Merge pull request 'Release v4.0.0' (#554) from development into master

Reviewed-on: fsfw/fsfw#554

CHANGELOG.md

@@ -1,4 +1,214 @@
-# Changed from ASTP 1.1.0 to 1.2.0
+Change Log
+=======
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+# [unreleased]
+
+# [v4.0.0]
+
+## Additions
+
+- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
+  allow sending of CFDP packets to the CCSDS handlers.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
+- added virtual function to print datasets
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
+- doSendRead Hook
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
+- Dockumentation for DHB
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
+  
+### HAL additions
+
+- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
+- uio Mapper
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
+
+## Changes
+
+- Applied the `clang-format` auto-formatter to all source code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
+- Updated Catch2 to v3.0.0-preview4
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
+- Changed CI to use prebuilt docker image
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
+
+## Bugfix
+
+- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
+  if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
+  could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
+- Fix for build regression in Catch2 v3.0.0-preview4
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
+- Fix in unittest which failed on CI
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
+- Fix in helper script
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
+
+## API Changes
+
+- Aforementioned changes to existing TMTC stack
+
+## Known bugs
+
+- 
+
+# [v3.0.1]
+
+## API Changes
+
+* 
+
+## Bugfixes
+
+* Version number was not updated for v3.0.0 #542
+
+## Enhancement
+
+* 
+
+## Known bugs
+
+* 
+
+# [v3.0.0]
+
+## API Changes
+
+#### TCP Socket Changes
+
+* Keep Open TCP Implementation #496
+    * The socket will now kept open after disconnect. This allows reconnecting. 
+    * Only one connection is allowed
+    * No internal influence but clients need to change their Code.
+
+### GPIO IF
+
+* Add feature to open GPIO by line name #506
+
+### Bitutil
+
+* Unittests for Op Divider and Bitutility #510
+
+### Filesystem IF changed
+
+*  Filesystem Base Interface: Use IF instead of void pointer #511 
+
+### STM32
+
+* STM32 SPI Updates #518
+
+## Bugfixes
+
+* Small bugfix for LIS3 handler #504
+* Spelling fixed for function names #509
+* CMakeLists fixes #517
+* Out of bound reads and writes in unittests #519
+* Bug in TmPacketStoredPusC (#478)
+* Windows ifdef fixed #529
+
+## Enhancement
+
+* FSFW.h.in more default values #491
+* Minor updates for PUS services #498
+* HasReturnvaluesIF naming for parameter #499
+* Tests can now be built as part of FSFW and versioning moved to CMake #500
+*  Added integration test code #508 
+* More printouts for rejected TC packets #505
+* Arrayprinter format improvements #514
+* Adding code for CI with docker and jenkins #520
+* Added new function in SerializeAdapter  #513
+    *  Enables simple deSerialize if you keep track of the buffer position yourself
+    *  `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
+            size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
+* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser  #525
+    * ``'-o', '--open', Open coverage data in webbrowser`` 
+* Documentation updated. Sphinx Documentation can now be build with python script #526
+
+## Known bugs
+
+* Version number was not updated for v3.0.0 #542
+
+
+All Pull Requests:
+
+Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
+
+# [v2.0.0]
+
+## API Changes
+
+
+### File Structure changed to fit more common structure
+
+* See pull request (#445)
+  * HAL is now part of the main project
+    * **See Instructions below:**
+
+#### Instruction how to update existing / user code
+
+* Changes in `#include`:
+  * Rename `internalError` in includes to `internalerror`
+  * Rename `fsfw/hal` to `fsfw_hal`
+  * Rename `fsfw/tests` to `fsfw_tests`
+  * Rename `osal/FreeRTOS` to `osal/freertos`
+
+* Changes in `CMakeLists.txt`: 
+  * Rename `OS_FSFW` to `FSFW_OSAL`
+
+* Changes in `DleEncoder.cpp`
+    * Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
+
+### Removed osal/linux/Timer (#486)
+
+* Was redundant to timemanager/Countdown
+
+#### Instruction how to update existing / user code
+
+* Use timemanager/Countdown instead
+
+## Bugfixes
+
+### TM Stack
+
+* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
+
+#### Host OSAL / FreeRTOS 
+
+* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
+
+#### Events
+
+* Event output is now consistent (#447)
+
+#### DLE Encoder
+
+* Fixed possible out of bounds access in DLE Encoder (#492)
+
+## Enhancment
+
+* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
+* Linux HAL updates (#456)
+* FreeRTOS Header cleaning update and Cmake tweaks (#442)
+* Printer updates (#453)
+* New returnvalue for for empty PST (#485)
+* TMTC Bridge: Increase limit of packets stored (#484)
+
+## Known bugs
+
+* Bug in TmPacketStoredPusC (#478)
+
+
+All Pull Requests:
+
+Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
+
+# [v1.2.0]
 
 ## API Changes
 
@@ -27,7 +237,7 @@
 
 - See API changes chapter. This change will keep the internal API consistent in the future
 
-# Changes from ASTP 1.0.0 to 1.1.0
+# [v1.1.0]
 
 ## API Changes
 

CMakeLists.txt

@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.13)
 
-set(FSFW_VERSION 3)
+set(FSFW_VERSION 4)
 set(FSFW_SUBVERSION 0)
-set(FSFW_REVISION 1)
+set(FSFW_REVISION 0)
 
 # Add the cmake folder so the FindSphinx module is found
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
@@ -56,10 +56,12 @@ if(FSFW_BUILD_UNITTESTS)
         FetchContent_Declare(
             Catch2
             GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        v3.0.0-preview3
+            GIT_TAG        v3.0.0-preview4
         )
 
         FetchContent_MakeAvailable(Catch2)
+        #fixes regression -preview4, to be confirmed in later releases
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
     endif()
 
     set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
@@ -90,7 +92,7 @@ set(FSFW_CORE_INC_PATH "inc")
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
-# Configure Files
+# For configure files
 target_include_directories(${LIB_FSFW_NAME} PRIVATE
     ${CMAKE_CURRENT_BINARY_DIR}
 )
@@ -152,13 +154,8 @@ else()
     set(OS_FSFW "host")
 endif()
 
-if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS)
+configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
-    configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
+configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
-    configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
-else()
-    configure_file(src/fsfw/FSFW.h.in FSFW.h)
-    configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
-endif()
 
 message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 
@@ -197,13 +194,13 @@ if(FSFW_BUILD_UNITTESTS)
                     "--exclude-unreachable-branches"
                 )
                 set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*"
+                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
                 )
             elseif(UNIX)
                 set(COVERAGE_EXCLUDES
                     "/usr/include/*" "/usr/bin/*" "Catch2/*"
                     "/usr/local/include/*" "*/fsfw_tests/*"
-                    "*/catch2-src/*"
+                    "*/catch2-src/*" "*/fsfw_hal/*"
                 )
             endif()
 

README.md

@@ -91,7 +91,7 @@ You can use the following commands inside the `fsfw` folder to set up the build
 
 ```sh
 mkdir build-Unittest && cd build-Unittest
-cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 
 You can also use `-DFSFW_OSAL=linux` on Linux systems.
@@ -107,6 +107,42 @@ cmake --build . -- fsfw-tests_coverage -j
 
 The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
 
+## Building the documentations
+
+The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
+instructions provided in  [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
+want to do this locally, set up the prerequisites first. This requires a ``python3``
+installation as well. Example here is for Ubuntu.
+
+```sh
+sudo apt-get install doxygen graphviz
+```
+
+And the following Python packages
+
+```sh
+python3 -m pip install sphinx breathe
+```
+
+You can set up a documentation build system using the following commands
+
+```sh
+mkdir build-docs && cd build-docs
+cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
+```
+
+Then you can generate the documentation using
+
+```sh
+cmake --build . -j
+```
+
+You can find the generated documentation inside the `docs/sphinx` folder inside the build
+folder. Simply open the `index.html` in the webbrowser of your choice.
+
+The `helper.py` script located in the script` folder can also be used to create, build
+and open the documentation conveniently. Try `helper.py -h for more information.
+
 ## Formatting the sources
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the

automation/Dockerfile

@@ -5,4 +5,4 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping

automation/Jenkinsfile

@@ -1,28 +1,17 @@
 pipeline {
-    agent any
     environment {
-        BUILDDIR = 'build-unittests'
+        BUILDDIR = 'build-tests'
+    }
+    agent {
+        docker { image 'fsfw-ci:d1'}
     }
     stages {
-        stage('Create Docker') {
+        stage('Clean') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    additionalBuildArgs  '--no-cache'
-                    reuseNode true
-                }
-            }
             steps {
                 sh 'rm -rf $BUILDDIR'
             }
         }
         stage('Configure') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
             steps {
                 dir(BUILDDIR) {
                     sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
@@ -30,12 +19,6 @@ pipeline {
             }
         }
         stage('Build') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
             steps {
                 dir(BUILDDIR) {
                     sh 'cmake --build . -j'
@@ -43,12 +26,6 @@ pipeline {
             }
         }
         stage('Unittests') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
             steps {
                 dir(BUILDDIR) {
                     sh 'cmake --build . -- fsfw-tests_coverage -j'
@@ -56,12 +33,6 @@ pipeline {
             }
         }
         stage('Valgrind') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
             steps {
                 dir(BUILDDIR) {
                     sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'

docs/devicehandlers.rst

@@ -1,3 +1,110 @@
+.. _dhb-prim-doc:
+
 Device Handlers
 ==================
 
+Device handler components represent, control and monitor equipment, for example sensors or actuators
+of a spacecraft or the payload.
+
+Most device handlers have the same common functionality or
+requirements, which are fulfilled by implementing certain interfaces:
+
+- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
+- The handler needs to communicate with the physical device via a dedicated
+  communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
+- The handler has housekeeping data which has to be exposed to the operator and/or other software
+  components: :cpp:class:`HasLocalDataPoolIF`
+- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
+  also implements :cpp:class:`HasParametersIF`
+- The handler has health states, for example to indicate a broken device:
+  :cpp:class:`HasHealthIF`
+- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
+  and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
+  but that it is not periodically polling data from the
+  physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
+
+The device handler base therefore provides abstractions for a lot of common
+functionality, which can potentially avoid high amounts or logic and code duplication.
+
+Template Device Handler Base File
+----------------------------------
+
+This is an example template device handler header file with all necessary
+functions implemented:
+
+.. code-block:: cpp
+
+	#ifndef __TESTDEVICEHANDLER_H_
+	#define __TESTDEVICEHANDLER_H_
+
+	#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+	class TestDeviceHandler: DeviceHandlerBase {
+	public:
+	  TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
+	private:
+	  void doStartUp() override;
+	  void doShutDown() override;
+	  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+	  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+	  void fillCommandAndReplyMap() override;
+	  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+	                                        size_t commandDataLen) override;
+	  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+	                             size_t* foundLen) override;
+	  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+	  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+	  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                                        LocalDataPoolManager& poolManager) override;
+
+	};
+
+	#endif /* __TESTDEVICEHANDLER_H_ */
+
+and the respective source file with sensible default return values:
+
+.. code-block:: cpp
+
+	#include "TestDeviceHandler.h"
+
+	TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
+	    : DeviceHandlerBase(objectId, comIF, cookie) {}
+
+	void TestDeviceHandler::doStartUp() {}
+
+	void TestDeviceHandler::doShutDown() {}
+
+	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void TestDeviceHandler::fillCommandAndReplyMap() {}
+
+	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+	                                                         const uint8_t* commandData,
+	                                                         size_t commandDataLen) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
+	                                                      const uint8_t* packet) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+	  return 10000;
+	}
+
+	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                                                         LocalDataPoolManager& poolManager) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}

docs/getting_started.rst

@@ -90,8 +90,21 @@ Building the documentation
 ----------------------------
 
 The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
-instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a
+instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
-documentation build system using the following commands
+want to do this locally, set up the prerequisites first. This requires a ``python3``
+installation as well. Example here is for Ubuntu.
+
+.. code-block:: console
+
+   sudo apt-get install doxygen graphviz
+
+And the following Python packages
+
+.. code-block:: console
+
+   python3 -m pip install sphinx breathe
+
+You can set up a documentation build system using the following commands
 
 .. code-block:: bash
 
@@ -110,6 +123,14 @@ folder. Simply open the ``index.html`` in the webbrowser of your choice.
 The ``helper.py`` script located in the ``script`` folder can also be used to create, build
 and open the documentation conveniently. Try ``helper.py -h`` for more information.
 
+Formatting the source
+-----------------------
+
+The formatting is done by the ``clang-format`` tool. The configuration is contained within the
+``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
+can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
+
+
 .. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
 .. _`Catch2 library`: https://github.com/catchorg/Catch2
 .. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

docs/highlevel.rst

@@ -118,7 +118,7 @@ The DH has mechanisms to monitor the communication with the physical device whic
 for FDIR reaction.  Device Handlers can be created by implementing ``DeviceHandlerBase``.
 A standard FDIR component for the DH will be created automatically but can
 be overwritten by the user. More information on DeviceHandlers can be found in the
-related [documentation section](doc/README-devicehandlers.md#top).
+related :ref:`documentation section <dhb-prim-doc>`.
 
 Modes and Health
 --------------------

hal/CMakeLists.txt

@@ -3,7 +3,13 @@ cmake_minimum_required(VERSION 3.13)
 # Can also be changed by upper CMakeLists.txt file
 find_library(LIB_FSFW_NAME fsfw REQUIRED)
 
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF)
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
 option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

hal/src/fsfw_hal/CMakeLists.txt

@@ -1,7 +1,7 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
 
-if(FSFW_HAL_ADD_LINUX)
+if(UNIX)
     add_subdirectory(linux)
 endif()
 

hal/src/fsfw_hal/common/gpio/GpioCookie.cpp

@@ -1,50 +1,48 @@
 #include "fsfw_hal/common/gpio/GpioCookie.h"
+
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-GpioCookie::GpioCookie() {
+GpioCookie::GpioCookie() {}
-}
 
 ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
-    if (gpioConfig == nullptr) {
+  if (gpioConfig == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
+    sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
 #else
-        sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
+    sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
-#endif
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    auto gpioMapIter = gpioMap.find(gpioId);
-    if(gpioMapIter == gpioMap.end()) {
-        auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
-        if (statusPair.second == false) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
-                    " to GPIO map" << std::endl;
-#else
-            sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
-#endif
-#endif
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
-#else
-    sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
-#endif
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  auto gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+    auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
+    if (statusPair.second == false) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
+                   << std::endl;
+#else
+      sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
+#endif
+#endif
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
+#else
+  sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
+#endif
+#endif
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-GpioMap GpioCookie::getGpioMap() const {
+GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
-    return gpioMap;
-}
 
 GpioCookie::~GpioCookie() {
-    for(auto& config: gpioMap) {
+  for (auto& config : gpioMap) {
-        delete(config.second);
+    delete (config.second);
-    }
+  }
 }

hal/src/fsfw_hal/common/gpio/GpioCookie.h

@@ -1,12 +1,12 @@
 #ifndef COMMON_GPIO_GPIOCOOKIE_H_
 #define COMMON_GPIO_GPIOCOOKIE_H_
 
-#include "GpioIF.h"
-#include "gpioDefinitions.h"
-
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
+#include "GpioIF.h"
+#include "gpioDefinitions.h"
+
 /**
  * @brief   Cookie for the GpioIF. Allows the GpioIF to determine which
  * 			GPIOs to initialize and whether they should be configured as in- or
@@ -17,25 +17,24 @@
  *
  * @author 	J. Meier
  */
-class GpioCookie: public CookieIF {
+class GpioCookie : public CookieIF {
-public:
+ public:
+  GpioCookie();
 
-    GpioCookie();
+  virtual ~GpioCookie();
 
-    virtual ~GpioCookie();
+  ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
 
-    ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
+  /**
+   * @brief	Get map with registered GPIOs.
+   */
+  GpioMap getGpioMap() const;
 
-    /**
+ private:
-     * @brief	Get map with registered GPIOs.
+  /**
-     */
+   * Returns a copy of the internal GPIO map.
-    GpioMap getGpioMap() const;
+   */
-
+  GpioMap gpioMap;
-private:
-    /**
-     * Returns a copy of the internal GPIO map.
-     */
-    GpioMap gpioMap;
 };
 
 #endif /* COMMON_GPIO_GPIOCOOKIE_H_ */

hal/src/fsfw_hal/common/gpio/GpioIF.h

@@ -1,9 +1,10 @@
 #ifndef COMMON_GPIO_GPIOIF_H_
 #define COMMON_GPIO_GPIOIF_H_
 
-#include "gpioDefinitions.h"
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include "gpioDefinitions.h"
 
 class GpioCookie;
 
@@ -13,42 +14,41 @@ class GpioCookie;
  * @author	J. Meier
  */
 class GpioIF : public HasReturnvaluesIF {
-public:
+ public:
+  virtual ~GpioIF(){};
 
-	virtual ~GpioIF() {};
+  /**
+   * @brief   Called by the GPIO using object.
+   * @param cookie	Cookie specifying informations of the GPIOs required
+   * 					by a object.
+   */
+  virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
 
-	/**
+  /**
-	 * @brief   Called by the GPIO using object.
+   * @brief	By implementing this function a child must provide the
-	 * @param cookie	Cookie specifying informations of the GPIOs required
+   * 			functionality to pull a certain GPIO to high logic level.
-	 * 					by a object.
+   *
-	 */
+   * @param gpioId	A unique number which specifies the GPIO to drive.
-	virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
+   * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
+   */
+  virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
 
-	/**
+  /**
-	 * @brief	By implementing this function a child must provide the
+   * @brief	By implementing this function a child must provide the
-	 * 			functionality to pull a certain GPIO to high logic level.
+   * 			functionality to pull a certain GPIO to low logic level.
-	 *
+   *
-	 * @param gpioId	A unique number which specifies the GPIO to drive.
+   * @param gpioId	A unique number which specifies the GPIO to drive.
-	 * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
+   */
-	 */
+  virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
-	virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
 
-	/**
+  /**
-	 * @brief	By implementing this function a child must provide the
+   * @brief   This function requires a child to implement the functionality to read the state of
-	 * 			functionality to pull a certain GPIO to low logic level.
+   *          an ouput or input gpio.
-	 *
+   *
-	 * @param gpioId	A unique number which specifies the GPIO to drive.
+   * @param gpioId    A unique number which specifies the GPIO to read.
-	 */
+   * @param gpioState State of GPIO will be written to this pointer.
-	virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
+   */
-
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
-	/**
-     * @brief   This function requires a child to implement the functionality to read the state of
-     *          an ouput or input gpio.
-     *
-     * @param gpioId    A unique number which specifies the GPIO to read.
-     * @param gpioState State of GPIO will be written to this pointer.
-     */
-    virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
 };
 
 #endif /* COMMON_GPIO_GPIOIF_H_ */

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -1,44 +1,34 @@
 #ifndef COMMON_GPIO_GPIODEFINITIONS_H_
 #define COMMON_GPIO_GPIODEFINITIONS_H_
 
+#include <map>
 #include <string>
 #include <unordered_map>
-#include <map>
 
 using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels: uint8_t {
+enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
-    LOW = 0,
-    HIGH = 1,
-    NONE = 99
-};
 
-enum Direction: uint8_t {
+enum Direction : uint8_t { IN = 0, OUT = 1 };
-    IN = 0,
-    OUT = 1
-};
 
-enum GpioOperation {
+enum GpioOperation { READ, WRITE };
-    READ,
-    WRITE
-};
 
 enum class GpioTypes {
-    NONE,
+  NONE,
-    GPIO_REGULAR_BY_CHIP,
+  GPIO_REGULAR_BY_CHIP,
-    GPIO_REGULAR_BY_LABEL,
+  GPIO_REGULAR_BY_LABEL,
-    GPIO_REGULAR_BY_LINE_NAME,
+  GPIO_REGULAR_BY_LINE_NAME,
-    CALLBACK
+  CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
 
-using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
+using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
-        void* args);
+                           void* args);
 
-}
+}  // namespace gpio
 
 /**
  * @brief   Struct containing information about the GPIO to use. This is
@@ -55,78 +45,71 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::L
  *                      pointer.
  */
 class GpioBase {
-public:
+ public:
+  GpioBase() = default;
 
-    GpioBase() = default;
+  GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+           gpio::Levels initValue)
+      : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
 
-    GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+  virtual ~GpioBase(){};
-            gpio::Levels initValue):
-            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
 
-    virtual~ GpioBase() {};
+  // Can be used to cast GpioBase to a concrete child implementation
-
+  gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
-    // Can be used to cast GpioBase to a concrete child implementation
+  std::string consumer;
-    gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
+  gpio::Direction direction = gpio::Direction::IN;
-    std::string consumer;
+  gpio::Levels initValue = gpio::Levels::NONE;
-    gpio::Direction direction = gpio::Direction::IN;
-    gpio::Levels initValue = gpio::Levels::NONE;
 };
 
-class GpiodRegularBase: public GpioBase {
+class GpiodRegularBase : public GpioBase {
-public:
+ public:
-    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+  GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            gpio::Levels initValue, int lineNum):
+                   gpio::Levels initValue, int lineNum)
-            GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
+      : GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
-    }
 
-    // line number will be configured at a later point for the open by line name configuration
+  // line number will be configured at a later point for the open by line name configuration
-    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+  GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
+                   gpio::Levels initValue)
-    }
+      : GpioBase(gpioType, consumer, direction, initValue) {}
 
-    int lineNum = 0;
+  int lineNum = 0;
-    struct gpiod_line* lineHandle = nullptr;
+  struct gpiod_line* lineHandle = nullptr;
 };
 
-class GpiodRegularByChip: public GpiodRegularBase {
+class GpiodRegularByChip : public GpiodRegularBase {
-public:
+ public:
-    GpiodRegularByChip() :
+  GpiodRegularByChip()
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
-                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+                         gpio::LOW, 0) {}
-    }
 
-    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
+  GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, gpio::Levels initValue_) :
+                     gpio::Direction direction_, gpio::Levels initValue_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, direction_, initValue_,
-                    consumer_, direction_, initValue_, lineNum_),
+                         lineNum_),
-            chipname(chipname_){
+        chipname(chipname_) {}
-    }
 
-    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
+  GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
+                         gpio::LOW, lineNum_),
-            chipname(chipname_) {
+        chipname(chipname_) {}
-    }
 
-    std::string chipname;
+  std::string chipname;
 };
 
-class GpiodRegularByLabel: public GpiodRegularBase {
+class GpiodRegularByLabel : public GpiodRegularBase {
-public:
+ public:
-    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
+  GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, gpio::Levels initValue_) :
+                      gpio::Direction direction_, gpio::Levels initValue_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, direction_, initValue_,
-                    direction_, initValue_, lineNum_),
+                         lineNum_),
-            label(label_) {
+        label(label_) {}
-    }
 
-    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
+  GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
+                         gpio::LOW, lineNum_),
-            label(label_) {
+        label(label_) {}
-    }
 
-    std::string label;
+  std::string label;
 };
 
 /**
@@ -134,34 +117,34 @@ public:
  *          line name. This line name can be set in the device tree and must be unique. Otherwise
  *          the driver will open the first line with the given name.
  */
-class GpiodRegularByLineName: public GpiodRegularBase {
+class GpiodRegularByLineName : public GpiodRegularBase {
-public:
+ public:
-    GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
+  GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
-            gpio::Levels initValue_) :
+                         gpio::Levels initValue_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
-                    initValue_), lineName(lineName_) {
+                         initValue_),
-    }
+        lineName(lineName_) {}
 
-    GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
+  GpiodRegularByLineName(std::string lineName_, std::string consumer_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
-                    gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
+                         gpio::LOW),
-    }
+        lineName(lineName_) {}
 
-    std::string lineName;
+  std::string lineName;
 };
 
-class GpioCallback: public GpioBase {
+class GpioCallback : public GpioBase {
-public:
+ public:
-    GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
+  GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
-            gpio::gpio_cb_t callback, void* callbackArgs):
+               gpio::gpio_cb_t callback, void* callbackArgs)
-            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+      : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
-            callback(callback), callbackArgs(callbackArgs) {}
+        callback(callback),
+        callbackArgs(callbackArgs) {}
 
-    gpio::gpio_cb_t callback = nullptr;
+  gpio::gpio_cb_t callback = nullptr;
-    void* callbackArgs = nullptr;
+  void* callbackArgs = nullptr;
 };
 
-
 using GpioMap = std::map<gpioId_t, GpioBase*>;
 using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
 using GpioMapIter = GpioMap::iterator;

hal/src/fsfw_hal/common/spi/spiCommon.h

@@ -5,12 +5,7 @@
 
 namespace spi {
 
-enum SpiModes: uint8_t {
+enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
-    MODE_0,
-    MODE_1,
-    MODE_2,
-    MODE_3
-};
 
 }
 

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -1,287 +1,274 @@
 #include "GyroL3GD20Handler.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
-
 #include <cmath>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie, uint32_t transitionDelayMs):
+                                       CookieIF *comCookie, uint32_t transitionDelayMs)
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        transitionDelayMs(transitionDelayMs), dataset(this) {
+      transitionDelayMs(transitionDelayMs),
+      dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+  debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
 void GyroHandlerL3GD20H::doStartUp() {
-    if(internalState == InternalState::NONE) {
