hspi: SPI handle
+ * @note   This example shows a simple way to report end of DMA TxRx transfer, and
+ *         you can add your own implementation.
+ * @retval None
+ */
+void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
+    transferState = TransferStates::SUCCESS;
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+    if(GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
+        // Invalidate cache prior to access by CPU
+        SCB_InvalidateDCache_by_Addr ((uint32_t *)GyroL3GD20H::rxBuffer.data(),
+                GyroL3GD20H::recvBufferSize);
+    }
+}
+
+/**
+ * @brief  SPI error callbacks.
+ * @param  hspi: SPI handle
+ * @note   This example shows a simple way to report transfer error, and you can
+ *         add your own implementation.
+ * @retval None
+ */
+void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
+    transferState = TransferStates::FAILURE;
+}
--- a/stm32h7/devicetest/GyroL3GD20H.h
+++ b/stm32h7/devicetest/GyroL3GD20H.h
@ -0,0 +1,58 @@
+#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 "../spi/spiDefinitions.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+#include <cstdint>
+#include <array>
+
+enum class TransferStates {
+    IDLE,
+    WAIT,
+    SUCCESS,
+    FAILURE
+};
+
+class GyroL3GD20H {
+    friend void  HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi);
+public:
+    GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
+
+    ReturnValue_t initialize();
+    ReturnValue_t performOperation();
+
+private:
+
+    const uint8_t WHO_AM_I_REG = 0b00001111;
+    const uint8_t STM_READ_MASK = 0b10000000;
+    const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
+    const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
+    const uint8_t CTRL_REG_1 = 0b00100000;
+    const uint32_t L3G_RANGE = 245;
+
+    SPI_HandleTypeDef* spiHandle;
+
+    static spi::TransferModes transferMode;
+    static constexpr size_t recvBufferSize = 32 * 10;
+    static std::array<uint8_t, recvBufferSize> rxBuffer;
+    static constexpr size_t txBufferSize = 32;
+    static std::array<uint8_t, txBufferSize> txBuffer;
+
+    ReturnValue_t handleDmaTransferInit();
+    ReturnValue_t handlePollingTransferInit();
+    ReturnValue_t handleInterruptTransferInit();
+
+    ReturnValue_t handleDmaSensorRead();
+    HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
+    ReturnValue_t handlePollingSensorRead();
+    ReturnValue_t handleInterruptSensorRead();
+
+    void prepareConfigRegs(uint8_t* configRegs);
+    void handleSensorReadout();
+};
+
+#endif /*  FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */
--- a/stm32h7/dma_interrupts.c
+++ b/stm32h7/dma_interrupts.c
@ -0,0 +1,84 @@
+#include "dma_interrupts.h"
+
+#include <stdint.h>
+#include <stddef.h>
+
+user_handler_t DMA_1_USER_HANDLERS[8];
+user_args_t DMA_1_USER_ARGS[8];
+
+user_handler_t DMA_2_USER_HANDLERS[8];
+user_args_t DMA_2_USER_ARGS[8];
+
+void assign_dma_user_handler(DMAIndexes dma_idx, DMAStreams stream_idx,
+        user_handler_t user_handler, user_args_t user_args) {
+    if(dma_idx == DMA_1) {
+        DMA_1_USER_HANDLERS[stream_idx] = user_handler;
+        DMA_1_USER_ARGS[stream_idx] = user_args;
+    }
+    else if(dma_idx == DMA_2) {
+        DMA_2_USER_HANDLERS[stream_idx] = user_handler;
+        DMA_2_USER_ARGS[stream_idx] = user_args;
+    }
+}
+
+// The interrupt handlers in the format required for the IRQ vector table
+
+/* Do not change these function names! They need to be exactly equal to the name of the functions
+defined in the startup_stm32h743xx.s files! */
+
+#define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX) \
+    if(DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) { \
+        DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
+        return; \
+    } \
+    Default_Handler() \
+
+void DMA1_Stream0_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 0);
+}
+void DMA1_Stream1_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 1);
+}
+void DMA1_Stream2_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 2);
+}
+void DMA1_Stream3_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 3);
+}
+void DMA1_Stream4_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 4);
+}
+void DMA1_Stream5_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 5);
+}
+void DMA1_Stream6_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 6);
+}
+void DMA1_Stream7_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 7);
+}
+
+void DMA2_Stream0_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 0);
+}
+void DMA2_Stream1_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 1);
+}
+void DMA2_Stream2_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 2);
+}
+void DMA2_Stream3_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 3);
+}
+void DMA2_Stream4_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 4);
+}
+void DMA2_Stream5_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 5);
+}
+void DMA2_Stream6_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 6);
+}
+void DMA2_Stream7_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 7);
+}
--- a/stm32h7/dma_interrupts.h
+++ b/stm32h7/dma_interrupts.h
@ -0,0 +1,39 @@
+#ifndef FSFW_HAL_STM32H7_DMA_INTERRUPTS_H_
+#define FSFW_HAL_STM32H7_DMA_INTERRUPTS_H_
+
+#include "interrupts.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    DMA_1 = 0,
+    DMA_2 = 1
+} DMAIndexes;
+
+typedef enum {
+    STREAM_0 = 0,
+    STREAM_1 = 1,
+    STREAM_2 = 2,
+    STREAM_3 = 3,
+    STREAM_4 = 4,
+    STREAM_5 = 5,
+    STREAM_6 = 6,
+    STREAM_7 = 7,
+} DMAStreams;
+
+/**
+ * Assign user interrupt handlers for DMA streams, allowing to pass an
+ * arbitrary argument as well. Generally, this argument will be the related DMA handle.
+ * @param user_handler
+ * @param user_args
+ */
+void assign_dma_user_handler(DMAIndexes dma_idx, DMAStreams stream_idx,
+        user_handler_t user_handler, user_args_t user_args);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_HAL_STM32H7_DMA_INTERRUPTS_H_ */
--- a/stm32h7/interrupts.c
+++ b/stm32h7/interrupts.c
@ -0,0 +1,2 @@
+#include "interrupts.h"
+#include <stddef.h>
--- a/stm32h7/interrupts.h
+++ b/stm32h7/interrupts.h
@ -0,0 +1,20 @@
+#ifndef FSFW_HAL_STM32H7_INTERRUPTS_H_
+#define FSFW_HAL_STM32H7_INTERRUPTS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Default handler which is defined in startup file as assembly code.
+ */
+extern void Default_Handler();
+
+typedef void (*user_handler_t) (void*);
+typedef void* user_args_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_HAL_STM32H7_INTERRUPTS_H_ */
--- a/stm32h7/spi/CMakeLists.txt
+++ b/stm32h7/spi/CMakeLists.txt
@ -0,0 +1,6 @@
+target_sources(${TARGET_NAME} PRIVATE
+    spiCore.c
+    spiDefinitions.cpp
+    interrupts.c
+    mspInit.c
+)
--- a/stm32h7/spi/interrupts.c
+++ b/stm32h7/spi/interrupts.c
@ -0,0 +1,73 @@
+#include "interrupts.h"
+
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_dma.h"
+#include "stm32h7xx_hal_spi.h"
+
+#include <stddef.h>
+
+
+void (*spi1_user_handler) (void* args) = NULL;
+void * spi1_user_args = NULL;
+
+void (*spi2_user_handler) (void* args) = NULL;
+void * spi2_user_args = NULL;
+
+void assign_spi_user_handler(SpiBus spi_idx, user_handler_t user_handler, user_args_t user_args) {
+    if(spi_idx == SPI_1) {
+        spi1_user_handler = user_handler;
+        spi1_user_args = user_args;
+    }
+    else {
+        spi2_user_handler = user_handler;
+        spi2_user_args = user_args;
+    }
+}
+
+/* Do not change these function names! They need to be exactly equal to the name of the functions
+defined in the startup_stm32h743xx.s files! */
+
+void SPI1_IRQHandler() {
+    if(spi1_user_handler != NULL) {
+        spi1_user_handler(spi1_user_args);
+        return;
+    }
+    Default_Handler();
+}
+
+void SPI2_IRQHandler() {
+    if(spi2_user_handler != NULL) {
+        spi2_user_handler(spi2_user_args);
+        return;
+    }
+    Default_Handler();
+}
+
+/**
+ * @brief  This function handles DMA Rx interrupt request.
