From cdb7dbff07a9e71579d1a5e3e166ea960f70f751 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 10 Jun 2021 21:31:42 +0200
Subject: [PATCH] moved msp init to user

---
 bsp_stm32_freertos/core/ObjectFactory.cpp | 36 +++++++++++++++++++----
 fsfw_hal                                  |  2 +-
 2 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/bsp_stm32_freertos/core/ObjectFactory.cpp b/bsp_stm32_freertos/core/ObjectFactory.cpp
index 44849c3..f30b35d 100644
--- a/bsp_stm32_freertos/core/ObjectFactory.cpp
+++ b/bsp_stm32_freertos/core/ObjectFactory.cpp
@@ -10,8 +10,6 @@
 #include <common/stm32_nucleo/networking/TmTcLwIpUdpBridge.h>
 #include <common/stm32_nucleo/STM32TestTask.h>
 
-
-
 #include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/monitoring/MonitoringMessageContent.h>
 #include <fsfw/storagemanager/PoolManager.h>
@@ -19,11 +17,15 @@
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 
+
 #if OBSW_PERFORM_L3GD20H_TEST == 1
 #include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 #include "fsfw_hal/stm32h7/spi/SpiComIF.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
-
+#include "fsfw_hal/stm32h7/spi/stm32h743ziSpi.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+DMA_HandleTypeDef* txHandle = nullptr;
+DMA_HandleTypeDef* rxHandle = nullptr;
 #endif
 
 void ObjectFactory::produce(void* args) {
@@ -65,9 +67,31 @@ void ObjectFactory::produce(void* args) {
 
 #if OBSW_PERFORM_L3GD20H_TEST == 1
 
-    new SpiComIF(objects::SPI_COM_IF, spi::TransferModes::INTERRUPT);
-    auto spiCookie = new SpiCookie(0, spi::SpiBus::SPI_1, SPI1, 3900000, spi::SpiModes::MODE_3,
-            GPIO_PIN_14, GPIOD, 32);
+    spi::MspCfgBase* mspCfg = nullptr;
+    spi::TransferModes transferMode = spi::TransferModes::INTERRUPT;
+    if(transferMode == spi::TransferModes::POLLING) {
+        auto typedCfg = new spi::MspPollingConfigStruct();
+        spi::h743zi::standardPollingCfg(*typedCfg);
+        mspCfg = typedCfg;
+    }
+    else if(transferMode == spi::TransferModes::INTERRUPT) {
+        auto typedCfg = new spi::MspIrqConfigStruct();
+        spi::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
+        mspCfg = typedCfg;
+    }
+    else if(transferMode == spi::TransferModes::DMA) {
+        auto typedCfg = new spi::MspDmaConfigStruct();
+        txHandle = new DMA_HandleTypeDef();
+        rxHandle = new DMA_HandleTypeDef();
+        spi::setDmaHandles(txHandle, rxHandle);
+        spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
+                IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
+        mspCfg = typedCfg;
+    }
+
+    new SpiComIF(objects::SPI_COM_IF);
+    auto spiCookie = new SpiCookie(0, spi::SpiBus::SPI_1, transferMode, mspCfg, 3900000,
+            spi::SpiModes::MODE_3, GPIO_PIN_14, GPIOD, 32);
     auto gyroDevice = new GyroHandlerL3GD20H(objects::SPI_DEVICE_TEST, objects::SPI_COM_IF,
             spiCookie);
     gyroDevice->setStartUpImmediately();
diff --git a/fsfw_hal b/fsfw_hal
index 8f61c23..621fe97 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 8f61c23e624e55e44c3410f0204010559e2bd7d9
+Subproject commit 621fe97d5d06cc358e46caf76e8a9f8826e5b919