refactored fsfw_hal

bsp_stm32_freertos/core/ObjectFactory.cpp

@@ -65,11 +65,12 @@ void ObjectFactory::produce(void* args) {
 
 #if OBSW_PERFORM_L3GD20H_TEST == 1
 
-    new SpiComIF(objects::SPI_COM_IF, spi::TransferModes::POLLING);
+    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);
     auto gyroDevice = new GyroHandlerL3GD20H(objects::SPI_DEVICE_TEST, objects::SPI_COM_IF,
             spiCookie);
     gyroDevice->setStartUpImmediately();
+    gyroDevice->setGoNormalModeAtStartup();
 #endif
 }

common/stm32_nucleo/STM32TestTask.cpp

@@ -35,7 +35,7 @@ ReturnValue_t STM32TestTask::performOneShotAction() {
 }
 
 void STM32TestTask::performSpiL3gd20hTest() {
-    gyro = new GyroL3GD20H(&spiHandle, spi::TransferModes::POLLING);
+    gyro = new GyroL3GD20H(&spiHandle, spi::TransferModes::DMA);
     gyro->initialize();
     gyro->performOperation();
 }