+ * @param  None
+ * @retval None
+ */
+void dma_rx_irq_handler(void* dma_handle) {
+    HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dma_handle);
+}
+
+/**
+ * @brief  This function handles DMA Rx interrupt request.
+ * @param  None
+ * @retval None
+ */
+void dma_tx_irq_handler(void* dma_handle) {
+    HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dma_handle);
+}
+
+/**
+ * @brief  This function handles SPIx interrupt request.
+ * @param  None
+ * @retval None
+ */
+void spi1_irq_handler(void* spi_handle)
+{
+    HAL_SPI_IRQHandler((SPI_HandleTypeDef *) spi_handle);
+}
+
--- a/stm32h7/spi/interrupts.h
+++ b/stm32h7/spi/interrupts.h
@ -0,0 +1,36 @@
+#ifndef FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_
+#define FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_
+
+#include "../interrupts.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    SPI_1,
+    SPI_2
+} SpiBus;
+
+/**
+ * Assign a user interrupt handler for SPI bus 1, allowing to pass an arbitrary argument as well.
+ * Generally, this argument will be the related SPI handle.
+ * @param user_handler
+ * @param user_args
+ */
+void assign_spi_user_handler(SpiBus spiBus, user_handler_t user_handler, user_args_t user_args);
+
+/**
+ * Generic interrupt handlers supplied for convenience. Do not call these directly! Set them
+ * instead with assign_dma_user_handler and assign_spi_user_handler functions.
+ * @param dma_handle
+ */
+void dma_rx_irq_handler(void* dma_handle);
+void dma_tx_irq_handler(void* dma_handle);
+void spi1_irq_handler(void* spi_handle);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_ */
--- a/stm32h7/spi/mspInit.c
+++ b/stm32h7/spi/mspInit.c
@ -0,0 +1,207 @@
+#include "mspInit.h"
+#include "spiConf.h"
+#include "spiCore.h"
+#include "../dma_interrupts.h"
+#include "interrupts.h"
+
+#include "stm32h743xx.h"
+#include "stm32h7xx_hal_spi.h"
+#include "stm32h7xx_hal_dma.h"
+#include "stm32h7xx_hal_def.h"
+
+#include <stdio.h>
+
+/**
+ * @brief SPI MSP Initialization
+ *        This function configures the hardware resources used in this example:
+ *           - Peripheral's clock enable
+ *           - Peripheral's GPIO Configuration
+ *           - DMA configuration for transmission request by peripheral
+ *           - NVIC configuration for DMA interrupt request enable
+ * @param hspi: SPI handle pointer
+ * @retval None
+ */
+void hal_spi_msp_init_dma(void *spi_handle) {
+    SPI_HandleTypeDef* hspi = (SPI_HandleTypeDef*) spi_handle;
+    if(hspi == NULL) {
+        return;
+    }
+    if(hspi == NULL) {
+        printf("HAL_SPI_MspInit: Invalid SPI handle!\n");
+        return;
+    }
+    assign_spi_handle(hspi);
+
+    DMA_HandleTypeDef* hdma_tx = NULL;
+    DMA_HandleTypeDef* hdma_rx = NULL;
+    get_dma_handles(&hdma_tx, &hdma_rx);
+    if(hdma_tx == NULL || hdma_rx == NULL) {
+        printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
+        return;
+    }
+
+    hal_spi_msp_init_polling(spi_handle);
+    if (hspi->Instance == SPI1) {
+        // DMA setup
+        DMAx_CLK_ENABLE();
+
+        // Configure the DMA
+        /* Configure the DMA handler for Transmission process */
+        hdma_tx->Instance                 = SPIx_TX_DMA_STREAM;
+        hdma_tx->Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
+        hdma_tx->Init.FIFOThreshold       = DMA_FIFO_THRESHOLD_FULL;
+        hdma_tx->Init.MemBurst            = DMA_MBURST_INC4;
+        hdma_tx->Init.PeriphBurst         = DMA_PBURST_INC4;
+        hdma_tx->Init.Request             = SPIx_TX_DMA_REQUEST;
+        hdma_tx->Init.Direction           = DMA_MEMORY_TO_PERIPH;
+        hdma_tx->Init.PeriphInc           = DMA_PINC_DISABLE;
+        hdma_tx->Init.MemInc              = DMA_MINC_ENABLE;
+        hdma_tx->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+        hdma_tx->Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
+        hdma_tx->Init.Mode                = DMA_NORMAL;
+        hdma_tx->Init.Priority            = DMA_PRIORITY_LOW;
+
+        HAL_DMA_Init(hdma_tx);
+
+        /* Associate the initialized DMA handle to the the SPI handle */
+        __HAL_LINKDMA(hspi, hdmatx, *hdma_tx);
+
+        /* Configure the DMA handler for Transmission process */
+        hdma_rx->Instance                 = SPIx_RX_DMA_STREAM;
+
+        hdma_rx->Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
+        hdma_rx->Init.FIFOThreshold       = DMA_FIFO_THRESHOLD_FULL;
+        hdma_rx->Init.MemBurst            = DMA_MBURST_INC4;
+        hdma_rx->Init.PeriphBurst         = DMA_PBURST_INC4;
+        hdma_rx->Init.Request             = SPIx_RX_DMA_REQUEST;
+        hdma_rx->Init.Direction           = DMA_PERIPH_TO_MEMORY;
+        hdma_rx->Init.PeriphInc           = DMA_PINC_DISABLE;
+        hdma_rx->Init.MemInc              = DMA_MINC_ENABLE;
+        hdma_rx->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+        hdma_rx->Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
+        hdma_rx->Init.Mode                = DMA_NORMAL;
+        hdma_rx->Init.Priority            = DMA_PRIORITY_HIGH;
+
+        HAL_DMA_Init(hdma_rx);
+
+        /* Associate the initialized DMA handle to the the SPI handle */
+        __HAL_LINKDMA(hspi, hdmarx, *hdma_rx);
+
+        /*##-4- Configure the NVIC for DMA #########################################*/
+        /* NVIC configuration for DMA transfer complete interrupt (SPI1_RX) */
+        // Assign the interrupt handler
+        assign_dma_user_handler(DMA_2, 2, &dma_rx_irq_handler, hdma_rx);
+        HAL_NVIC_SetPriority(SPIx_DMA_RX_IRQn, 1, 0);
+        HAL_NVIC_EnableIRQ(SPIx_DMA_RX_IRQn);
+
+        /* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
+        // Assign the interrupt handler
+        assign_dma_user_handler(DMA_2, 3, &dma_tx_irq_handler, hdma_tx);
+        HAL_NVIC_SetPriority(SPIx_DMA_TX_IRQn, 1, 1);
+        HAL_NVIC_EnableIRQ(SPIx_DMA_TX_IRQn);
+
+        /*##-5- Configure the NVIC for SPI #########################################*/
+        /* NVIC configuration for SPI transfer complete interrupt (SPI1) */
+        // Assign the interrupt handler
+        assign_spi_user_handler(SPI_1, &spi1_irq_handler, hspi);
+        HAL_NVIC_SetPriority(SPIx_IRQn, 1, 0);
+        HAL_NVIC_EnableIRQ(SPIx_IRQn);
+    }
+}
+
+/**
+ * @brief SPI MSP De-Initialization
+ *        This function frees the hardware resources used in this example:
+ *          - Disable the Peripheral's clock
+ *          - Revert GPIO, DMA and NVIC configuration to their default state
+ * @param hspi: SPI handle pointer
+ * @retval None
+ */
+void hal_spi_msp_deinit_dma(void *spi_handle)
+{
+    SPI_HandleTypeDef* hspi = (SPI_HandleTypeDef*) spi_handle;
+    if(hspi == NULL) {
+        return;
+    }
+    hal_spi_msp_deinit_polling(spi_handle);
+    if(hspi->Instance == SPIx) {
+        DMA_HandleTypeDef* hdma_tx = NULL;
+        DMA_HandleTypeDef* hdma_rx = NULL;
+        get_dma_handles(&hdma_tx, &hdma_rx);
+        if(hdma_tx == NULL || hdma_rx == NULL) {
+            printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
+        }
+        else {
+            /*##-3- Disable the DMA ####################################################*/
+            /* De-Initialize the DMA associated to transmission process */
+            HAL_DMA_DeInit(hdma_tx);
+            /* De-Initialize the DMA associated to reception process */
+            HAL_DMA_DeInit(hdma_rx);
+        }
+
+        /*##-4- Disable the NVIC for DMA ###########################################*/
+        HAL_NVIC_DisableIRQ(SPIx_DMA_TX_IRQn);
+        HAL_NVIC_DisableIRQ(SPIx_DMA_RX_IRQn);
+
+        /*##-5- Disable the NVIC for SPI ###########################################*/
+        HAL_NVIC_EnableIRQ(SPIx_IRQn);
+    }
+}
+
+void hal_spi_msp_init_polling(void *hspi) {
+    GPIO_InitTypeDef GPIO_InitStruct = {};
+    /*##-1- Enable peripherals and GPIO Clocks #################################*/
+    /* Enable GPIO TX/RX clock */
+    SPIx_SCK_GPIO_CLK_ENABLE();
+    SPIx_MISO_GPIO_CLK_ENABLE();
+    SPIx_MOSI_GPIO_CLK_ENABLE();
+    /* Enable SPI clock */
+    SPIx_CLK_ENABLE();
+
+    /*##-2- Configure peripheral GPIO ##########################################*/
+    /* SPI SCK GPIO pin configuration  */
+    GPIO_InitStruct.Pin       = SPIx_SCK_PIN;
+    GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull      = GPIO_PULLDOWN;
+    GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_HIGH;
+    GPIO_InitStruct.Alternate = SPIx_SCK_AF;
+    HAL_GPIO_Init(SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);
+
+    /* SPI MISO GPIO pin configuration  */
+    GPIO_InitStruct.Pin = SPIx_MISO_PIN;
+    GPIO_InitStruct.Alternate = SPIx_MISO_AF;
+    HAL_GPIO_Init(SPIx_MISO_GPIO_PORT, &GPIO_InitStruct);
+
+    /* SPI MOSI GPIO pin configuration  */
+    GPIO_InitStruct.Pin = SPIx_MOSI_PIN;
+    GPIO_InitStruct.Alternate = SPIx_MOSI_AF;
+    HAL_GPIO_Init(SPIx_MOSI_GPIO_PORT, &GPIO_InitStruct);
+}
+
+void hal_spi_msp_deinit_polling(void *hspi) {
+    /*##-1- Reset peripherals ##################################################*/
+    SPIx_FORCE_RESET();
+    SPIx_RELEASE_RESET();
+
+    /*##-2- Disable peripherals and GPIO Clocks ################################*/
+    /* Configure SPI SCK as alternate function  */
+    HAL_GPIO_DeInit(SPIx_SCK_GPIO_PORT, SPIx_SCK_PIN);
+    /* Configure SPI MISO as alternate function  */
+    HAL_GPIO_DeInit(SPIx_MISO_GPIO_PORT, SPIx_MISO_PIN);
+    /* Configure SPI MOSI as alternate function  */
+    HAL_GPIO_DeInit(SPIx_MOSI_GPIO_PORT, SPIx_MOSI_PIN);
+}
+
+void hal_spi_msp_init_interrupt(void *hspi) {
+    hal_spi_msp_init_polling(hspi);
+    // Configure the NVIC for SPI
+    assign_spi_user_handler(SPI_1, &spi1_irq_handler, hspi);
+    HAL_NVIC_SetPriority(SPIx_IRQn, 1, 0);
+    HAL_NVIC_EnableIRQ(SPIx_IRQn);
+}
+
+void hal_spi_msp_deinit_interrupt(void *hspi) {
+    hal_spi_msp_deinit_polling(hspi);
+    // Disable the NVIC for SPI
+    HAL_NVIC_DisableIRQ(SPIx_IRQn);
+}
--- a/stm32h7/spi/mspInit.h
+++ b/stm32h7/spi/mspInit.h
@ -0,0 +1,21 @@
+#ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
+#define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void hal_spi_msp_init_dma(void *hspi);
+void hal_spi_msp_deinit_dma(void *hspi);
+
+void hal_spi_msp_init_polling(void *hspi);
+void hal_spi_msp_deinit_polling(void *hspi);
+
+void hal_spi_msp_init_interrupt(void *hspi);
+void hal_spi_msp_deinit_interrupt(void *hspi);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_HAL_STM32H7_SPI_MSPINIT_H_ */
--- a/stm32h7/spi/spiCore.c
+++ b/stm32h7/spi/spiCore.c
@ -0,0 +1,91 @@
+#include "spiCore.h"
+#include <stdio.h>
+
+SPI_HandleTypeDef* spiHandle = NULL;
+DMA_HandleTypeDef* hdma_tx = NULL;
+DMA_HandleTypeDef* hdma_rx = NULL;
+
+msp_func_t msp_init_func = NULL;
+void* msp_init_args = NULL;
+
+msp_func_t msp_deinit_func = NULL;
+void* msp_deinit_args = NULL;
+
+void set_dma_handles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle) {
+    hdma_tx = txHandle;
+    hdma_rx = rxHandle;
+}
+
+void get_dma_handles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle) {
+    *txHandle = hdma_tx;
+    *rxHandle = hdma_rx;
+}
+
+void assign_spi_handle(SPI_HandleTypeDef *spiHandle_) {
+    if(spiHandle_ == NULL) {
+        return;
+    }
+    spiHandle = spiHandle_;
+}
+
+SPI_HandleTypeDef* get_spi_handle() {
+    return spiHandle;
+}
+
+void set_spi_msp_functions(msp_func_t init_func, void* init_args, msp_func_t deinit_func,
+        void* deinit_args) {
+    msp_init_func = init_func;
+    msp_init_args = init_args;
+    msp_deinit_func = deinit_func;
+    msp_deinit_args = deinit_args;
+}
+
+void get_msp_init_function(msp_func_t* init_func, void **args) {
+    if(init_func != NULL && args != NULL) {
+        *init_func = msp_init_func;
+        *args = msp_init_args;
+    }
+}
+
+void get_msp_deinit_function(msp_func_t* deinit_func, void **args) {
+    if(deinit_func != NULL && args != NULL) {
+        *deinit_func = msp_deinit_func;
+        *args = msp_deinit_args;
+    }
+}
+
+/**
+ * @brief SPI MSP Initialization
+ *        This function configures the hardware resources used in this example:
+ *           - Peripheral's clock enable
+ *           - Peripheral's GPIO Configuration
+ *           - DMA configuration for transmission request by peripheral
+ *           - NVIC configuration for DMA interrupt request enable
+ * @param hspi: SPI handle pointer
+ * @retval None
+ */
+void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
+    if(msp_init_func != NULL) {
+        msp_init_func(msp_init_args);
+    }
+    else {
+        printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
+    }
+}
+
+/**
+ * @brief SPI MSP De-Initialization
+ *        This function frees the hardware resources used in this example:
+ *          - Disable the Peripheral's clock
+ *          - Revert GPIO, DMA and NVIC configuration to their default state
+ * @param hspi: SPI handle pointer
+ * @retval None
+ */
+void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) {
+    if(msp_deinit_func != NULL) {
+        msp_deinit_func(msp_deinit_args);
+    }
+    else {
+        printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
+    }
+}
--- a/stm32h7/spi/spiCore.h
+++ b/stm32h7/spi/spiCore.h
@ -0,0 +1,50 @@
+#ifndef FSFW_HAL_STM32H7_SPI_SPICORE_H_
+#define FSFW_HAL_STM32H7_SPI_SPICORE_H_
+
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_dma.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef void (*msp_func_t) (void* args);
+
+/**
+ * Assign MSP init functions. Important for SPI configuration
+ * @param init_func
+ * @param init_args
+ * @param deinit_func
+ * @param deinit_args
+ */
+void set_spi_msp_functions(msp_func_t init_func, void* init_args, msp_func_t deinit_func,
+        void* deinit_args);
+
+/**
+ * Assign DMA handles. Required to use DMA for SPI transfers.
+ * @param txHandle
+ * @param rxHandle
+ */
+void set_dma_handles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
+
+void get_dma_handles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle);
+void get_msp_init_function(msp_func_t* init_func, void **args);
+void get_msp_deinit_function(msp_func_t* deinit_func, void **args);
+
+/**
+ * Assign SPI handle. Needs to be done before using the SPI
+ * @param spiHandle
+ */
+void assign_spi_handle(SPI_HandleTypeDef *spiHandle);
+
+/**
+ * Get the assigned SPI handle.
+ * @return
+ */
+SPI_HandleTypeDef* get_spi_handle();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_HAL_STM32H7_SPI_SPICORE_H_ */
--- a/stm32h7/spi/spiDefinitions.cpp
+++ b/stm32h7/spi/spiDefinitions.cpp
@ -0,0 +1,52 @@
+#include "spiDefinitions.h"
+
+void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef *spiHandle) {
+    switch(spiMode) {
+    case(SpiModes::MODE_0): {
+        spiHandle->Init.CLKPolarity = SPI_POLARITY_LOW;
+        spiHandle->Init.CLKPhase = SPI_PHASE_1EDGE;
+        break;
+    }
+    case(SpiModes::MODE_1): {
+        spiHandle->Init.CLKPolarity = SPI_POLARITY_LOW;
+        spiHandle->Init.CLKPhase = SPI_PHASE_2EDGE;
+        break;
+    }
+    case(SpiModes::MODE_2): {
+        spiHandle->Init.CLKPolarity = SPI_POLARITY_HIGH;
+        spiHandle->Init.CLKPhase = SPI_PHASE_1EDGE;
+        break;
+    }
+    case(SpiModes::MODE_3): {
+        spiHandle->Init.CLKPolarity = SPI_POLARITY_HIGH;
+        spiHandle->Init.CLKPhase = SPI_PHASE_2EDGE;
+        break;
+    }
+    }
+}
+
+uint32_t spi::getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps) {
+    uint32_t divisor = 0;
+    uint32_t spi_clk = clock_src_freq;
+    uint32_t presc = 0;
+    static const uint32_t baudrate[] = {
+            SPI_BAUDRATEPRESCALER_2,
+            SPI_BAUDRATEPRESCALER_4,
+            SPI_BAUDRATEPRESCALER_8,
+            SPI_BAUDRATEPRESCALER_16,
+            SPI_BAUDRATEPRESCALER_32,
+            SPI_BAUDRATEPRESCALER_64,
+            SPI_BAUDRATEPRESCALER_128,
+            SPI_BAUDRATEPRESCALER_256,
+    };
+
+    while( spi_clk > baudrate_mbps) {
+        presc = baudrate[divisor];
+        if (++divisor > 7)
+            break;
+
+        spi_clk = ( spi_clk >> 1);
+    }
+
+    return presc;
+}
--- a/stm32h7/spi/spiDefinitions.h
+++ b/stm32h7/spi/spiDefinitions.h
@ -0,0 +1,30 @@
+#ifndef FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_
+#define FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_
+
+#include "../../common/spi/spiCommon.h"
+
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_spi.h"
+
+namespace spi {
+
+enum TransferModes {
+    POLLING,
+    INTERRUPT,
+    DMA
+};
+
+void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef* spiHandle);
+
+/**
+ * @brief  Set SPI frequency to calculate correspondent baud-rate prescaler.
+ * @param  clock_src_freq  Frequency of clock source
+ * @param  baudrate_mbps Baudrate to set to set
+ * @retval Baudrate prescaler
+ */
+uint32_t getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps);
+
+}
+
+
+#endif /* FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_ */
Author	SHA1	Message	Date
Robin Mueller	895ba1b455	IRQ and POlling now working as well	2021-06-04 15:50:02 +02:00
Robin Mueller	cf1d6bad19	performed sensor readout	2021-06-04 14:41:02 +02:00
Robin Mueller	cf8235cede	solves issue with DMA	2021-06-04 12:58:30 +02:00
Robin Mueller	20815c1d6b	polling transfer worked	2021-06-03 22:07:59 +02:00
Robin Mueller	ff7421e1dd	added spi transfer modes	2021-06-03 21:53:52 +02:00
Robin Mueller	66a7a4dbbe	added polling msp init	2021-06-03 21:49:16 +02:00
Robin Mueller	863dfa68a0	added msp init functions	2021-06-03 21:42:52 +02:00
Robin Mueller	a9390b145b	stll some issues	2021-06-03 16:44:02 +02:00
Robin Mueller	abe62d807a	refactored irq code	2021-06-03 16:11:49 +02:00
Robin Mueller	78a66e1b67	added IRS abstraction	2021-06-03 15:12:34 +02:00
Robin Mueller	21414c3594	extended spi core	2021-06-03 14:38:34 +02:00
Robin Mueller	dc6327b909	added spi hal functions	2021-06-03 14:03:38 +02:00
Robin Mueller	22384aec6a	continued stm32 spi code	2021-06-03 14:00:50 +02:00
Robin Mueller	4c546820fd	added gyrol3gd20h stm32 test file	2021-05-31 20:40:16 +02:00
Robin Mueller	4ba4e45789	added uart com if	2021-05-25 17:21:16 +02:00
Robin Mueller	9e5e6da6f8	include corrections	2021-05-25 15:35:53 +02:00
Robin Mueller	c69f314441	additional doc	2021-05-25 15:34:44 +02:00
Robin Mueller	3c19e0f9eb	some doc added	2021-05-25 15:33:50 +02:00
Robin Mueller	836296b3af	indentation	2021-05-25 15:18:05 +02:00
Robin Mueller	6487c88fc9	small bugfix	2021-05-25 15:16:00 +02:00
Robin Mueller	61d7c61852	resetting reply buffer for regular send	2021-05-25 14:01:42 +02:00
Robin Mueller	c2b4231802	default wiretapping off	2021-05-25 13:52:39 +02:00
Robin Mueller	2893da047b	extracted wiretapping function	2021-05-25 12:45:11 +02:00
Robin Mueller	bf8f3db41c	some tweaks to make callback usage more easy	2021-05-25 12:14:22 +02:00
Robin Mueller	73a427d7e0	function is public now	2021-05-24 20:33:43 +02:00
Robin Mueller	f363d0fbd5	com if passed to callback as well	2021-05-24 19:11:01 +02:00
Robin Mueller	d801319c12	small fixes	2021-05-24 01:20:16 +02:00
Robin Mueller	2fe1a66836	added callback function	2021-05-24 00:13:59 +02:00
Robin Mueller	9203a30bcf	added callback functionality to spi	2021-05-23 21:34:59 +02:00
Robin Müller	a0f698fffa	Merge pull request 'wrapped mutex error printout in preprocessor defines' (#6 ) from meier/master into master Reviewed-on: fsfw/fsfw_hal#6	2021-05-12 18:13:05 +02:00
Robin Müller	6341da2212	Merge branch 'master' into meier/master	2021-05-12 18:12:42 +02:00
Jakob.Meier	e5da8b194d	wrapped mutex error printout in preprocessor defines	2021-05-12 18:06:03 +02:00
gaisser	c601e1dff7	Merge pull request 'fixed mutex bug' (#5 ) from meier/master into master Reviewed-on: fsfw/fsfw_hal#5	2021-05-12 17:57:40 +02:00
gaisser	d929352417	Merge branch 'master' into meier/master	2021-05-12 17:55:34 +02:00
Jakob.Meier	49da48dc0d	fixed mutex bug	2021-05-12 17:40:14 +02:00
gaisser	99ba9d9346	Merge pull request 'meier/master' (#3 ) from meier/master into master Reviewed-on: fsfw/fsfw_hal#3	2021-05-12 10:57:03 +02:00
Jakob.Meier	425cfd2aba	Merge branch 'master' into meier/master	2021-05-12 10:39:53 +02:00
Jakob.Meier	8a38c7958b	spi mutex only blocked when gpio != NO_GPIO	2021-05-12 10:22:23 +02:00