+  if (internalState == InternalState::NONE) {
-        internalState = InternalState::CONFIGURE;
+    internalState = InternalState::CONFIGURE;
-    }
+  }
 
-    if(internalState == InternalState::CONFIGURE) {
+  if (internalState == InternalState::CONFIGURE) {
-        if(commandExecuted) {
+    if (commandExecuted) {
-            internalState = InternalState::CHECK_REGS;
+      internalState = InternalState::CHECK_REGS;
-            commandExecuted = false;
+      commandExecuted = false;
-        }
     }
+  }
 
-    if(internalState == InternalState::CHECK_REGS) {
+  if (internalState == InternalState::CHECK_REGS) {
-        if(commandExecuted) {
+    if (commandExecuted) {
-            internalState = InternalState::NORMAL;
+      internalState = InternalState::NORMAL;
-            if(goNormalModeImmediately) {
+      if (goNormalModeImmediately) {
-                setMode(MODE_NORMAL);
+        setMode(MODE_NORMAL);
-            }
+      } else {
-            else {
+        setMode(_MODE_TO_ON);
-                setMode(_MODE_TO_ON);
+      }
-            }
+      commandExecuted = false;
-            commandExecuted = false;
-        }
     }
+  }
 }
 
-void GyroHandlerL3GD20H::doShutDown() {
+void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
-    setMode(_MODE_POWER_DOWN);
-}
 
 ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-    switch(internalState) {
+  switch (internalState) {
-    case(InternalState::NONE):
+    case (InternalState::NONE):
-    case(InternalState::NORMAL): {
+    case (InternalState::NORMAL): {
-        return NOTHING_TO_SEND;
+      return NOTHING_TO_SEND;
     }
-    case(InternalState::CONFIGURE): {
+    case (InternalState::CONFIGURE): {
-        *id = L3GD20H::CONFIGURE_CTRL_REGS;
+      *id = L3GD20H::CONFIGURE_CTRL_REGS;
-        uint8_t command [5];
+      uint8_t command[5];
-        command[0] = L3GD20H::CTRL_REG_1_VAL;
+      command[0] = L3GD20H::CTRL_REG_1_VAL;
-        command[1] = L3GD20H::CTRL_REG_2_VAL;
+      command[1] = L3GD20H::CTRL_REG_2_VAL;
-        command[2] = L3GD20H::CTRL_REG_3_VAL;
+      command[2] = L3GD20H::CTRL_REG_3_VAL;
-        command[3] = L3GD20H::CTRL_REG_4_VAL;
+      command[3] = L3GD20H::CTRL_REG_4_VAL;
-        command[4] = L3GD20H::CTRL_REG_5_VAL;
+      command[4] = L3GD20H::CTRL_REG_5_VAL;
-        return buildCommandFromCommand(*id, command, 5);
+      return buildCommandFromCommand(*id, command, 5);
     }
-    case(InternalState::CHECK_REGS): {
+    case (InternalState::CHECK_REGS): {
-        *id = L3GD20H::READ_REGS;
+      *id = L3GD20H::READ_REGS;
-        return buildCommandFromCommand(*id, nullptr, 0);
+      return buildCommandFromCommand(*id, nullptr, 0);
     }
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        /* Might be a configuration error. */
+      /* Might be a configuration error. */
-        sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
+      sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state!" << std::endl;
+                      "Unknown internal state!"
+                   << std::endl;
 #else
-        sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
+      sif::printDebug(
-                "Unknown internal state!\n");
+          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
+          "Unknown internal state!\n");
 #endif
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-    *id = L3GD20H::READ_REGS;
+  *id = L3GD20H::READ_REGS;
-    return buildCommandFromCommand(*id, nullptr, 0);
+  return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
+ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                                          const uint8_t *commandData,
-        size_t commandDataLen) {
+                                                          size_t commandDataLen) {
-    switch(deviceCommand) {
+  switch (deviceCommand) {
-    case(L3GD20H::READ_REGS): {
+    case (L3GD20H::READ_REGS): {
-        commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
-        std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
+      std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = L3GD20H::READ_LEN + 1;
+      rawPacketLen = L3GD20H::READ_LEN + 1;
-        break;
+      break;
     }
-    case(L3GD20H::CONFIGURE_CTRL_REGS): {
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
-        commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
+      commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
-        if(commandData == nullptr or commandDataLen != 5) {
+      if (commandData == nullptr or commandDataLen != 5) {
-            return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-        }
+      }
 
-        ctrlReg1Value = commandData[0];
+      ctrlReg1Value = commandData[0];
-        ctrlReg2Value = commandData[1];
+      ctrlReg2Value = commandData[1];
-        ctrlReg3Value = commandData[2];
+      ctrlReg3Value = commandData[2];
-        ctrlReg4Value = commandData[3];
+      ctrlReg4Value = commandData[3];
-        ctrlReg5Value = commandData[4];
+      ctrlReg5Value = commandData[4];
 
-        bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
+      bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
-        bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
+      bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
 
-        if(not fsH and not fsL) {
+      if (not fsH and not fsL) {
-            sensitivity = L3GD20H::SENSITIVITY_00;
+        sensitivity = L3GD20H::SENSITIVITY_00;
-        }
+      } else if (not fsH and fsL) {
-        else if(not fsH and fsL) {
+        sensitivity = L3GD20H::SENSITIVITY_01;
-            sensitivity = L3GD20H::SENSITIVITY_01;
+      } else {
-        }
+        sensitivity = L3GD20H::SENSITIVITY_11;
-        else {
+      }
-            sensitivity = L3GD20H::SENSITIVITY_11;
-        }
 
-        commandBuffer[1] = ctrlReg1Value;
+      commandBuffer[1] = ctrlReg1Value;
-        commandBuffer[2] = ctrlReg2Value;
+      commandBuffer[2] = ctrlReg2Value;
-        commandBuffer[3] = ctrlReg3Value;
+      commandBuffer[3] = ctrlReg3Value;
-        commandBuffer[4] = ctrlReg4Value;
+      commandBuffer[4] = ctrlReg4Value;
-        commandBuffer[5] = ctrlReg5Value;
+      commandBuffer[5] = ctrlReg5Value;
 
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 6;
+      rawPacketLen = 6;
-        break;
+      break;
     }
-    case(L3GD20H::READ_CTRL_REGS): {
+    case (L3GD20H::READ_CTRL_REGS): {
-        commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
-                L3GD20H::READ_MASK;
 
-        std::memset(commandBuffer + 1, 0, 5);
+      std::memset(commandBuffer + 1, 0, 5);
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 6;
+      rawPacketLen = 6;
-        break;
+      break;
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
-        DeviceCommandId_t *foundId, size_t *foundLen) {
+                                               DeviceCommandId_t *foundId, size_t *foundLen) {
-    // For SPI, the ID will always be the one of the last sent command
+  // For SPI, the ID will always be the one of the last sent command
-    *foundId = this->getPendingCommand();
+  *foundId = this->getPendingCommand();
-    *foundLen = this->rawPacketLen;
+  *foundLen = this->rawPacketLen;
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
-        const uint8_t *packet) {
+                                                       const uint8_t *packet) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    switch(id) {
+  switch (id) {
-    case(L3GD20H::CONFIGURE_CTRL_REGS): {
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
+      commandExecuted = true;
+      break;
+    }
+    case (L3GD20H::READ_CTRL_REGS): {
+      if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
+          packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
+          packet[5] == ctrlReg5Value) {
         commandExecuted = true;
-        break;
+      } else {
+        // Attempt reconfiguration
+        internalState = InternalState::CONFIGURE;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      }
+      break;
     }
-    case(L3GD20H::READ_CTRL_REGS): {
+    case (L3GD20H::READ_REGS): {
-        if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
+      if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
-                packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
+          packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
-                packet[5] == ctrlReg5Value) {
+          packet[5] != ctrlReg5Value) {
-            commandExecuted = true;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
+      } else {
-        else {
+        if (internalState == InternalState::CHECK_REGS) {
-            // Attempt reconfiguration
+          commandExecuted = true;
-            internalState = InternalState::CONFIGURE;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        break;
-    }
-    case(L3GD20H::READ_REGS): {
-        if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
-                packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
-                packet[5] != ctrlReg5Value) {
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        else {
-            if(internalState == InternalState::CHECK_REGS) {
-                commandExecuted = true;
-            }
         }
+      }
 
-        statusReg = packet[L3GD20H::STATUS_IDX];
+      statusReg = packet[L3GD20H::STATUS_IDX];
 
-        int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
+      int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
-        int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
+      int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
-        int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
+      int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
-        float angVelocX = angVelocXRaw * sensitivity;
+      float angVelocX = angVelocXRaw * sensitivity;
-        float angVelocY = angVelocYRaw * sensitivity;
+      float angVelocY = angVelocYRaw * sensitivity;
-        float angVelocZ = angVelocZRaw * sensitivity;
+      float angVelocZ = angVelocZRaw * sensitivity;
 
-        int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
+      int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
-        float temperature = 25.0 + temperaturOffset;
+      float temperature = 25.0 + temperaturOffset;
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-        if(debugDivider->checkAndIncrement()) {
+      if (debugDivider->checkAndIncrement()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
+        /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
+        sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-            sif::info << "X: " << angVelocX << std::endl;
+        sif::info << "X: " << angVelocX << std::endl;
-            sif::info << "Y: " << angVelocY << std::endl;
+        sif::info << "Y: " << angVelocY << std::endl;
-            sif::info << "Z: " << angVelocZ << std::endl;
+        sif::info << "Z: " << angVelocZ << std::endl;
 #else
-            sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
+        sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
-            sif::printInfo("X: %f\n", angVelocX);
+        sif::printInfo("X: %f\n", angVelocX);
-            sif::printInfo("Y: %f\n", angVelocY);
+        sif::printInfo("Y: %f\n", angVelocY);
-            sif::printInfo("Z: %f\n", angVelocZ);
+        sif::printInfo("Z: %f\n", angVelocZ);
 #endif
-        }
+      }
 #endif
 
-        PoolReadGuard readSet(&dataset);
+      PoolReadGuard readSet(&dataset);
-        if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+      if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(angVelocX) < this->absLimitX) {
+        if (std::abs(angVelocX) < this->absLimitX) {
-                dataset.angVelocX = angVelocX;
+          dataset.angVelocX = angVelocX;
-                dataset.angVelocX.setValid(true);
+          dataset.angVelocX.setValid(true);
-            }
+        } else {
-            else {
+          dataset.angVelocX.setValid(false);
-                dataset.angVelocX.setValid(false);
-            }
-
-            if(std::abs(angVelocY) < this->absLimitY) {
-                dataset.angVelocY = angVelocY;
-                dataset.angVelocY.setValid(true);
-            }
-            else {
-                dataset.angVelocY.setValid(false);
-            }
-
-            if(std::abs(angVelocZ) < this->absLimitZ) {
-                dataset.angVelocZ = angVelocZ;
-                dataset.angVelocZ.setValid(true);
-            }
-            else {
-                dataset.angVelocZ.setValid(false);
-            }
-
-            dataset.temperature = temperature;
-            dataset.temperature.setValid(true);
         }
-        break;
+
+        if (std::abs(angVelocY) < this->absLimitY) {
+          dataset.angVelocY = angVelocY;
+          dataset.angVelocY.setValid(true);
+        } else {
+          dataset.angVelocY.setValid(false);
+        }
+
+        if (std::abs(angVelocZ) < this->absLimitZ) {
+          dataset.angVelocZ = angVelocZ;
+          dataset.angVelocZ.setValid(true);
+        } else {
+          dataset.angVelocZ.setValid(false);
+        }
+
+        dataset.temperature = temperature;
+        dataset.temperature.setValid(true);
+      }
+      break;
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+  }
-    return result;
+  return result;
 }
 
-
 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return this->transitionDelayMs;
+  return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
-    this->goNormalModeImmediately = true;
-}
 
-ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
+ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+                                                          LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
+  insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
-    insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
-    insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
 }
 
-void GyroHandlerL3GD20H::modeChanged() {
+void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
-    internalState = InternalState::NONE;
-}
 
 void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
-    this->absLimitX = limitX;
+  this->absLimitX = limitX;
-    this->absLimitY = limitY;
+  this->absLimitY = limitY;
-    this->absLimitZ = limitZ;
+  this->absLimitZ = limitZ;
 }

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -1,12 +1,12 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
-#include "fsfw/FSFW.h"
-#include "devicedefinitions/GyroL3GD20Definitions.h"
-
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
+#include "devicedefinitions/GyroL3GD20Definitions.h"
+#include "fsfw/FSFW.h"
+
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
  *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@@ -16,84 +16,73 @@
  *
  * Data is read big endian with the smallest possible range of 245 degrees per second.
  */
-class GyroHandlerL3GD20H: public DeviceHandlerBase {
+class GyroHandlerL3GD20H : public DeviceHandlerBase {
-public:
+ public:
-    GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
+  GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
-            CookieIF* comCookie, uint32_t transitionDelayMs);
+                     uint32_t transitionDelayMs);
-    virtual ~GyroHandlerL3GD20H();
+  virtual ~GyroHandlerL3GD20H();
 
-    /**
+  /**
-     * Set the absolute limit for the values on the axis in degrees per second.
+   * Set the absolute limit for the values on the axis in degrees per second.
-     * The dataset values will be marked as invalid if that limit is exceeded
+   * The dataset values will be marked as invalid if that limit is exceeded
-     * @param xLimit
+   * @param xLimit
-     * @param yLimit
+   * @param yLimit
-     * @param zLimit
+   * @param zLimit
-     */
+   */
-    void setAbsoluteLimits(float limitX, float limitY, float limitZ);
+  void setAbsoluteLimits(float limitX, float limitY, float limitZ);
 
-    /**
+  /**
-     * @brief   Configure device handler to go to normal mode immediately
+   * @brief   Configure device handler to go to normal mode immediately
-     */
+   */
-    void setToGoToNormalMode(bool enable);
+  void setToGoToNormalMode(bool enable);
-protected:
 
-    /* DeviceHandlerBase overrides */
+ protected:
-    ReturnValue_t buildTransitionDeviceCommand(
+  /* DeviceHandlerBase overrides */
-            DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
-    void doStartUp() override;
+  void doStartUp() override;
-    void doShutDown() override;
+  void doShutDown() override;
-    ReturnValue_t buildNormalDeviceCommand(
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-            DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-    ReturnValue_t buildCommandFromCommand(
+                                        size_t commandDataLen) override;
-            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
-            size_t commandDataLen) override;
+                             size_t *foundLen) override;
-    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
-            DeviceCommandId_t *foundId, size_t *foundLen) override;
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-            const uint8_t *packet) override;
 
-    void fillCommandAndReplyMap() override;
+  void fillCommandAndReplyMap() override;
-    void modeChanged() override;
+  void modeChanged() override;
-    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-            LocalDataPoolManager &poolManager) override;
+                                        LocalDataPoolManager &poolManager) override;
 
-private:
+ private:
-    uint32_t transitionDelayMs = 0;
+  uint32_t transitionDelayMs = 0;
-    GyroPrimaryDataset dataset;
+  GyroPrimaryDataset dataset;
 
-    float absLimitX = L3GD20H::RANGE_DPS_00;
+  float absLimitX = L3GD20H::RANGE_DPS_00;
-    float absLimitY = L3GD20H::RANGE_DPS_00;
+  float absLimitY = L3GD20H::RANGE_DPS_00;
-    float absLimitZ = L3GD20H::RANGE_DPS_00;
+  float absLimitZ = L3GD20H::RANGE_DPS_00;
 
-    enum class InternalState {
+  enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
-        NONE,
+  InternalState internalState = InternalState::NONE;
-        CONFIGURE,
+  bool commandExecuted = false;
-        CHECK_REGS,
-        NORMAL
-    };
-    InternalState internalState = InternalState::NONE;
-    bool commandExecuted = false;
 
-    uint8_t statusReg = 0;
+  uint8_t statusReg = 0;
-    bool goNormalModeImmediately = false;
+  bool goNormalModeImmediately = false;
 
-    uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
+  uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
-    uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
+  uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
-    uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
+  uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
-    uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
+  uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
-    uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
+  uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
 
-    uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
+  uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
 
-    // Set default value
+  // Set default value
-    float sensitivity = L3GD20H::SENSITIVITY_00;
+  float sensitivity = L3GD20H::SENSITIVITY_00;
 
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    PeriodicOperationDivider* debugDivider = nullptr;
+  PeriodicOperationDivider *debugDivider = nullptr;
 #endif
 };
 
-
-
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -8,513 +8,477 @@
 #include <cmath>
 
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF* comCookie, uint32_t transitionDelay):
+                                     CookieIF *comCookie, uint32_t transitionDelay)
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        dataset(this), transitionDelay(transitionDelay) {
+      dataset(this),
+      transitionDelay(transitionDelay) {
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+  debugDivider = new PeriodicOperationDivider(3);
 #endif
-    // Set to default values right away
+  // Set to default values right away
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+  registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+  registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+  registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
+  registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
+  registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-}
-
-MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
 }
 
+MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
 
 void MgmLIS3MDLHandler::doStartUp() {
-    switch (internalState) {
+  switch (internalState) {
-    case(InternalState::STATE_NONE): {
+    case (InternalState::STATE_NONE): {
-        internalState = InternalState::STATE_FIRST_CONTACT;
+      internalState = InternalState::STATE_FIRST_CONTACT;
-        break;
+      break;
     }
-    case(InternalState::STATE_FIRST_CONTACT): {
+    case (InternalState::STATE_FIRST_CONTACT): {
-        /* Will be set by checking device ID (WHO AM I register) */
+      /* Will be set by checking device ID (WHO AM I register) */
-        if(commandExecuted) {
+      if (commandExecuted) {
-            commandExecuted = false;
+        commandExecuted = false;
-            internalState = InternalState::STATE_SETUP;
+        internalState = InternalState::STATE_SETUP;
+      }
+      break;
+    }
+    case (InternalState::STATE_SETUP): {
+      internalState = InternalState::STATE_CHECK_REGISTERS;
+      break;
+    }
+    case (InternalState::STATE_CHECK_REGISTERS): {
+      /* Set up cached registers which will be used to configure the MGM. */
+      if (commandExecuted) {
+        commandExecuted = false;
+        if (goToNormalMode) {
+          setMode(MODE_NORMAL);
+        } else {
+          setMode(_MODE_TO_ON);
         }
-        break;
+      }
-    }
+      break;
-    case(InternalState::STATE_SETUP): {
-        internalState = InternalState::STATE_CHECK_REGISTERS;
-        break;
-    }
-    case(InternalState::STATE_CHECK_REGISTERS): {
-        /* Set up cached registers which will be used to configure the MGM. */
-        if(commandExecuted) {
-            commandExecuted = false;
-            if(goToNormalMode) {
-                setMode(MODE_NORMAL);
-            }
-            else {
-                setMode(_MODE_TO_ON);
-            }
-        }
-        break;
     }
     default:
-        break;
+      break;
-    }
+  }
-
 }
 
-void MgmLIS3MDLHandler::doShutDown() {
+void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
-    setMode(_MODE_POWER_DOWN);
-}
 
-ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
+ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
+  switch (internalState) {
-    switch (internalState) {
+    case (InternalState::STATE_NONE):
-    case(InternalState::STATE_NONE):
+    case (InternalState::STATE_NORMAL): {
-    case(InternalState::STATE_NORMAL): {
+      return DeviceHandlerBase::NOTHING_TO_SEND;
-        return DeviceHandlerBase::NOTHING_TO_SEND;
     }
-    case(InternalState::STATE_FIRST_CONTACT): {
+    case (InternalState::STATE_FIRST_CONTACT): {
-        *id = MGMLIS3MDL::IDENTIFY_DEVICE;
+      *id = MGMLIS3MDL::IDENTIFY_DEVICE;
-        break;
+      break;
     }
-    case(InternalState::STATE_SETUP): {
+    case (InternalState::STATE_SETUP): {
-        *id = MGMLIS3MDL::SETUP_MGM;
+      *id = MGMLIS3MDL::SETUP_MGM;
-        break;
+      break;
     }
-    case(InternalState::STATE_CHECK_REGISTERS): {
+    case (InternalState::STATE_CHECK_REGISTERS): {
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+      *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        break;
+      break;
     }
     default: {
-        /* might be a configuration error. */
+      /* might be a configuration error. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+      sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
-                std::endl;
+                   << std::endl;
 #else
-        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
+      sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
     }
-
+  }
-    }
+  return buildCommandFromCommand(*id, NULL, 0);
-    return buildCommandFromCommand(*id, NULL, 0);
 }
 
 uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
-    command |= (1 << MGMLIS3MDL::RW_BIT);
+  command |= (1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
+  if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
+    command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
+  }
-    return command;
+  return command;
 }
 
 uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
-    command &= ~(1 << MGMLIS3MDL::RW_BIT);
+  command &= ~(1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
+  if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
+    command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
+  }
-    return command;
+  return command;
 }
 
 void MgmLIS3MDLHandler::setupMgm() {
+  registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+  registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+  registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+  registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
+  registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
 
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+  prepareCtrlRegisterWrite();
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-    prepareCtrlRegisterWrite();
 }
 
-ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
+ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
+  // Data/config register will be read in an alternating manner.
-    // Data/config register will be read in an alternating manner.
+  if (communicationStep == CommunicationStep::DATA) {
-    if(communicationStep == CommunicationStep::DATA) {
+    *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+    communicationStep = CommunicationStep::TEMPERATURE;
-        communicationStep = CommunicationStep::TEMPERATURE;
+    return buildCommandFromCommand(*id, NULL, 0);
-        return buildCommandFromCommand(*id, NULL, 0);
+  } else {
-    }
+    *id = MGMLIS3MDL::READ_TEMPERATURE;
-    else {
+    communicationStep = CommunicationStep::DATA;
-        *id = MGMLIS3MDL::READ_TEMPERATURE;
+    return buildCommandFromCommand(*id, NULL, 0);
-        communicationStep = CommunicationStep::DATA;
+  }
-        return buildCommandFromCommand(*id, NULL, 0);
-    }
-
 }
 
-ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
+ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                                         const uint8_t *commandData,
-        size_t commandDataLen) {
+                                                         size_t commandDataLen) {
-    switch(deviceCommand) {
+  switch (deviceCommand) {
-    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
+    case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
-        std::memset(commandBuffer, 0, sizeof(commandBuffer));
+      std::memset(commandBuffer, 0, sizeof(commandBuffer));
-        commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
+      commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
 
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
+      rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-        return RETURN_OK;
+      return RETURN_OK;
     }
-    case(MGMLIS3MDL::READ_TEMPERATURE): {
+    case (MGMLIS3MDL::READ_TEMPERATURE): {
-        std::memset(commandBuffer, 0, 3);
+      std::memset(commandBuffer, 0, 3);
-        commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
+      commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
 
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 3;
+      rawPacketLen = 3;
-        return RETURN_OK;
+      return RETURN_OK;
     }
-    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
+    case (MGMLIS3MDL::IDENTIFY_DEVICE): {
-        return identifyDevice();
+      return identifyDevice();
     }
-    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
+    case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
-        return enableTemperatureSensor(commandData, commandDataLen);
+      return enableTemperatureSensor(commandData, commandDataLen);
     }
-    case(MGMLIS3MDL::SETUP_MGM): {
+    case (MGMLIS3MDL::SETUP_MGM): {
-        setupMgm();
+      setupMgm();
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
     }
-    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
+    case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
-        return setOperatingMode(commandData, commandDataLen);
+      return setOperatingMode(commandData, commandDataLen);
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
-    uint32_t size = 2;
+  uint32_t size = 2;
-    commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
+  commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
-    commandBuffer[1] = 0x00;
+  commandBuffer[1] = 0x00;
 
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    rawPacketLen = size;
+  rawPacketLen = size;
 
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
-ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
+ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
-        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
+                                              DeviceCommandId_t *foundId, size_t *foundLen) {
+  *foundLen = len;
+  if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
     *foundLen = len;
-    if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
+    *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        *foundLen = len;
+    // Check validity by checking config registers
-        *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+    if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
-        // Check validity by checking config registers
+        start[4] != registers[3] or start[5] != registers[4]) {
-        if (start[1] != registers[0] or start[2] != registers[1] or
-                start[3] != registers[2] or start[4] != registers[3] or
-                start[5] != registers[4]) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
+      sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
 #else
-            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
+      sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
 #endif
 #endif
-            return DeviceHandlerIF::INVALID_DATA;
+      return DeviceHandlerIF::INVALID_DATA;
-        }
+    }
-        if(mode == _MODE_START_UP) {
+    if (mode == _MODE_START_UP) {
-            commandExecuted = true;
+      commandExecuted = true;
-        }
+    }
 
-    }
+  } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
-    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
+    *foundLen = len;
-        *foundLen = len;
+    *foundId = MGMLIS3MDL::READ_TEMPERATURE;
-        *foundId = MGMLIS3MDL::READ_TEMPERATURE;
+  } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
-    }
+    *foundLen = len;
-    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
+    *foundId = MGMLIS3MDL::SETUP_MGM;
-        *foundLen = len;
+  } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
-        *foundId = MGMLIS3MDL::SETUP_MGM;
+    *foundLen = len;
-    }
+    *foundId = getPendingCommand();
-    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
+    if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
-        *foundLen = len;
+      if (start[1] != MGMLIS3MDL::DEVICE_ID) {
-        *foundId = getPendingCommand();
-        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
-            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
+        sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!" << std::endl;
+                        "Device identification failed!"
+                     << std::endl;
 #else
-                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
+        sif::printWarning(
-                        "Device identification failed!\n");
+            "MGMHandlerLIS3MDL::scanForReply: "
+            "Device identification failed!\n");
 #endif
 #endif
-                return DeviceHandlerIF::INVALID_DATA;
-            }
-
-            if(mode == _MODE_START_UP) {
-                commandExecuted = true;
-            }
-        }
-    }
-    else {
         return DeviceHandlerIF::INVALID_DATA;
-    }
+      }
 
-    /* Data with SPI Interface always has this answer */
+      if (mode == _MODE_START_UP) {
-    if (start[0] == 0b11111111) {
+        commandExecuted = true;
-        return RETURN_OK;
+      }
-    }
-    else {
-        return DeviceHandlerIF::INVALID_DATA;
     }
+  } else {
+    return DeviceHandlerIF::INVALID_DATA;
+  }
 
+  /* Data with SPI Interface always has this answer */
+  if (start[0] == 0b11111111) {
+    return RETURN_OK;
+  } else {
+    return DeviceHandlerIF::INVALID_DATA;
+  }
 }
-ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
+ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-        const uint8_t *packet) {
+  switch (id) {
-
-    switch (id) {
     case MGMLIS3MDL::IDENTIFY_DEVICE: {
-        break;
+      break;
     }
     case MGMLIS3MDL::SETUP_MGM: {
-        break;
+      break;
     }
     case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
-        // TODO: Store configuration in new local datasets.
+      // TODO: Store configuration in new local datasets.
-        float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
+      float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
 
-        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
+      int16_t mgmMeasurementRawX =
-                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
+          packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
-        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
+      int16_t mgmMeasurementRawY =
-                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
+          packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
-        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
+      int16_t mgmMeasurementRawZ =
-                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
+          packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
 
-        /* Target value in microtesla */
+      /* Target value in microtesla */
-        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
+      float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
+      float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
+      float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-        if(debugDivider->checkAndIncrement()) {
+      if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+        sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                    " microtesla:" << std::endl;
+                     " microtesla:"
-            sif::info << "X: " << mgmX << " uT" << std::endl;
+                  << std::endl;
-            sif::info << "Y: " << mgmY << " uT" << std::endl;
+        sif::info << "X: " << mgmX << " uT" << std::endl;
-            sif::info << "Z: " << mgmZ << " uT" << std::endl;
+        sif::info << "Y: " << mgmY << " uT" << std::endl;
+        sif::info << "Z: " << mgmZ << " uT" << std::endl;
 #else
-            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+        sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-            sif::printInfo("X: %f uT\n", mgmX);
+        sif::printInfo("X: %f uT\n", mgmX);
-            sif::printInfo("Y: %f uT\n", mgmY);
+        sif::printInfo("Y: %f uT\n", mgmY);
-            sif::printInfo("Z: %f uT\n", mgmZ);
+        sif::printInfo("Z: %f uT\n", mgmZ);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
-        }
+      }
 #endif /* OBSW_VERBOSE_LEVEL >= 1 */
-        PoolReadGuard readHelper(&dataset);
+      PoolReadGuard readHelper(&dataset);
-        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+      if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(mgmX) < absLimitX) {
+        if (std::abs(mgmX) < absLimitX) {
-                dataset.fieldStrengthX = mgmX;
+          dataset.fieldStrengthX = mgmX;
-                dataset.fieldStrengthX.setValid(true);
+          dataset.fieldStrengthX.setValid(true);
-            }
+        } else {
-            else {
+          dataset.fieldStrengthX.setValid(false);
-                dataset.fieldStrengthX.setValid(false);
-            }
-
-            if(std::abs(mgmY) < absLimitY) {
-                dataset.fieldStrengthY = mgmY;
-                dataset.fieldStrengthY.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthY.setValid(false);
-            }
-
-            if(std::abs(mgmZ) < absLimitZ) {
-                dataset.fieldStrengthZ = mgmZ;
-                dataset.fieldStrengthZ.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthZ.setValid(false);
-            }
         }
-        break;
+
+        if (std::abs(mgmY) < absLimitY) {
+          dataset.fieldStrengthY = mgmY;
+          dataset.fieldStrengthY.setValid(true);
+        } else {
+          dataset.fieldStrengthY.setValid(false);
+        }
+
+        if (std::abs(mgmZ) < absLimitZ) {
+          dataset.fieldStrengthZ = mgmZ;
+          dataset.fieldStrengthZ.setValid(true);
+        } else {
+          dataset.fieldStrengthZ.setValid(false);
+        }
+      }
+      break;
     }
 
     case MGMLIS3MDL::READ_TEMPERATURE: {
-        int16_t tempValueRaw = packet[2] << 8 | packet[1];
+      int16_t tempValueRaw = packet[2] << 8 | packet[1];
-        float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
+      float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-    #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-        if(debugDivider->check()) {
+      if (debugDivider->check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
+        sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
-                    std::endl;
 #else
-            sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+        sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
-        }
+      }
 #endif
-        ReturnValue_t result = dataset.read();
+      ReturnValue_t result = dataset.read();
-        if(result == HasReturnvaluesIF::RETURN_OK) {
+      if (result == HasReturnvaluesIF::RETURN_OK) {
-            dataset.temperature = tempValue;
+        dataset.temperature = tempValue;
-            dataset.commit();
+        dataset.commit();
-        }
+      }
-        break;
+      break;
     }
 
     default: {
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
-
+  }
-    }
+  return RETURN_OK;
-    return RETURN_OK;
 }
 
 MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
-    bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
+  bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
-    bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
+  bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
 
-    if (fs0Set && fs1Set)
+  if (fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_16;
+    return MGMLIS3MDL::Sensitivies::GAUSS_16;
-    else if (!fs0Set && fs1Set)
+  else if (!fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_12;
+    return MGMLIS3MDL::Sensitivies::GAUSS_12;
-    else if (fs0Set && !fs1Set)
+  else if (fs0Set && !fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_8;
+    return MGMLIS3MDL::Sensitivies::GAUSS_8;
-    else
+  else
-        return MGMLIS3MDL::Sensitivies::GAUSS_4;
+    return MGMLIS3MDL::Sensitivies::GAUSS_4;
 }
 
 float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
-    switch(sens) {
+  switch (sens) {
-    case(MGMLIS3MDL::GAUSS_4): {
+    case (MGMLIS3MDL::GAUSS_4): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
     }
-    case(MGMLIS3MDL::GAUSS_8): {
+    case (MGMLIS3MDL::GAUSS_8): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
     }
-    case(MGMLIS3MDL::GAUSS_12): {
+    case (MGMLIS3MDL::GAUSS_12): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
     }
-    case(MGMLIS3MDL::GAUSS_16): {
+    case (MGMLIS3MDL::GAUSS_16): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
     }
     default: {
-        // Should never happen
+      // Should never happen
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
-    }
     }
+  }
 }
 
-
+ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
-ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
+                                                         size_t commandDataLen) {
-        const uint8_t *commandData, size_t commandDataLen) {
+  triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
+  uint32_t size = 2;
-    uint32_t size = 2;
+  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
+  if (commandDataLen > 1) {
-    if (commandDataLen > 1) {
+    return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
+  }
-    }
+  switch (*commandData) {
-    switch (*commandData) {
     case (MGMLIS3MDL::ON): {
-        commandBuffer[1] = registers[0] | (1 << 7);
+      commandBuffer[1] = registers[0] | (1 << 7);
-        break;
+      break;
     }
     case (MGMLIS3MDL::OFF): {
-        commandBuffer[1] = registers[0] & ~(1 << 7);
+      commandBuffer[1] = registers[0] & ~(1 << 7);
-        break;
+      break;
     }
     default:
-        return INVALID_COMMAND_PARAMETER;
+      return INVALID_COMMAND_PARAMETER;
-    }
+  }
-    registers[0] = commandBuffer[1];
+  registers[0] = commandBuffer[1];
 
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    rawPacketLen = size;
+  rawPacketLen = size;
 
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
-        size_t commandDataLen) {
+                                                  size_t commandDataLen) {
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
+  triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    if (commandDataLen != 1) {
+  if (commandDataLen != 1) {
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
+    return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
+  }
 
-    switch (commandData[0]) {
+  switch (commandData[0]) {
     case MGMLIS3MDL::LOW:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
+      registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
+      registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
+      break;
     case MGMLIS3MDL::MEDIUM:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
+      registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
+      registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
-        break;
+      break;
 
     case MGMLIS3MDL::HIGH:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
+      registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
+      registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
+      break;
 
     case MGMLIS3MDL::ULTRA:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
+      registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
+      registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
-        break;
+      break;
     default:
-        break;
+      break;
-    }
+  }
 
-    return prepareCtrlRegisterWrite();
+  return prepareCtrlRegisterWrite();
 }
 
 void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
+  insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
 }
 
-void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
+void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
-    this->goToNormalMode = enable;
-}
 
 ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
+  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
 
-    for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
+  for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
-        commandBuffer[i + 1] = registers[i];
+    commandBuffer[i + 1] = registers[i];
-    }
+  }
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
+  rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
 
-    // We dont have to check if this is working because we just did i
+  // We dont have to check if this is working because we just did i
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
-void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
 
-}
+uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
 
-uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
-    return transitionDelay;
-}
 
-void MgmLIS3MDLHandler::modeChanged(void) {
+ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-    internalState = InternalState::STATE_NONE;
+                                                         LocalDataPoolManager &poolManager) {
-}
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
-
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
-ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
+  return HasReturnvaluesIF::RETURN_OK;
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
-            new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
-    this->absLimitX = xLimit;
+  this->absLimitX = xLimit;
-    this->absLimitY = yLimit;
+  this->absLimitY = yLimit;
-    this->absLimitZ = zLimit;
+  this->absLimitZ = zLimit;
 }

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -1,10 +1,9 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
-#include "fsfw/FSFW.h"
-#include "events/subsystemIdRanges.h"
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
-
+#include "events/subsystemIdRanges.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 class PeriodicOperationDivider;
@@ -18,168 +17,158 @@ class PeriodicOperationDivider;
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
  * @author  L. Loidold, R. Mueller
  */
-class MgmLIS3MDLHandler: public DeviceHandlerBase {
+class MgmLIS3MDLHandler : public DeviceHandlerBase {
-public:
+ public:
-    enum class CommunicationStep {
+  enum class CommunicationStep { DATA, TEMPERATURE };
-        DATA,
-        TEMPERATURE
-    };
 
-    static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
+  static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
-    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
-    //Notifies a command to change the setup parameters
+  // Notifies a command to change the setup parameters
-    static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
+  static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
 
-    MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
+  MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
-            uint32_t transitionDelay);
+                    uint32_t transitionDelay);
-    virtual ~MgmLIS3MDLHandler();
+  virtual ~MgmLIS3MDLHandler();
 
-    /**
+  /**
-     * Set the absolute limit for the values on the axis in microtesla. The dataset values will
+   * Set the absolute limit for the values on the axis in microtesla. The dataset values will
-     * be marked as invalid if that limit is exceeded
+   * be marked as invalid if that limit is exceeded
-     * @param xLimit
+   * @param xLimit
-     * @param yLimit
+   * @param yLimit
-     * @param zLimit
+   * @param zLimit
-     */
+   */
-    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
+  void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
-    void setToGoToNormalMode(bool enable);
+  void setToGoToNormalMode(bool enable);
 
-protected:
+ protected:
+  /** DeviceHandlerBase overrides */
+  void doShutDown() override;
+  void doStartUp() override;
+  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  /**
+   * This implementation is tailored towards space applications and will flag values larger
+   * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
+   * @param id
+   * @param packet
+   * @return
+   */
+  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  void modeChanged(void) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
 
-    /** DeviceHandlerBase overrides */
+ private:
-    void doShutDown() override;
+  MGMLIS3MDL::MgmPrimaryDataset dataset;
-    void doStartUp() override;
+  // Length a single command SPI answer
-    void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
-    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-    ReturnValue_t buildCommandFromCommand(
-            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-            size_t commandDataLen) override;
-    ReturnValue_t buildTransitionDeviceCommand(
-            DeviceCommandId_t *id) override;
-    ReturnValue_t buildNormalDeviceCommand(
-            DeviceCommandId_t *id) override;
-    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-            DeviceCommandId_t *foundId, size_t *foundLen) override;
-    /**
-     * This implementation is tailored towards space applications and will flag values larger
-     * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
-     * @param id
-     * @param packet
-     * @return
-     */
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-            const uint8_t *packet) override;
-    void fillCommandAndReplyMap() override;
-    void modeChanged(void) override;
-    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-            LocalDataPoolManager &poolManager) override;
 
-private:
+  uint32_t transitionDelay;
-    MGMLIS3MDL::MgmPrimaryDataset dataset;
+  // Single SPI command has 2 bytes, first for adress, second for content
-    //Length a single command SPI answer
+  size_t singleComandSize = 2;
-    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
+  // Has the size for all adresses of the lis3mdl + the continous write bit
+  uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
 
-    uint32_t transitionDelay;
+  float absLimitX = 100;
-    // Single SPI command has 2 bytes, first for adress, second for content
+  float absLimitY = 100;
-    size_t singleComandSize = 2;
+  float absLimitZ = 150;
-    // Has the size for all adresses of the lis3mdl + the continous write bit
-    uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
 
-    float absLimitX = 100;
+  /**
-    float absLimitY = 100;
+   * We want to save the registers we set, so we dont have to read the
-    float absLimitZ = 150;
+   * registers when we want to change something.
+   * --> everytime we change set a register we have to save it
+   */
+  uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
 
-    /**
+  uint8_t statusRegister = 0;
-     * We want to save the registers we set, so we dont have to read the
+  bool goToNormalMode = false;
-     * registers when we want to change something.
-     * --> everytime we change set a register we have to save it
-     */
-    uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
 
-    uint8_t statusRegister = 0;
+  enum class InternalState {
-    bool goToNormalMode = false;
+    STATE_NONE,
+    STATE_FIRST_CONTACT,
+    STATE_SETUP,
+    STATE_CHECK_REGISTERS,
+    STATE_NORMAL
+  };
 
-    enum class InternalState {
+  InternalState internalState = InternalState::STATE_NONE;
-        STATE_NONE,
+  CommunicationStep communicationStep = CommunicationStep::DATA;
-        STATE_FIRST_CONTACT,
+  bool commandExecuted = false;
-        STATE_SETUP,
-        STATE_CHECK_REGISTERS,
-        STATE_NORMAL
-    };
 
-    InternalState internalState = InternalState::STATE_NONE;
+  /*------------------------------------------------------------------------*/
-    CommunicationStep communicationStep = CommunicationStep::DATA;
+  /* Device specific commands and variables */
-    bool commandExecuted = false;
+  /*------------------------------------------------------------------------*/
+  /**
+   * Sets the read bit for the command
+   * @param single command to set the read-bit at
+   * @param boolean to select a continuous read bit, default = false
+   */
+  uint8_t readCommand(uint8_t command, bool continuousCom = false);
 
-    /*------------------------------------------------------------------------*/
+  /**
-    /* Device specific commands and variables */
+   * Sets the write bit for the command
-    /*------------------------------------------------------------------------*/
+   * @param single command to set the write-bit at
-    /**
+   * @param boolean to select a continuous write bit, default = false
-     * Sets the read bit for the command
+   */
-     * @param single command to set the read-bit at
+  uint8_t writeCommand(uint8_t command, bool continuousCom = false);
-     * @param boolean to select a continuous read bit, default = false
-     */
-    uint8_t readCommand(uint8_t command, bool continuousCom = false);
 
-    /**
+  /**
-     * Sets the write bit for the command
+   * This Method gets the full scale for the measurement range
-     * @param single command to set the write-bit at
+   * e.g.: +- 4 gauss. See p.25 datasheet.
-     * @param boolean to select a continuous write bit, default = false
+   *  @return The ReturnValue does not contain the sign of the value
-     */
+   */
-    uint8_t writeCommand(uint8_t command, bool continuousCom = false);
+  MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
 
-    /**
+  /**
-     * This Method gets the full scale for the measurement range
+   * The 16 bit value needs to be multiplied with a sensitivity factor
-     * e.g.: +- 4 gauss. See p.25 datasheet.
+   * which depends on the sensitivity configuration
-     *  @return The ReturnValue does not contain the sign of the value
+   *
-     */
+   * @param sens Configured sensitivity of the LIS3 device
-    MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
+   * @return Multiplication factor to get the sensor value from raw data.
+   */
+  float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
 
-    /**
+  /**
-     * The 16 bit value needs to be multiplied with a sensitivity factor
+   * This Command detects the device ID
-     * which depends on the sensitivity configuration
+   */
-     *
+  ReturnValue_t identifyDevice();
-     * @param sens Configured sensitivity of the LIS3 device
-     * @return Multiplication factor to get the sensor value from raw data.
-     */
-    float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
 
-    /**
+  virtual void setupMgm();
-     * This Command detects the device ID
-     */
-    ReturnValue_t identifyDevice();
 
-    virtual void setupMgm();
+  /*------------------------------------------------------------------------*/
+  /* Non normal commands */
+  /*------------------------------------------------------------------------*/
+  /**
+   * Enables/Disables the integrated Temperaturesensor
+   * @param commandData On or Off
+   * @param length of the commandData: has to be 1
+   */
+  virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
 
-    /*------------------------------------------------------------------------*/
+  /**
-    /* Non normal commands */
+   * Sets the accuracy of the measurement of the axis. The noise is changing.
-    /*------------------------------------------------------------------------*/
+   * @param commandData LOW, MEDIUM, HIGH, ULTRA
-    /**
+   * @param length of the command, has to be 1
-     * Enables/Disables the integrated Temperaturesensor
+   */
-     * @param commandData On or Off
+  virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
-     * @param length of the commandData: has to be 1
-     */
-    virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
-            size_t commandDataLen);
 
-    /**
+  /**
-     * Sets the accuracy of the measurement of the axis. The noise is changing.
+   * We always update all registers together, so this method updates
-     * @param commandData LOW, MEDIUM, HIGH, ULTRA
+   * the rawpacket and rawpacketLen, so we just manipulate the local
-     * @param length of the command, has to be 1
+   * saved register
-     */
+   *
-    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
+   */
-            size_t commandDataLen);
+  ReturnValue_t prepareCtrlRegisterWrite();
-
-    /**
-     * We always update all registers together, so this method updates
-     * the rawpacket and rawpacketLen, so we just manipulate the local
-     * saved register
-     *
-     */
-    ReturnValue_t prepareCtrlRegisterWrite();
 
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    PeriodicOperationDivider* debugDivider;
+  PeriodicOperationDivider *debugDivider;
 #endif
 };
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -1,376 +1,367 @@
 #include "MgmRM3100Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
-#include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
+#include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
-
+MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
-MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
+                                   CookieIF *comCookie, uint32_t transitionDelay)
-        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+      primaryDataset(this),
-        primaryDataset(this), transitionDelay(transitionDelay) {
+      transitionDelay(transitionDelay) {
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+  debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
 void MgmRM3100Handler::doStartUp() {
-    switch(internalState) {
+  switch (internalState) {
-    case(InternalState::NONE): {
+    case (InternalState::NONE): {
-        internalState = InternalState::CONFIGURE_CMM;
+      internalState = InternalState::CONFIGURE_CMM;
-        break;
+      break;
     }
-    case(InternalState::CONFIGURE_CMM): {
+    case (InternalState::CONFIGURE_CMM): {
-        internalState = InternalState::READ_CMM;
+      internalState = InternalState::READ_CMM;
-        break;
+      break;
     }
-    case(InternalState::READ_CMM): {
+    case (InternalState::READ_CMM): {
-        if(commandExecuted) {
+      if (commandExecuted) {
-            internalState = InternalState::STATE_CONFIGURE_TMRC;
+        internalState = InternalState::STATE_CONFIGURE_TMRC;
+      }
+      break;
+    }
+    case (InternalState::STATE_CONFIGURE_TMRC): {
+      if (commandExecuted) {
+        internalState = InternalState::STATE_READ_TMRC;
+      }
+      break;
+    }
+    case (InternalState::STATE_READ_TMRC): {
+      if (commandExecuted) {
+        internalState = InternalState::NORMAL;
+        if (goToNormalModeAtStartup) {
+          setMode(MODE_NORMAL);
+        } else {
+          setMode(_MODE_TO_ON);
         }
-        break;
+      }
-    }
+      break;
-    case(InternalState::STATE_CONFIGURE_TMRC): {
-        if(commandExecuted) {
-            internalState = InternalState::STATE_READ_TMRC;
-        }
-        break;
-    }
-    case(InternalState::STATE_READ_TMRC): {
-        if(commandExecuted) {
-            internalState = InternalState::NORMAL;
-            if(goToNormalModeAtStartup) {
-                setMode(MODE_NORMAL);
-            }
-            else {
-                setMode(_MODE_TO_ON);
-            }
-        }
-        break;
     }
     default: {
-        break;
+      break;
-    }
     }
+  }
 }
 
-void MgmRM3100Handler::doShutDown() {
+void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
-    setMode(_MODE_POWER_DOWN);
-}
 
-ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
+ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
+  size_t commandLen = 0;
-    size_t commandLen = 0;
+  switch (internalState) {
-    switch(internalState) {
+    case (InternalState::NONE):
-    case(InternalState::NONE):
+    case (InternalState::NORMAL): {
-    case(InternalState::NORMAL): {
+      return NOTHING_TO_SEND;
-        return NOTHING_TO_SEND;
     }
-    case(InternalState::CONFIGURE_CMM): {
+    case (InternalState::CONFIGURE_CMM): {
-        *id = RM3100::CONFIGURE_CMM;
+      *id = RM3100::CONFIGURE_CMM;
-        break;
+      break;
     }
-    case(InternalState::READ_CMM): {
+    case (InternalState::READ_CMM): {
-        *id = RM3100::READ_CMM;
+      *id = RM3100::READ_CMM;
-        break;
+      break;
     }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
+    case (InternalState::STATE_CONFIGURE_TMRC): {
-        commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
+      commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
-        commandLen = 1;
+      commandLen = 1;
-        *id = RM3100::CONFIGURE_TMRC;
+      *id = RM3100::CONFIGURE_TMRC;
-        break;
+      break;
     }
-    case(InternalState::STATE_READ_TMRC): {
+    case (InternalState::STATE_READ_TMRC): {
-        *id = RM3100::READ_TMRC;
+      *id = RM3100::READ_TMRC;
-        break;
+      break;
     }
     default:
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        // Might be a configuration error
+      // Might be a configuration error
-        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
+      sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state" << std::endl;
+                      "Unknown internal state"
+                   << std::endl;
 #else
-        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
+      sif::printWarning(
-                "Unknown internal state\n");
+          "MgmRM3100Handler::buildTransitionDeviceCommand: "
+          "Unknown internal state\n");
 #endif
 #endif
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
-    }
+  }
 
-    return buildCommandFromCommand(*id, commandBuffer, commandLen);
+  return buildCommandFromCommand(*id, commandBuffer, commandLen);
 }
 
 ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                        const uint8_t *commandData,
-    switch(deviceCommand) {
+                                                        size_t commandDataLen) {
-    case(RM3100::CONFIGURE_CMM): {
+  switch (deviceCommand) {
-        commandBuffer[0] = RM3100::CMM_REGISTER;
+    case (RM3100::CONFIGURE_CMM): {
-        commandBuffer[1] = RM3100::CMM_VALUE;
+      commandBuffer[0] = RM3100::CMM_REGISTER;
-        rawPacket = commandBuffer;
+      commandBuffer[1] = RM3100::CMM_VALUE;
-        rawPacketLen = 2;
+      rawPacket = commandBuffer;
-        break;
+      rawPacketLen = 2;
+      break;
     }
-    case(RM3100::READ_CMM): {
+    case (RM3100::READ_CMM): {
-        commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
+      commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
-        commandBuffer[1] = 0;
+      commandBuffer[1] = 0;
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 2;
+      rawPacketLen = 2;
-        break;
+      break;
     }
-    case(RM3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_TMRC): {
-        return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
+      return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
     }
-    case(RM3100::READ_TMRC): {
+    case (RM3100::READ_TMRC): {
-        commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
+      commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
-        commandBuffer[1] = 0;
+      commandBuffer[1] = 0;
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 2;
+      rawPacketLen = 2;
-        break;
+      break;
     }
-    case(RM3100::CONFIGURE_CYCLE_COUNT): {
+    case (RM3100::CONFIGURE_CYCLE_COUNT): {
-        return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
+      return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
     }
-    case(RM3100::READ_CYCLE_COUNT): {
+    case (RM3100::READ_CYCLE_COUNT): {
-        commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
+      commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
-        std::memset(commandBuffer + 1, 0, 6);
+      std::memset(commandBuffer + 1, 0, 6);
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 7;
+      rawPacketLen = 7;
-        break;
+      break;
     }
-    case(RM3100::READ_DATA): {
+    case (RM3100::READ_DATA): {
-        commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
+      commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
-        std::memset(commandBuffer + 1, 0,  9);
+      std::memset(commandBuffer + 1, 0, 9);
-        rawPacketLen = 10;
+      rawPacketLen = 10;
-        break;
+      break;
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+  }
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
+ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
+  *id = RM3100::READ_DATA;
-    *id = RM3100::READ_DATA;
+  return buildCommandFromCommand(*id, nullptr, 0);
-    return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
+ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
-        size_t len, DeviceCommandId_t *foundId,
+                                             DeviceCommandId_t *foundId, size_t *foundLen) {
-        size_t *foundLen) {
+  // For SPI, ID will always be the one of the last sent command
-
+  *foundId = this->getPendingCommand();
-    // For SPI, ID will always be the one of the last sent command
+  *foundLen = len;
-    *foundId = this->getPendingCommand();
+  return HasReturnvaluesIF::RETURN_OK;
-    *foundLen = len;
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    switch(id) {
+  switch (id) {
-    case(RM3100::CONFIGURE_CMM):
+    case (RM3100::CONFIGURE_CMM):
-    case(RM3100::CONFIGURE_CYCLE_COUNT):
+    case (RM3100::CONFIGURE_CYCLE_COUNT):
-    case(RM3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_TMRC): {
-        // We can only check whether write was successful with read operation
+      // We can only check whether write was successful with read operation
-        if(mode == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
-            commandExecuted = true;
+        commandExecuted = true;
-        }
+      }
-        break;
+      break;
     }
-    case(RM3100::READ_CMM): {
+    case (RM3100::READ_CMM): {
-        uint8_t cmmValue = packet[1];
+      uint8_t cmmValue = packet[1];
-        // We clear the seventh bit in any case
+      // We clear the seventh bit in any case
-        // because this one is zero sometimes for some reason
+      // because this one is zero sometimes for some reason
-        bitutil::clear(&cmmValue, 6);
+      bitutil::clear(&cmmValue, 6);
-        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
+      if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
-            commandExecuted = true;
+        commandExecuted = true;
-        }
+      } else {
-        else {
+        // Attempt reconfiguration
-            // Attempt reconfiguration
+        internalState = InternalState::CONFIGURE_CMM;
-            internalState = InternalState::CONFIGURE_CMM;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      }
-        }
+      break;
-        break;
     }
-    case(RM3100::READ_TMRC): {
+    case (RM3100::READ_TMRC): {
-        if(packet[1] == tmrcRegValue) {
+      if (packet[1] == tmrcRegValue) {
-            commandExecuted = true;
+        commandExecuted = true;
-            // Reading TMRC was commanded. Trigger event to inform ground
-            if(mode != _MODE_START_UP) {
-                triggerEvent(tmrcSet, tmrcRegValue, 0);
-            }
-        }
-        else {
-            // Attempt reconfiguration
-            internalState = InternalState::STATE_CONFIGURE_TMRC;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        break;
-    }
-    case(RM3100::READ_CYCLE_COUNT): {
-        uint16_t cycleCountX = packet[1] << 8 | packet[2];
-        uint16_t cycleCountY = packet[3] << 8 | packet[4];
-        uint16_t cycleCountZ = packet[5] << 8 | packet[6];
-        if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
-                cycleCountZ != cycleCountRegValueZ) {
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
         // Reading TMRC was commanded. Trigger event to inform ground
-        if(mode != _MODE_START_UP) {
+        if (mode != _MODE_START_UP) {
-            uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
+          triggerEvent(tmrcSet, tmrcRegValue, 0);
-            triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
         }
-        break;
+      } else {
+        // Attempt reconfiguration
+        internalState = InternalState::STATE_CONFIGURE_TMRC;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      }
+      break;
     }
-    case(RM3100::READ_DATA): {
+    case (RM3100::READ_CYCLE_COUNT): {
-        result = handleDataReadout(packet);
+      uint16_t cycleCountX = packet[1] << 8 | packet[2];
-        break;
+      uint16_t cycleCountY = packet[3] << 8 | packet[4];
+      uint16_t cycleCountZ = packet[5] << 8 | packet[6];
+      if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
+          cycleCountZ != cycleCountRegValueZ) {
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      }
+      // Reading TMRC was commanded. Trigger event to inform ground
+      if (mode != _MODE_START_UP) {
+        uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
+        triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
+      }
+      break;
+    }
+    case (RM3100::READ_DATA): {
+      result = handleDataReadout(packet);
+      break;
     }
     default:
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
+  }
 
-    return result;
+  return result;
 }
 
 ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                              const uint8_t *commandData,
-    if(commandData == nullptr) {
+                                                              size_t commandDataLen) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+  if (commandData == nullptr) {
-    }
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+  }
 
-    // Set cycle count
+  // Set cycle count
-    if(commandDataLen == 2) {
+  if (commandDataLen == 2) {
-        handleCycleCommand(true, commandData, commandDataLen);
+    handleCycleCommand(true, commandData, commandDataLen);
-    }
+  } else if (commandDataLen == 6) {
-    else if(commandDataLen == 6) {
+    handleCycleCommand(false, commandData, commandDataLen);
-        handleCycleCommand(false, commandData, commandDataLen);
+  } else {
-    }
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    else {
+  }
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
 
-    commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
+  commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
-    std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
+  std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
-    std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
+  std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
-    std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
+  std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
-    rawPacketLen = 7;
+  rawPacketLen = 7;
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
+ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                   size_t commandDataLen) {
-    RM3100::CycleCountCommand command(oneCycleValue);
+  RM3100::CycleCountCommand command(oneCycleValue);
-    ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
+  ReturnValue_t result =
-            SerializeIF::Endianness::BIG);
+      command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
+    return result;
-    }
+  }
 
-    // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
+  // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
-    if(command.cycleCountX > 450 ) {
+  if (command.cycleCountX > 450) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
+  }
 
-    if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
+  if (not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
+  }
 
-    cycleCountRegValueX = command.cycleCountX;
+  cycleCountRegValueX = command.cycleCountX;
-    cycleCountRegValueY = command.cycleCountY;
+  cycleCountRegValueY = command.cycleCountY;
-    cycleCountRegValueZ = command.cycleCountZ;
+  cycleCountRegValueZ = command.cycleCountZ;
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                        const uint8_t *commandData,
-    if(commandData == nullptr or commandDataLen != 1) {
+                                                        size_t commandDataLen) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+  if (commandData == nullptr or commandDataLen != 1) {
-    }
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+  }
 
-    commandBuffer[0] = RM3100::TMRC_REGISTER;
+  commandBuffer[0] = RM3100::TMRC_REGISTER;
-    commandBuffer[1] = commandData[0];
+  commandBuffer[1] = commandData[0];
-    tmrcRegValue = commandData[0];
+  tmrcRegValue = commandData[0];
-    rawPacketLen = 2;
+  rawPacketLen = 2;
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void MgmRM3100Handler::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
-    insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
+  insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
 
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
-    insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
+  insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
 
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
-    insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
+  insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
 
-    insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
+  insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
 }
 
-void MgmRM3100Handler::modeChanged(void) {
+void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
-    internalState = InternalState::NONE;
-}
 
-ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
+ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+                                                        LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return this->transitionDelay;
+  return this->transitionDelay;
 }
 
-void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
+void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
-    goToNormalModeAtStartup = enable;
-}
 
 ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
-    // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
+  // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
-    // trickery here to calculate the raw values first
+  // trickery here to calculate the raw values first
-    int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
+  int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
-    int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
+  int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-    int32_t fieldStrengthRawZ  = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
 
-    // Now scale to physical value in microtesla
+  // Now scale to physical value in microtesla
-    float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
+  float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-    float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
-    float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
-    if(debugDivider->checkAndIncrement()) {
+  if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MgmRM3100Handler: Magnetic field strength in"
+    sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                " microtesla:" << std::endl;
+                 " microtesla:"
-        sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+              << std::endl;
-        sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+    sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-        sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+    sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+    sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
 #else
-        sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+    sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-        sif::printInfo("X: %f uT\n", fieldStrengthX);
+    sif::printInfo("X: %f uT\n", fieldStrengthX);
-        sif::printInfo("Y: %f uT\n", fieldStrengthY);
+    sif::printInfo("Y: %f uT\n", fieldStrengthY);
-        sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+    sif::printInfo("Z: %f uT\n", fieldStrengthZ);
 #endif
-    }
+  }
 #endif
 
-    // TODO: Sanity check on values?
+  // TODO: Sanity check on values?
-    PoolReadGuard readGuard(&primaryDataset);
+  PoolReadGuard readGuard(&primaryDataset);
-    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-        primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengthX = fieldStrengthX;
-        primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengthY = fieldStrengthY;
-        primaryDataset.fieldStrengthZ = fieldStrengthZ;
+    primaryDataset.fieldStrengthZ = fieldStrengthZ;
-        primaryDataset.setValidity(true, true);
+    primaryDataset.setValidity(true, true);
-    }
+  }
-    return RETURN_OK;
+  return RETURN_OK;
 }

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
-#include "fsfw/FSFW.h"
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
@@ -16,94 +16,90 @@
  * Flight manual:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
  */
-class MgmRM3100Handler: public DeviceHandlerBase {
+class MgmRM3100Handler : public DeviceHandlerBase {
-public:
+ public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
+  static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
 
-	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
+  //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
-	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
+  static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
-			0x00, severity::INFO);
 
-	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
+  //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
-	//! P1: Second two bytes new Cycle Count Y
+  //! P1: Second two bytes new Cycle Count Y
-	//! P2: New cycle count Z
+  //! P2: New cycle count Z
-	static constexpr Event cycleCountersSet = event::makeEvent(
+  static constexpr Event cycleCountersSet =
-			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
+      event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
 
-	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
+  MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
-	        CookieIF* comCookie, uint32_t transitionDelay);
+                   uint32_t transitionDelay);
-	virtual ~MgmRM3100Handler();
+  virtual ~MgmRM3100Handler();
 
-	/**
+  /**
-	 * Configure device handler to go to normal mode after startup immediately
+   * Configure device handler to go to normal mode after startup immediately
-	 * @param enable
+   * @param enable
-	 */
+   */
-	void setToGoToNormalMode(bool enable);
+  void setToGoToNormalMode(bool enable);
 
-protected:
+ protected:
+  /* DeviceHandlerBase overrides */
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
 
-	/* DeviceHandlerBase overrides */
+  void fillCommandAndReplyMap() override;
-	ReturnValue_t buildTransitionDeviceCommand(
+  void modeChanged(void) override;
-	        DeviceCommandId_t *id) override;
+  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-	void doStartUp() override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-	void doShutDown() override;
+                                        LocalDataPoolManager &poolManager) override;
-	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-	        const uint8_t *commandData, size_t commandDataLen) override;
-	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-			DeviceCommandId_t *foundId, size_t *foundLen) override;
-	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
 
-	void fillCommandAndReplyMap() override;
+ private:
-	void modeChanged(void) override;
+  enum class InternalState {
-	virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    NONE,
-	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+    CONFIGURE_CMM,
-			LocalDataPoolManager &poolManager) override;
+    READ_CMM,
+    // The cycle count states are propably not going to be used because
+    // the default cycle count will be used.
+    STATE_CONFIGURE_CYCLE_COUNT,
+    STATE_READ_CYCLE_COUNT,
+    STATE_CONFIGURE_TMRC,
+    STATE_READ_TMRC,
+    NORMAL
+  };
+  InternalState internalState = InternalState::NONE;
+  bool commandExecuted = false;
+  RM3100::Rm3100PrimaryDataset primaryDataset;
 
-private:
+  uint8_t commandBuffer[10];
+  uint8_t commandBufferLen = 0;
 
-	enum class InternalState {
+  uint8_t cmmRegValue = RM3100::CMM_VALUE;
-	    NONE,
+  uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
-		CONFIGURE_CMM,
+  uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
-		READ_CMM,
+  uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
-		// The cycle count states are propably not going to be used because
+  uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
-		// the default cycle count will be used.
+  float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
-		STATE_CONFIGURE_CYCLE_COUNT,
+  float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
-		STATE_READ_CYCLE_COUNT,
+  float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
-		STATE_CONFIGURE_TMRC,
-		STATE_READ_TMRC,
-		NORMAL
-	};
-	InternalState internalState = InternalState::NONE;
-	bool commandExecuted = false;
-	RM3100::Rm3100PrimaryDataset primaryDataset;
 
-	uint8_t commandBuffer[10];
+  bool goToNormalModeAtStartup = false;
-	uint8_t commandBufferLen = 0;
+  uint32_t transitionDelay;
 
-	uint8_t cmmRegValue = RM3100::CMM_VALUE;
+  ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-	uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
+                                              const uint8_t *commandData, size_t commandDataLen);
-	uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
+  ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
-	uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
+                                   size_t commandDataLen);
-	uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
-	float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
-	float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
-	float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
 
-	bool goToNormalModeAtStartup = false;
+  ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-	uint32_t transitionDelay;
+                                        size_t commandDataLen);
 
-	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
+  ReturnValue_t handleDataReadout(const uint8_t *packet);
-			const uint8_t *commandData,size_t commandDataLen);
-	ReturnValue_t handleCycleCommand(bool oneCycleValue,
-			const uint8_t *commandData, size_t commandDataLen);
-
-	ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
-			const uint8_t *commandData,size_t commandDataLen);
-
-	ReturnValue_t handleDataReadout(const uint8_t* packet);
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
-	PeriodicOperationDivider* debugDivider;
+  PeriodicOperationDivider *debugDivider;
 #endif
 };
 

hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+
 #include <cstdint>
 
 namespace L3GD20H {
@@ -36,8 +37,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
 static constexpr uint8_t SET_X_ENABLE = 1 << 1;
 static constexpr uint8_t SET_Y_ENABLE = 1;
 
-static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
+static constexpr uint8_t CTRL_REG_1_VAL =
-		SET_Y_ENABLE | SET_X_ENABLE;
+    SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
 
 /* Register 2 */
 static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
@@ -104,40 +105,29 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
 
 static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
 
-enum GyroPoolIds: lp_id_t {
+enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
-    ANG_VELOC_X,
+
-	ANG_VELOC_Y,
+}  // namespace L3GD20H
-	ANG_VELOC_Z,
+
-	TEMPERATURE
+class GyroPrimaryDataset : public StaticLocalDataSet<5> {
+ public:
+  /** Constructor  for data users like controllers */
+  GyroPrimaryDataset(object_id_t mgmId)
+      : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
+    setAllVariablesReadOnly();
+  }
+
+  /* Angular velocities in degrees per second (DPS) */
+  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
+  lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
+  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
+
+ private:
+  friend class GyroHandlerL3GD20H;
+  /** Constructor  for the data creator */
+  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
 };
 
-}
-
-class GyroPrimaryDataset: public StaticLocalDataSet<5> {
-public:
-
-    /** Constructor  for data users like controllers */
-    GyroPrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
-        setAllVariablesReadOnly();
-    }
-
-    /* Angular velocities in degrees per second (DPS) */
-    lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_X, this);
-    lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_Y, this);
-    lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_Z, this);
-    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-            L3GD20H::TEMPERATURE, this);
-private:
-
-    friend class GyroHandlerL3GD20H;
-    /** Constructor  for the data creator */
-    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
-};
-
-
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h

@@ -1,26 +1,18 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
 
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+
 #include <cstdint>
 
 namespace MGMLIS3MDL {
 
-enum Set {
+enum Set { ON, OFF };
-    ON, OFF
+enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
-};
-enum OpMode {
-    LOW, MEDIUM, HIGH, ULTRA
-};
 
-enum Sensitivies: uint8_t {
+enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
-    GAUSS_4 = 4,
-    GAUSS_8 = 8,
-    GAUSS_12 = 12,
-    GAUSS_16 = 16
-};
 
 /* Actually 15, we just round up a bit */
 static constexpr size_t MAX_BUFFER_SIZE = 16;
@@ -54,7 +46,7 @@ static const uint8_t SETUP_REPLY_LEN = 6;
 /*------------------------------------------------------------------------*/
 /* Register adress returns identifier of device with default 0b00111101 */
 static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
-static const uint8_t DEVICE_ID = 0b00111101;            // Identifier for Device
+static const uint8_t DEVICE_ID = 0b00111101;  // Identifier for Device
 
 /* Register adress to access register 1 */
 static const uint8_t CTRL_REG1 = 0b00100000;
@@ -105,74 +97,67 @@ static const uint8_t RW_BIT = 7;
 static const uint8_t MS_BIT = 6;
 
 /* CTRL_REG1 bits */
-static const uint8_t ST = 0;        // Self test enable bit, enabled = 1
+static const uint8_t ST = 0;  // Self test enable bit, enabled = 1
 // Enable rates higher than 80 Hz enabled = 1
 static const uint8_t FAST_ODR = 1;
-static const uint8_t DO0 = 2;       // Output data rate bit 2
+static const uint8_t DO0 = 2;      // Output data rate bit 2
-static const uint8_t DO1 = 3;       // Output data rate bit 3
+static const uint8_t DO1 = 3;      // Output data rate bit 3
-static const uint8_t DO2 = 4;       // Output data rate bit 4
+static const uint8_t DO2 = 4;      // Output data rate bit 4
-static const uint8_t OM0 = 5;       // XY operating mode bit 5
+static const uint8_t OM0 = 5;      // XY operating mode bit 5
-static const uint8_t OM1 = 6;       // XY operating mode bit 6
+static const uint8_t OM1 = 6;      // XY operating mode bit 6
-static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1
+static const uint8_t TEMP_EN = 7;  // Temperature sensor enable enabled = 1
-static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
+static const uint8_t CTRL_REG1_DEFAULT =
-        (1 << DO0) | (1 << DO1) | (1 << DO2);
+    (1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
 
 /* CTRL_REG2 bits */
-//reset configuration registers and user registers
+// reset configuration registers and user registers
 static const uint8_t SOFT_RST = 2;
-static const uint8_t REBOOT = 3;    //reboot memory content
+static const uint8_t REBOOT = 3;  // reboot memory content
-static const uint8_t FSO = 5;       //full-scale selection bit 5
+static const uint8_t FSO = 5;     // full-scale selection bit 5
-static const uint8_t FS1 = 6;       //full-scale selection bit 6
+static const uint8_t FS1 = 6;     // full-scale selection bit 6
 static const uint8_t CTRL_REG2_DEFAULT = 0;
 
 /* CTRL_REG3 bits */
-static const uint8_t MD0 = 0;       //Operating mode bit 0
+static const uint8_t MD0 = 0;  // Operating mode bit 0
-static const uint8_t MD1 = 1;       //Operating mode bit 1
+static const uint8_t MD1 = 1;  // Operating mode bit 1
-//SPI serial interface mode selection enabled = 3-wire-mode
+// SPI serial interface mode selection enabled = 3-wire-mode
 static const uint8_t SIM = 2;
-static const uint8_t LP = 5;        //low-power mode
+static const uint8_t LP = 5;  // low-power mode
 static const uint8_t CTRL_REG3_DEFAULT = 0;
 
 /* CTRL_REG4 bits */
-//big/little endian data selection enabled = MSb at lower adress
+// big/little endian data selection enabled = MSb at lower adress
 static const uint8_t BLE = 1;
-static const uint8_t OMZ0 = 2;      //Z operating mode bit 2
+static const uint8_t OMZ0 = 2;  // Z operating mode bit 2
-static const uint8_t OMZ1 = 3;      //Z operating mode bit 3
+static const uint8_t OMZ1 = 3;  // Z operating mode bit 3
 static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
 
 /* CTRL_REG5 bits */
-static const uint8_t BDU = 6;       //Block data update
+static const uint8_t BDU = 6;        // Block data update
-static const uint8_t FAST_READ = 7; //Fast read enabled = 1
+static const uint8_t FAST_READ = 7;  // Fast read enabled = 1
 static const uint8_t CTRL_REG5_DEFAULT = 0;
 
 static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
 
-enum MgmPoolIds: lp_id_t {
+enum MgmPoolIds : lp_id_t {
-    FIELD_STRENGTH_X,
+  FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
+  FIELD_STRENGTH_Z,
-    TEMPERATURE_CELCIUS
+  TEMPERATURE_CELCIUS
 };
 
-class MgmPrimaryDataset: public StaticLocalDataSet<4> {
+class MgmPrimaryDataset : public StaticLocalDataSet<4> {
-public:
+ public:
-    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+  MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
-        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
 
-    MgmPrimaryDataset(object_id_t mgmId):
+  MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
 
-    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
-            FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
-            FIELD_STRENGTH_Y, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
-    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Z, this);
-    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-            TEMPERATURE_CELCIUS, this);
 };
 
-}
+}  // namespace MGMLIS3MDL
-
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -1,10 +1,11 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/serialize/SerialLinkedListAdapter.h>
+
 #include <cstdint>
 
 namespace RM3100 {
@@ -24,8 +25,8 @@ static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
 static constexpr uint8_t SET_CMM_START = 1;
 static constexpr uint8_t CMM_REGISTER = 0x01;
 
-static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
+static constexpr uint8_t CMM_VALUE =
-		SET_CMM_DRDM | SET_CMM_START;
+    SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
 
 /*----------------------------------------------------------------------------*/
 /* Cycle count register */
@@ -33,8 +34,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
 // Default value (200)
 static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
 
-static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
+static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
-		100 * 38;
 static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
 
 /*----------------------------------------------------------------------------*/
@@ -67,66 +67,58 @@ static constexpr DeviceCommandId_t READ_TMRC = 4;
 static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
 static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
 
-class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
+class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
-public:
+ public:
-	CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
+  CycleCountCommand(bool oneCycleCount = true) : oneCycleCount(oneCycleCount) {
-		setLinks(oneCycleCount);
+    setLinks(oneCycleCount);
-	}
+  }
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override {
+                            Endianness streamEndianness) override {
-		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
+    ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
-				size, streamEndianness);
+    if (oneCycleCount) {
-		if(oneCycleCount) {
+      cycleCountY = cycleCountX;
-			cycleCountY = cycleCountX;
+      cycleCountZ = cycleCountX;
-			cycleCountZ = cycleCountX;
+    }
-		}
+    return result;
-		return result;
+  }
-	}
 
-	SerializeElement<uint16_t> cycleCountX;
+  SerializeElement<uint16_t> cycleCountX;
-	SerializeElement<uint16_t> cycleCountY;
+  SerializeElement<uint16_t> cycleCountY;
-	SerializeElement<uint16_t> cycleCountZ;
+  SerializeElement<uint16_t> cycleCountZ;
 
-private:
+ private:
-	void setLinks(bool oneCycleCount) {
+  void setLinks(bool oneCycleCount) {
-		setStart(&cycleCountX);
+    setStart(&cycleCountX);
-		if(not oneCycleCount) {
+    if (not oneCycleCount) {
-			cycleCountX.setNext(&cycleCountY);
+      cycleCountX.setNext(&cycleCountY);
-			cycleCountY.setNext(&cycleCountZ);
+      cycleCountY.setNext(&cycleCountZ);
-		}
+    }
-	}
+  }
 
-	bool oneCycleCount;
+  bool oneCycleCount;
 };
 
 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
 
-enum MgmPoolIds: lp_id_t {
+enum MgmPoolIds : lp_id_t {
-    FIELD_STRENGTH_X,
+  FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
+  FIELD_STRENGTH_Z,
 };
 
-class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
+class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
-public:
+ public:
-	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
+  Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
-        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
 
-	Rm3100PrimaryDataset(object_id_t mgmId):
+  Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
 
-	// Field strengths in micro Tesla.
+  // Field strengths in micro Tesla.
-    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
-            FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
-            FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Z, this);
 };
 
-}
+}  // namespace RM3100
-
-
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,10 +4,15 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 
-add_subdirectory(gpio)
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-add_subdirectory(spi)
+	add_subdirectory(gpio)
-add_subdirectory(i2c)
+	add_subdirectory(spi)
-add_subdirectory(uart)
+	add_subdirectory(i2c)
+	add_subdirectory(uart)
+endif()
+
+add_subdirectory(uio)

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,207 @@
+#include "CommandExecutor.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+#include "fsfw/container/DynamicFIFO.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/serviceinterface.h"
+
+CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
+  waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+  if (state == States::PENDING) {
+    return COMMAND_PENDING;
+  }
+
+  currentCmd = command;
+  this->blocking = blocking;
+  this->printOutput = printOutput;
+  if (state == States::IDLE) {
+    state = States::COMMAND_LOADED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+  if (state == States::IDLE) {
+    return NO_COMMAND_LOADED_OR_PENDING;
+  } else if (state == States::PENDING) {
+    return COMMAND_PENDING;
+  }
+  currentCmdFile = popen(currentCmd.c_str(), "r");
+  if (currentCmdFile == nullptr) {
+    lastError = errno;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (blocking) {
+    ReturnValue_t result = executeBlocking();
+    state = States::IDLE;
+    return result;
+  } else {
+    currentFd = fileno(currentCmdFile);
+    waiter.fd = currentFd;
+  }
+  state = States::PENDING;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+  if (state == States::PENDING) {
+    // Attempt to close process, irrespective of if it is running or not
+    if (currentCmdFile != nullptr) {
+      pclose(currentCmdFile);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+  if (lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << funcName << " pclose failed with code " << lastError << ": "
+                 << strerror(lastError) << std::endl;
+#else
+    sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
+                    strerror(lastError));
+#endif
+  }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
+                                    DynamicFIFO<uint16_t>* sizesFifo) {
+  this->ringBuffer = ringBuffer;
+  this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& replyReceived) {
+  if (blocking) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+  switch (state) {
+    case (States::IDLE):
+    case (States::COMMAND_LOADED): {
+      return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case (States::PENDING): {
+      break;
+    }
+  }
+
+  int result = poll(&waiter, 1, 0);
+  switch (result) {
+    case (0): {
+      return HasReturnvaluesIF::RETURN_OK;
+      break;
+    }
+    case (1): {
+      if (waiter.revents & POLLIN) {
+        ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+        if (readBytes == 0) {
+          // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::warning << "CommandExecutor::check: No bytes read "
+                          "after poll event.."
+                       << std::endl;
+#else
+          sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+          break;
+        } else if (readBytes > 0) {
+          replyReceived = true;
+          if (printOutput) {
+            // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << readVec.data();
+#else
+            sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+          }
+          if (ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
+          }
+          if (sizesFifo != nullptr) {
+            if (not sizesFifo->full()) {
+              sizesFifo->insert(readBytes);
+            }
+          }
+        } else {
+          // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
+                       << std::endl;
+#else
+          sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+        }
+      }
+      if (waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+        sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+        return COMMAND_ERROR;
+      }
+      if (waiter.revents & POLLHUP) {
+        result = pclose(currentCmdFile);
+        ReturnValue_t retval = EXECUTION_FINISHED;
+        if (result != 0) {
+          lastError = result;
+          retval = HasReturnvaluesIF::RETURN_FAILED;
+        }
+        state = States::IDLE;
+        currentCmdFile = nullptr;
+        currentFd = 0;
+        return retval;
+      }
+      break;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+  CommandExecutor::close();
+  currentCmdFile = nullptr;
+  currentFd = 0;
+  state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+  // See:
+  // https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
+  return WEXITSTATUS(this->lastError);
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+  while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+    std::string output(readVec.data());
+    if (printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::info << currentCmd << " | " << output;
+#else
+      sif::printInfo("%s | %s", currentCmd, output);
+#endif
+    }
+    if (ringBuffer != nullptr) {
+      ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+    }
+    if (sizesFifo != nullptr) {
+      if (not sizesFifo->full()) {
+        sizesFifo->insert(output.size());
+      }
+    }
+  }
+  int result = pclose(currentCmdFile);
+  if (result != 0) {
+    lastError = result;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,129 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class SimpleRingBuffer;
+template <typename T>
+class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+ public:
+  enum class States { IDLE, COMMAND_LOADED, PENDING };
+
+  static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+  //! [EXPORT] : [COMMENT] Execution of the current command has finished
+  static constexpr ReturnValue_t EXECUTION_FINISHED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+  //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+  //! to load another command but a command is still pending
+  static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+  //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+  static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+  //! [EXPORT] : [COMMENT] Command execution failed
+  static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+  //! [EXPORT] : [COMMENT]
+  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+  /**
+   * Constructor. Is initialized with maximum size of internal buffer to read data from the
+   * executed process.
+   * @param maxSize
+   */
+  CommandExecutor(const size_t maxSize);
+
+  /**
+   * Load a new command which should be executed
+   * @param command
+   * @param blocking
+   * @param printOutput
+   * @return
+   */
+  ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+  /**
+   * Execute the loaded command.
+   * @return
+   *  - In blocking mode, it will return RETURN_FAILED if
+   *    the result of the system call was not 0. The error value can be accessed using
+   *    getLastError
+   *  - In non-blocking mode, this call will start
+   *    the execution and then return RETURN_OK
+   */
+  ReturnValue_t execute();
+  /**
+   * Only used in non-blocking mode. Checks the currently running command.
+   * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+   * @return
+   *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+   *    check again after this
+   *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+   *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+   *  - EXECUTION_FINISHED if the process was executed successfully
+   *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
+   *  - COMMAND_ERROR internal poll error
+   */
+  ReturnValue_t check(bool& replyReceived);
+  /**
+   * Abort the current command. Should normally not be necessary, check can be used to find
+   * out whether command execution was successful
+   * @return RETURN_OK
+   */
+  ReturnValue_t close();
+
+  States getCurrentState() const;
+  int getLastError() const;
+  void printLastError(std::string funcName) const;
+
+  /**
+   * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+   * read from the started process
+   * @param ringBuffer
+   * @param sizesFifo
+   */
+  void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+  /**
+   * Reset the executor. This calls close internally and then reset the state machine so new
+   * commands can be loaded and executed
+   */
+  void reset();
+
+ private:
+  std::string currentCmd;
+  bool blocking = true;
+  FILE* currentCmdFile = nullptr;
+  int currentFd = 0;
+  bool printOutput = true;
+  std::vector<char> readVec;
+  struct pollfd waiter {};
+  SimpleRingBuffer* ringBuffer = nullptr;
+  DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+  States state = States::IDLE;
+  int lastError = 0;
+
+  ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -1,37 +1,36 @@
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 
 #include <cerrno>
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+
 UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
-        std::string diagnosticPrefix):
+                             std::string diagnosticPrefix)
-        fileDescriptor(fileDescriptor) {
+    : fileDescriptor(fileDescriptor) {
-    if(fileDescriptor == nullptr) {
+  if (fileDescriptor == nullptr) {
-        return;
+    return;
-    }
+  }
-    *fileDescriptor = open(device.c_str(), flags);
+  *fileDescriptor = open(device.c_str(), flags);
-    if (*fileDescriptor < 0) {
+  if (*fileDescriptor < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
+    sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
-                errno << ": " << strerror(errno) << std::endl;
+                 << strerror(errno) << std::endl;
 #else
-        sif::printWarning("%s: Opening device failed with error code %d: %s\n",
+    sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
-                diagnosticPrefix, errno, strerror(errno));
+                      strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        openStatus = OPEN_FILE_FAILED;
+    openStatus = OPEN_FILE_FAILED;
-    }
+  }
 }
 
 UnixFileGuard::~UnixFileGuard() {
-    if(fileDescriptor != nullptr) {
+  if (fileDescriptor != nullptr) {
-        close(*fileDescriptor);
+    close(*fileDescriptor);
-    }
+  }
 }
 
-ReturnValue_t UnixFileGuard::getOpenResult() const {
+ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
-    return openStatus;
-}

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -1,33 +1,30 @@
 #ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
 #define LINUX_UTILITY_UNIXFILEGUARD_H_
 
+#include <fcntl.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <unistd.h>
 
 #include <string>
 
-#include <fcntl.h>
-#include <unistd.h>
-
-
 class UnixFileGuard {
-public:
+ public:
-    static constexpr int READ_WRITE_FLAG = O_RDWR;
+  static constexpr int READ_WRITE_FLAG = O_RDWR;
-    static constexpr int READ_ONLY_FLAG = O_RDONLY;
+  static constexpr int READ_ONLY_FLAG = O_RDONLY;
-    static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
+  static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
 
-    static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
+  static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
 
-    UnixFileGuard(std::string device, int* fileDescriptor, int flags,
+  UnixFileGuard(std::string device, int* fileDescriptor, int flags,
-            std::string diagnosticPrefix = "");
+                std::string diagnosticPrefix = "");
 
-    virtual~ UnixFileGuard();
+  virtual ~UnixFileGuard();
 
-    ReturnValue_t getOpenResult() const;
+  ReturnValue_t getOpenResult() const;
-private:
+
-    int* fileDescriptor = nullptr;
+ private:
-    ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
+  int* fileDescriptor = nullptr;
+  ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };
 
-
-
 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

hal/src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -1,12 +1,16 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    LinuxLibgpioIF.cpp
-)
-
 # This abstraction layer requires the gpiod library. You can install this library
 # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
 # to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod REQUIRED)
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_GPIO}
+    )
+endif()
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${LIB_GPIO}
-)

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -1,442 +1,446 @@
 #include "LinuxLibgpioIF.h"
 
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+#include <gpiod.h>
-#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include <unistd.h>
-
-#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <utility>
-#include <unistd.h>
-#include <gpiod.h>
 
-LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
+#include "fsfw/serviceinterface/ServiceInterface.h"
-}
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+
+LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
 
 LinuxLibgpioIF::~LinuxLibgpioIF() {
-    for(auto& config: gpioMap) {
+  for (auto& config : gpioMap) {
-        delete(config.second);
+    delete (config.second);
-    }
+  }
 }
 
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
-    ReturnValue_t result;
+  ReturnValue_t result;
-    if(gpioCookie == nullptr) {
+  if (gpioCookie == nullptr) {
-        sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+    sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
 
-    GpioMap mapToAdd = gpioCookie->getGpioMap();
+  GpioMap mapToAdd = gpioCookie->getGpioMap();
 
-    /* Check whether this ID already exists in the map and remove duplicates */
+  /* Check whether this ID already exists in the map and remove duplicates */
-    result = checkForConflicts(mapToAdd);
+  result = checkForConflicts(mapToAdd);
-    if (result != RETURN_OK){
+  if (result != RETURN_OK) {
-        return result;
+    return result;
-    }
+  }
 
-    result = configureGpios(mapToAdd);
+  result = configureGpios(mapToAdd);
-    if (result != RETURN_OK) {
+  if (result != RETURN_OK) {
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
 
-    /* Register new GPIOs in gpioMap */
+  /* Register new GPIOs in gpioMap */
-    gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
+  gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
 
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-    for(auto& gpioConfig: mapToAdd) {
+  for (auto& gpioConfig : mapToAdd) {
-        auto& gpioType = gpioConfig.second->gpioType;
+    auto& gpioType = gpioConfig.second->gpioType;
-        switch(gpioType) {
+    switch (gpioType) {
-        case(gpio::GpioTypes::NONE): {
+      case (gpio::GpioTypes::NONE): {
-            return GPIO_INVALID_INSTANCE;
+        return GPIO_INVALID_INSTANCE;
+      }
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+        auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
+        if (regularGpio == nullptr) {
+          return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+        configureGpioByChip(gpioConfig.first, *regularGpio);
-            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
+        break;
-            if(regularGpio == nullptr) {
+      }
-                return GPIO_INVALID_INSTANCE;
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
-            }
+        auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
-            configureGpioByChip(gpioConfig.first, *regularGpio);
+        if (regularGpio == nullptr) {
-            break;
+          return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+        configureGpioByLabel(gpioConfig.first, *regularGpio);
-            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
+        break;
-            if(regularGpio == nullptr) {
+      }
-                return GPIO_INVALID_INSTANCE;
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
-            }
+        auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
-            configureGpioByLabel(gpioConfig.first, *regularGpio);
+        if (regularGpio == nullptr) {
-            break;
+          return GPIO_INVALID_INSTANCE;
-        }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
-            auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
-            if(regularGpio == nullptr) {
-                return GPIO_INVALID_INSTANCE;
-            }
-            configureGpioByLineName(gpioConfig.first, *regularGpio);
-            break;
-        }
-        case(gpio::GpioTypes::CALLBACK): {
-            auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
-            if(gpioCallback->callback == nullptr) {
-                return GPIO_INVALID_INSTANCE;
-            }
-            gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
-                    gpioCallback->initValue, gpioCallback->callbackArgs);
         }
+        configureGpioByLineName(gpioConfig.first, *regularGpio);
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        if (gpioCallback->callback == nullptr) {
+          return GPIO_INVALID_INSTANCE;
         }
+        gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
+                               gpioCallback->initValue, gpioCallback->callbackArgs);
+      }
     }
-    return RETURN_OK;
+  }
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
-        GpiodRegularByLabel &gpioByLabel) {
+                                                   GpiodRegularByLabel& gpioByLabel) {
-    std::string& label = gpioByLabel.label;
+  std::string& label = gpioByLabel.label;
-    struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
+  struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
-    if (chip == nullptr) {
+  if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
+    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
-                << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-
+  }
-    }
+  std::string failOutput = "label: " + label;
-    std::string failOutput = "label: " + label;
+  return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
-    return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
 }
 
-ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
+ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip) {
-        GpiodRegularByChip &gpioByChip) {
+  std::string& chipname = gpioByChip.chipname;
-    std::string& chipname = gpioByChip.chipname;
+  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
-    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
+  if (chip == nullptr) {
-    if (chip == nullptr) {
+    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
-        sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
+                 << ". Gpio ID: " << gpioId << std::endl;
-                << chipname << ". Gpio ID: " << gpioId << std::endl;
+    return RETURN_FAILED;
-        return RETURN_FAILED;
+  }
-    }
+  std::string failOutput = "chipname: " + chipname;
-    std::string failOutput = "chipname: " + chipname;
+  return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
-    return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
-        GpiodRegularByLineName &gpioByLineName) {
+                                                      GpiodRegularByLineName& gpioByLineName) {
-    std::string& lineName = gpioByLineName.lineName;
+  std::string& lineName = gpioByLineName.lineName;
-    char chipname[MAX_CHIPNAME_LENGTH];
+  char chipname[MAX_CHIPNAME_LENGTH];
-    unsigned int lineOffset;
+  unsigned int lineOffset;
 
-    int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
+  int result =
-            &lineOffset);
+      gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
-    if (result != LINE_FOUND) {
+  if (result != LINE_FOUND) {
-        parseFindeLineResult(result, lineName);
+    parseFindeLineResult(result, lineName);
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
 
-    gpioByLineName.lineNum = static_cast<int>(lineOffset);
+  gpioByLineName.lineNum = static_cast<int>(lineOffset);
 
-    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
+  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
-    if (chip == nullptr) {
+  if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
+    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
-                << chipname << ". <Gpio ID: " << gpioId << std::endl;
+                 << ". <Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
-    std::string failOutput = "line name: " + lineName;
+  std::string failOutput = "line name: " + lineName;
-    return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
+  return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
 }
 
 ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
-        GpiodRegularBase& regularGpio, std::string failOutput) {
+                                                   GpiodRegularBase& regularGpio,
-    unsigned int lineNum;
+                                                   std::string failOutput) {
-    gpio::Direction direction;
+  unsigned int lineNum;
-    std::string consumer;
+  gpio::Direction direction;
-    struct gpiod_line *lineHandle;
+  std::string consumer;
-    int result = 0;
+  struct gpiod_line* lineHandle;
+  int result = 0;
 
-    lineNum = regularGpio.lineNum;
+  lineNum = regularGpio.lineNum;
-    lineHandle = gpiod_chip_get_line(chip, lineNum);
+  lineHandle = gpiod_chip_get_line(chip, lineNum);
-    if (!lineHandle) {
+  if (!lineHandle) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+    sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+    sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
-                ", " << failOutput << std::endl;
+                 << std::endl;
-        sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
+    sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
-        gpiod_chip_close(chip);
+    gpiod_chip_close(chip);
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
 
-    direction = regularGpio.direction;
+  direction = regularGpio.direction;
-    consumer = regularGpio.consumer;
+  consumer = regularGpio.consumer;
-    /* Configure direction and add a description to the GPIO */
+  /* Configure direction and add a description to the GPIO */
-    switch (direction) {
+  switch (direction) {
-    case(gpio::OUT): {
+    case (gpio::OUT): {
-        result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
-                regularGpio.initValue);
+      break;
-        break;
     }
-    case(gpio::IN): {
+    case (gpio::IN): {
-        result = gpiod_line_request_input(lineHandle, consumer.c_str());
+      result = gpiod_line_request_input(lineHandle, consumer.c_str());
-        break;
+      break;
     }
     default: {
-        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
+      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
-                << std::endl;
+      return GPIO_INVALID_INSTANCE;
-        return GPIO_INVALID_INSTANCE;
     }
 
-    if (result < 0) {
+      if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
+        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
-                lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
+                   << " from GPIO instance with ID: " << gpioId << std::endl;
 #else
-        sif::printError("LinuxLibgpioIF::configureRegularGpio: "
+        sif::printError(
-                "Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
+            "LinuxLibgpioIF::configureRegularGpio: "
+            "Failed to request line %d from GPIO instance with ID: %d\n",
+            lineNum, gpioId);
 #endif
         gpiod_line_release(lineHandle);
         return RETURN_FAILED;
-    }
+      }
-
+  }
-    }
+  /**
-    /**
+   * Write line handle to GPIO configuration instance so it can later be used to set or
-     * Write line handle to GPIO configuration instance so it can later be used to set or
+   * read states of GPIOs.
-     * read states of GPIOs.
+   */
-     */
+  regularGpio.lineHandle = lineHandle;
-    regularGpio.lineHandle = lineHandle;
