#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 {
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();

    uint8_t readRegPolling(uint8_t reg);

    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
    static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);


    void prepareConfigRegs(uint8_t* configRegs);
    void handleSensorReadout();
};

#endif /*  FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */