added flush buffer function in uart com if

linux/uart/UartComIF.cpp

@@ -443,6 +443,51 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
     return RETURN_OK;
 }
 
+ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    int fd = uartDeviceMapIter->second.fileDescriptor;
+    tcflush(fd, TCIFLUSH);
+    return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    int fd = uartDeviceMapIter->second.fileDescriptor;
+    tcflush(fd, TCOFLUSH);
+    return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    int fd = uartDeviceMapIter->second.fileDescriptor;
+    tcflush(fd, TCIOFLUSH);
+    return RETURN_OK;
+}
+
 void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
     UartModes uartMode = uartCookie.getUartMode();
     if(uartMode == UartModes::NON_CANONICAL) {

linux/uart/UartComIF.h

@@ -41,6 +41,21 @@ public:
     ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
             size_t *size) override;
 
+    /**
+     * @brief   This function discards all data received but not read in the UART buffer.
+     */
+    ReturnValue_t flushUartRxBuffer(CookieIF *cookie);
+
+    /**
+     * @brief   This function discards all data in the transmit buffer of the UART driver.
+     */
+    ReturnValue_t flushUartTxBuffer(CookieIF *cookie);
+
+    /**
+     * @brief   This function discards both data in the transmit and receive buffer of the UART.
+     */
+    ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie);
+
 private:
 
     using UartDeviceFile_t = std::string;

stm32h7/devicetest/GyroL3GD20H.cpp

@@ -517,7 +517,6 @@ uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
     txBuf[0] = reg | STM_READ_MASK;
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
     auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
-    if(result) {};
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
     return rxBuf[1];
 }

stm32h7/gpio/gpio.cpp

@@ -1,7 +1,5 @@
 #include "gpio.h"
 
-#include "stm32h7xx_hal_rcc.h"
-
 void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
 #ifdef GPIOA
     if(gpioPort == GPIOA) {

stm32h7/spi/SpiCookie.cpp

@@ -4,8 +4,8 @@
 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
         spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
         uint16_t chipSelectGpioPin, GPIO_TypeDef* chipSelectGpioPort, size_t maxRecvSize):
-        deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
-        transferMode(transferMode), chipSelectGpioPin(chipSelectGpioPin),
+        deviceAddress(deviceAddress), spiIdx(spiIdx), transferMode(transferMode),
+        spiSpeed(spiSpeed), spiMode(spiMode), chipSelectGpioPin(chipSelectGpioPin),
         chipSelectGpioPort(chipSelectGpioPort), mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
     spiHandle.Init.DataSize          = SPI_DATASIZE_8BIT;
     spiHandle.Init.FirstBit          = SPI_FIRSTBIT_MSB;