#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 EXPECTED_WHO_AM_I_VAL = 0b11010111;

    SPI_HandleTypeDef* spiHandle;
    spi::TransferModes transferMode;
    static constexpr size_t recvBufferSize = 32 * 10;
    static std::array<uint8_t, recvBufferSize> rxBuffer;
    std::array<uint8_t, 32> txBuffer;

    ReturnValue_t handleDmaTransfer();
    ReturnValue_t handlePollingTransfer();
};

#endif /*  FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */