44 lines
1.0 KiB
C++
44 lines
1.0 KiB
C++
#ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
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#define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
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#include "stm32h7xx_hal.h"
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#include "stm32h7xx_hal_spi.h"
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#include "../spi/spiDefinitions.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include <cstdint>
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#include <array>
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enum class TransferStates {
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IDLE,
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WAIT,
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SUCCESS,
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FAILURE
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};
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class GyroL3GD20H {
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public:
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GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
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ReturnValue_t initialize();
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ReturnValue_t performOperation();
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private:
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const uint8_t WHO_AM_I_REG = 0b00001111;
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const uint8_t STM_READ_MASK = 0b10000000;
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const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
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SPI_HandleTypeDef* spiHandle;
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spi::TransferModes transferMode;
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static constexpr size_t recvBufferSize = 32 * 10;
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static std::array<uint8_t, recvBufferSize> rxBuffer;
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std::array<uint8_t, 32> txBuffer;
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ReturnValue_t handleDmaTransfer();
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ReturnValue_t handlePollingTransfer();
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};
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#endif /* FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */
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