example_hal.hpp

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#ifndef EXAMPLE_HAL_HPP
#define EXAMPLE_HAL_HPP
 
#include "TLE92466ED_HAL.hpp"
#include <thread>
 
namespace TLE92466ED {
 
class ExampleHAL : public HAL {
public:
    ExampleHAL(int spi_device = 0, int cs_pin = 10) noexcept
        : spi_device_(spi_device)
        , cs_pin_(cs_pin)
        , initialized_(false)
        , last_error_(HALError::None) {
    }
 
    [[nodiscard]] HALResult<void> init() noexcept override {
        // TODO: Replace with actual hardware initialization
        
        // 1. Initialize SPI peripheral
        // spi_init(spi_device_);
        
        // 2. Configure SPI parameters for TLE92466ED
        // spi_set_frequency(1000000);      // 1 MHz (can go up to 10 MHz)
        // spi_set_mode(0);                 // Mode 0 (CPOL=0, CPHA=0)
        // spi_set_bit_order(MSB_FIRST);    // MSB first
        // spi_set_bits_per_word(8);        // 8-bit transfers (we'll do 4 bytes)
        
        // 3. Initialize chip select pin as output (active low)
        // gpio_init(cs_pin_);
        // gpio_set_direction(cs_pin_, GPIO_OUTPUT);
        // gpio_set_level(cs_pin_, HIGH);   // CS inactive (high)
 
        initialized_ = true;
        last_error_ = HALError::None;
        return {};
    }
 
    [[nodiscard]] HALResult<void> deinit() noexcept override {
        // TODO: Replace with actual hardware deinitialization
        // spi_deinit(spi_device_);
        // gpio_deinit(cs_pin_);
 
        initialized_ = false;
        return {};
    }
 
    [[nodiscard]] HALResult<uint32_t> transfer32(uint32_t tx_data) noexcept override {
        if (!initialized_) {
            last_error_ = HALError::HardwareNotReady;
            return std::unexpected(HALError::HardwareNotReady);
        }
 
        // TODO: Replace with actual 32-bit SPI transfer
        uint32_t rx_data = 0;
 
        // Method 1: If your platform supports 32-bit SPI directly:
        // gpio_set_level(cs_pin_, LOW);
        // rx_data = spi_transfer_32bit(tx_data);
        // gpio_set_level(cs_pin_, HIGH);
 
        // Method 2: Transfer as 4 bytes (MSB first):
        // gpio_set_level(cs_pin_, LOW);
        // 
        // uint8_t tx_bytes[4];
        // tx_bytes[0] = (tx_data >> 24) & 0xFF;  // MSB (CRC)
        // tx_bytes[1] = (tx_data >> 16) & 0xFF;  // Address + R/W MSB
        // tx_bytes[2] = (tx_data >> 8) & 0xFF;   // Data MSB
        // tx_bytes[3] = (tx_data >> 0) & 0xFF;   // Data LSB
        // 
        // uint8_t rx_bytes[4];
        // for (int i = 0; i < 4; i++) {
        //     rx_bytes[i] = spi_transfer_byte(tx_bytes[i]);
        // }
        // 
        // rx_data = (static_cast<uint32_t>(rx_bytes[0]) << 24) |
        //           (static_cast<uint32_t>(rx_bytes[1]) << 16) |
        //           (static_cast<uint32_t>(rx_bytes[2]) << 8) |
        //           (static_cast<uint32_t>(rx_bytes[3]) << 0);
        // 
        // gpio_set_level(cs_pin_, HIGH);
 
        // For simulation/testing purposes only:
        rx_data = tx_data;  // Echo back for testing
 
        last_error_ = HALError::None;
        return rx_data;
    }
 
    [[nodiscard]] HALResult<void> transfer_multi(
        std::span<const uint32_t> tx_data,
        std::span<uint32_t> rx_data) noexcept override {
 
        if (!initialized_) {
            last_error_ = HALError::HardwareNotReady;
            return std::unexpected(HALError::HardwareNotReady);
        }
 
        if (tx_data.size() != rx_data.size()) {
            last_error_ = HALError::InvalidParameter;
            return std::unexpected(HALError::InvalidParameter);
        }
 
        // Assert chip select once for entire transfer
        auto cs_result = chip_select();
        if (!cs_result) {
            return cs_result;
        }
 
        // Transfer all words
        for (size_t i = 0; i < tx_data.size(); ++i) {
            auto result = transfer32(tx_data[i]);
            if (!result) {
                (void)chip_deselect();
                return std::unexpected(result.error());
            }
            rx_data[i] = *result;
        }
 
        // Deassert chip select
        return chip_deselect();
    }
 
    [[nodiscard]] HALResult<void> chip_select() noexcept override {
        // TODO: Replace with actual GPIO control
        // gpio_set_level(cs_pin_, LOW);
        
        last_error_ = HALError::None;
        return {};
    }
 
    [[nodiscard]] HALResult<void> chip_deselect() noexcept override {
        // TODO: Replace with actual GPIO control
        // gpio_set_level(cs_pin_, HIGH);
        
        last_error_ = HALError::None;
        return {};
    }
 
    [[nodiscard]] HALResult<void> delay(uint32_t microseconds) noexcept override {
        // TODO: Replace with platform-specific delay
        // Platform-specific examples:
        // - STM32: HAL_Delay(microseconds / 1000) for ms
        //          or use microsecond timer for µs precision
        // - ESP32: vTaskDelay(pdMS_TO_TICKS(microseconds / 1000))
        //          or esp_rom_delay_us(microseconds) for µs
        // - Arduino: delayMicroseconds(microseconds)
        // - Linux: usleep(microseconds)
 
        // For now, just return success (replace with actual delay)
        // Note: This is a placeholder - implement actual delay for your platform
        (void)microseconds;  // Suppress unused parameter warning
 
        return {};
    }
 
    [[nodiscard]] HALResult<void> configure(const SPIConfig& config) noexcept override {
        if (!initialized_) {
            last_error_ = HALError::HardwareNotReady;
            return std::unexpected(HALError::HardwareNotReady);
        }
 
        // TODO: Replace with actual SPI reconfiguration
        // spi_set_frequency(config.frequency);
        // spi_set_mode(config.mode);
        // spi_set_bit_order(config.msb_first ? MSB_FIRST : LSB_FIRST);
 
        config_ = config;
        last_error_ = HALError::None;
        return {};
    }
 
    [[nodiscard]] bool is_ready() const noexcept override {
        return initialized_;
    }
 
    [[nodiscard]] HALError get_last_error() const noexcept override {
        return last_error_;
    }
 
    [[nodiscard]] HALResult<void> clear_errors() noexcept override {
        last_error_ = HALError::None;
        return {};
    }
 
private:
    [[maybe_unused]] int spi_device_;        
    [[maybe_unused]] int cs_pin_;            
    bool initialized_;                       
    HALError last_error_;                    
    SPIConfig config_;                       
};
 
} // namespace TLE92466ED
 
#endif // EXAMPLE_HAL_HPP