+  return RETURN_OK;
-    return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
-    gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
-    if (gpioMapIter == gpioMap.end()) {
+  if (gpioMapIter == gpioMap.end()) {
-        sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
+    sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
-        return UNKNOWN_GPIO_ID;
+    return UNKNOWN_GPIO_ID;
-    }
+  }
 
-    auto gpioType = gpioMapIter->second->gpioType;
+  auto gpioType = gpioMapIter->second->gpioType;
-    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
+      return GPIO_TYPE_FAILURE;
-        }
-        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
     }
-    else {
+    return driveGpio(gpioId, *regularGpio, gpio::HIGH);
-        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+  } else {
-        if(gpioCallback->callback == nullptr) {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-            return GPIO_INVALID_INSTANCE;
+    if (gpioCallback->callback == nullptr) {
-        }
+      return GPIO_INVALID_INSTANCE;
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                gpio::Levels::HIGH, gpioCallback->callbackArgs);
-        return RETURN_OK;
     }
-    return GPIO_TYPE_FAILURE;
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
+                           gpioCallback->callbackArgs);
+    return RETURN_OK;
+  }
+  return GPIO_TYPE_FAILURE;
 }
 
 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
-    gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
-    if (gpioMapIter == gpioMap.end()) {
+  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
+    sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
 #else
-        sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
+    sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
 #endif
-        return UNKNOWN_GPIO_ID;
+    return UNKNOWN_GPIO_ID;
-    }
+  }
 
-    auto& gpioType = gpioMapIter->second->gpioType;
+  auto& gpioType = gpioMapIter->second->gpioType;
-    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
+      return GPIO_TYPE_FAILURE;
-        }
-        return driveGpio(gpioId, *regularGpio, gpio::LOW);
     }
-    else {
+    return driveGpio(gpioId, *regularGpio, gpio::LOW);
-        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+  } else {
-        if(gpioCallback->callback == nullptr) {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-            return GPIO_INVALID_INSTANCE;
+    if (gpioCallback->callback == nullptr) {
-        }
+      return GPIO_INVALID_INSTANCE;
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                gpio::Levels::LOW, gpioCallback->callbackArgs);
-        return RETURN_OK;
     }
-    return GPIO_TYPE_FAILURE;
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
+                           gpioCallback->callbackArgs);
+    return RETURN_OK;
+  }
+  return GPIO_TYPE_FAILURE;
 }
 
-ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
-        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
+                                        gpio::Levels logicLevel) {
-    int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
+  int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
-    if (result < 0) {
+  if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
+    sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
-                " to logic level " << logicLevel << std::endl;
+                 << " to logic level " << logicLevel << std::endl;
 #else
-        sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+    sif::printWarning(
-                "logic level %d\n", gpioId, logicLevel);
+        "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+        "logic level %d\n",
+        gpioId, logicLevel);
 #endif
-        return DRIVE_GPIO_FAILURE;
+    return DRIVE_GPIO_FAILURE;
-    }
+  }
 
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
-    gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
-    if (gpioMapIter == gpioMap.end()){
+  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+    sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
 #else
-        sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
+    sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
 #endif
-        return UNKNOWN_GPIO_ID;
+    return UNKNOWN_GPIO_ID;
-    }
+  }
 
-    auto gpioType = gpioMapIter->second->gpioType;
+  auto gpioType = gpioMapIter->second->gpioType;
-    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
+      return GPIO_TYPE_FAILURE;
-        }
-        *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
     }
-    else {
+    *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
-        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+  } else {
-        if(gpioCallback->callback == nullptr) {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-            return GPIO_INVALID_INSTANCE;
+    if (gpioCallback->callback == nullptr) {
-        }
+      return GPIO_INVALID_INSTANCE;
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
-                gpio::Levels::NONE, gpioCallback->callbackArgs);
-        return RETURN_OK;
     }
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
+                           gpioCallback->callbackArgs);
     return RETURN_OK;
+  }
+  return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
+ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
-    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    for(auto& gpioConfig: mapToAdd) {
+  for (auto& gpioConfig : mapToAdd) {
-        switch(gpioConfig.second->gpioType) {
+    switch (gpioConfig.second->gpioType) {
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
-            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
-            if(regularGpio == nullptr)  {
+        if (regularGpio == nullptr) {
-                return GPIO_TYPE_FAILURE;
+          return GPIO_TYPE_FAILURE;
-            }
-            // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-            if(result != HasReturnvaluesIF::RETURN_OK) {
-                status = result;
-            }
-            break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+        // Check for conflicts and remove duplicates if necessary
-            auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-            if(callbackGpio == nullptr)  {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
-                return GPIO_TYPE_FAILURE;
+          status = result;
-            }
-            // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsById(gpioConfig.first,
-                    gpioConfig.second->gpioType, mapToAdd);
-            if(result != HasReturnvaluesIF::RETURN_OK) {
-                status = result;
-            }
-            break;
         }
-        default: {
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        if (callbackGpio == nullptr) {
+          return GPIO_TYPE_FAILURE;
+        }
+        // Check for conflicts and remove duplicates if necessary
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          status = result;
+        }
+        break;
+      }
+      default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
+        sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
-                    << std::endl;
 #else
-            sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
+        sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
 #endif
-            status = GPIO_TYPE_FAILURE;
+        status = GPIO_TYPE_FAILURE;
-        }
+      }
-        }
     }
-    return status;
+  }
+  return status;
 }
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
-        gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
+                                                    gpio::GpioTypes expectedType,
-    // Cross check with private map
+                                                    GpioMap& mapToAdd) {
-    gpioMapIter = gpioMap.find(gpioIdToCheck);
+  // Cross check with private map
-    if(gpioMapIter != gpioMap.end()) {
+  gpioMapIter = gpioMap.find(gpioIdToCheck);
-        auto& gpioType = gpioMapIter->second->gpioType;
+  if (gpioMapIter != gpioMap.end()) {
-        bool eraseDuplicateDifferentType = false;
+    auto& gpioType = gpioMapIter->second->gpioType;
-        switch(expectedType) {
+    bool eraseDuplicateDifferentType = false;
-        case(gpio::GpioTypes::NONE): {
+    switch (expectedType) {
-            break;
+      case (gpio::GpioTypes::NONE): {
+        break;
+      }
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+        if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+          eraseDuplicateDifferentType = true;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        break;
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+      case (gpio::GpioTypes::CALLBACK): {
-            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+        if (gpioType != gpio::GpioTypes::CALLBACK) {
-                eraseDuplicateDifferentType = true;
+          eraseDuplicateDifferentType = true;
-            }
-            break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+      }
-            if(gpioType != gpio::GpioTypes::CALLBACK) {
-                eraseDuplicateDifferentType = true;
-            }
-        }
-        }
-        if(eraseDuplicateDifferentType) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
-                    "different GPIO type " << gpioIdToCheck <<
-                    ". Removing duplicate from map to add" << std::endl;
-#else
-            sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
-                    "different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
-#endif
-            mapToAdd.erase(gpioIdToCheck);
-            return GPIO_DUPLICATE_DETECTED;
-        }
-
-        // Remove element from map to add because a entry for this GPIO already exists
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
-                "definition with ID " << gpioIdToCheck << " detected. " <<
-                "Duplicate will be removed from map to add" << std::endl;
-#else
-        sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
-                "with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
-#endif
-        mapToAdd.erase(gpioIdToCheck);
-        return GPIO_DUPLICATE_DETECTED;
     }
-    return HasReturnvaluesIF::RETURN_OK;
+    if (eraseDuplicateDifferentType) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                      "different GPIO type "
+                   << gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
+#else
+      sif::printWarning(
+          "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+          "different GPIO type %d. Removing duplicate from map to add\n",
+          gpioIdToCheck);
+#endif
+      mapToAdd.erase(gpioIdToCheck);
+      return GPIO_DUPLICATE_DETECTED;
+    }
+
+    // Remove element from map to add because a entry for this GPIO already exists
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
+                    "definition with ID "
+                 << gpioIdToCheck << " detected. "
+                 << "Duplicate will be removed from map to add" << std::endl;
+#else
+    sif::printWarning(
+        "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+        "with ID %d detected. Duplicate will be removed from map to add\n",
+        gpioIdToCheck);
+#endif
+    mapToAdd.erase(gpioIdToCheck);
+    return GPIO_DUPLICATE_DETECTED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
-    switch (result) {
+  switch (result) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     case LINE_NOT_EXISTS:
     case LINE_ERROR: {
-        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
+      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
-                " does not exist" << std::endl;
+                   << " does not exist" << std::endl;
-        break;
+      break;
     }
     default: {
-        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
-                "with name " << lineName << std::endl;
+                      "with name "
-        break;
+                   << lineName << std::endl;
+      break;
     }
 #else
     case LINE_NOT_EXISTS:
     case LINE_ERROR: {
-        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
+      sif::printWarning(
-                "does not exist\n", lineName);
+          "LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
-        break;
+          "does not exist\n",
+          lineName);
+      break;
     }
     default: {
-        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+      sif::printWarning(
-                "with name %s\n", lineName);
+          "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
-        break;
+          "with name %s\n",
+          lineName);
+      break;
     }
 #endif
-    }
+  }
-
 }

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -1,9 +1,9 @@
 #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
 #define LINUX_GPIO_LINUXLIBGPIOIF_H_
 
+#include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/FwClassIds.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
 
 class GpioCookie;
 class GpiodRegularIF;
@@ -16,76 +16,71 @@ class GpiodRegularIF;
  * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
  */
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
-public:
+ public:
+  static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
 
-    static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
+  static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+  static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
-    static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+  LinuxLibgpioIF(object_id_t objectId);
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  virtual ~LinuxLibgpioIF();
-    static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
-    static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
-    static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
-    static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
-	LinuxLibgpioIF(object_id_t objectId);
+  ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
-	virtual ~LinuxLibgpioIF();
+  ReturnValue_t pullHigh(gpioId_t gpioId) override;
+  ReturnValue_t pullLow(gpioId_t gpioId) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
-	ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
+ private:
-	ReturnValue_t pullHigh(gpioId_t gpioId) override;
+  static const size_t MAX_CHIPNAME_LENGTH = 11;
-	ReturnValue_t pullLow(gpioId_t gpioId) override;
+  static const int LINE_NOT_EXISTS = 0;
-	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
+  static const int LINE_ERROR = -1;
+  static const int LINE_FOUND = 1;
 
-private:
+  // Holds the information and configuration of all used GPIOs
+  GpioUnorderedMap gpioMap;
+  GpioUnorderedMapIter gpioMapIter;
 
-	static const size_t MAX_CHIPNAME_LENGTH = 11;
+  /**
-	static const int LINE_NOT_EXISTS = 0;
+   * @brief	This functions drives line of a GPIO specified by the GPIO ID.
-	static const int LINE_ERROR = -1;
+   *
-	static const int LINE_FOUND = 1;
+   * @param gpioId	The GPIO ID of the GPIO to drive.
+   * @param logiclevel	The logic level to set. O or 1.
+   */
+  ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
 
-	// Holds the information and configuration of all used GPIOs
+  ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
-	GpioUnorderedMap gpioMap;
+  ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
-	GpioUnorderedMapIter gpioMapIter;
+  ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
+  ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+                                     GpiodRegularBase& regularGpio, std::string failOutput);
 
-	/**
+  /**
-	 * @brief	This functions drives line of a GPIO specified by the GPIO ID.
+   * @brief	This function checks if GPIOs are already registered and whether
-	 *
+   * 			there exists a conflict in the GPIO configuration. E.g. the
-	 * @param gpioId	The GPIO ID of the GPIO to drive.
+   * 			direction.
-	 * @param logiclevel	The logic level to set. O or 1.
+   *
-	 */
+   * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+   *
-	        gpio::Levels logicLevel);
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
+   */
+  ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+  ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
-	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
-    ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
-            GpiodRegularByLineName &gpioByLineName);
-    ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
-            GpiodRegularBase& regularGpio, std::string failOutput);
 
-	/**
+  /**
-	 * @brief	This function checks if GPIOs are already registered and whether
+   * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
-	 * 			there exists a conflict in the GPIO configuration. E.g. the
+   */
-	 * 			direction.
+  ReturnValue_t configureGpios(GpioMap& mapToAdd);
-	 *
-	 * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
-	 *
-	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED
-	 */
-	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
+  void parseFindeLineResult(int result, std::string& lineName);
-	        GpioMap& mapToAdd);
-
-	/**
-	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
-	 */
-	ReturnValue_t configureGpios(GpioMap& mapToAdd);
-
-	void parseFindeLineResult(int result, std::string& lineName);
 };
 
 #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -1,205 +1,223 @@
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <linux/i2c-dev.h>
 #include <errno.h>
+#include <fcntl.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
 
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
 
-I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
+I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
-}
 
 I2cComIF::~I2cComIF() {}
 
 ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
+  address_t i2cAddress;
+  std::string deviceFile;
 
-    address_t i2cAddress;
+  if (cookie == nullptr) {
-    std::string deviceFile;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-
+    sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
-    if(cookie == nullptr) {
-        sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
-        sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-
-    i2cAddress = i2cCookie->getAddress();
-
-    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-    if(i2cDeviceMapIter == i2cDeviceMap.end()) {
-        size_t maxReplyLen = i2cCookie->getMaxReplyLen();
-        I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
-        auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
-        if (not statusPair.second) {
-            sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
-                    i2cAddress << "to I2C device " << "map" << std::endl;
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
-            "already in use" << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
-        const uint8_t *sendData, size_t sendLen) {
-
-    ReturnValue_t result;
-    int fd;
-    std::string deviceFile;
-
-    if(sendData == nullptr) {
-        sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
-                << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    if(sendLen == 0) {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
-        sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-
-    address_t i2cAddress = i2cCookie->getAddress();
-    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-        sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
-                << "registered in i2cDeviceMap" << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    deviceFile = i2cCookie->getDeviceFile();
-    UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-        return fileHelper.getOpenResult();
-    }
-    result = openDevice(deviceFile, i2cAddress, &fd);
-    if (result != HasReturnvaluesIF::RETURN_OK){
-        return result;
-    }
-
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
-        sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                "device with error code " << errno << ". Error description: "
-                << strerror(errno) << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
-        size_t requestLen) {
-    ReturnValue_t result;
-    int fd;
-    std::string deviceFile;
-
-    if (requestLen == 0) {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
-        sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
-        i2cDeviceMapIter->second.replyLen = 0;
-        return NULLPOINTER;
-    }
-
-    address_t i2cAddress = i2cCookie->getAddress();
-    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-        sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
-                << "registered in i2cDeviceMap" << std::endl;
-        i2cDeviceMapIter->second.replyLen = 0;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    deviceFile = i2cCookie->getDeviceFile();
-    UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-        return fileHelper.getOpenResult();
-    }
-    result = openDevice(deviceFile, i2cAddress, &fd);
-    if (result != HasReturnvaluesIF::RETURN_OK){
-        i2cDeviceMapIter->second.replyLen = 0;
-        return result;
-    }
-
-    uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
-
-    int readLen = read(fd, replyBuffer, requestLen);
-    if (readLen != static_cast<int>(requestLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
-                << "device failed with error code " << errno <<". Description"
-                << " of error: " << strerror(errno) << std::endl;
-        sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
-                << requestLen << " bytes" << std::endl;
 #endif
-        i2cDeviceMapIter->second.replyLen = 0;
+    return NULLPOINTER;
-        sif::debug << "I2cComIF::requestReceiveMessage: Read "  << readLen << " of " << requestLen << " bytes" << std::endl;
+  }
-        return HasReturnvaluesIF::RETURN_FAILED;
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    }
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
 
-    i2cDeviceMapIter->second.replyLen = requestLen;
+  i2cAddress = i2cCookie->getAddress();
+
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    size_t maxReplyLen = i2cCookie->getMaxReplyLen();
+    I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
+    auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
+    if (not statusPair.second) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
+                 << i2cAddress << "to I2C device "
+                 << "map" << std::endl;
+#endif
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
     return HasReturnvaluesIF::RETURN_OK;
+  }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
+             << "already in use" << std::endl;
+#endif
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
+ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
-        uint8_t **buffer, size_t* size) {
+  ReturnValue_t result;
-    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  int fd;
-    if(i2cCookie == nullptr) {
+  std::string deviceFile;
-        sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
-        return NULLPOINTER;
-    }
 
-    address_t i2cAddress = i2cCookie->getAddress();
+  if (sendData == nullptr) {
-    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
-        sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
+#endif
-                << "found in i2cDeviceMap" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
-        return HasReturnvaluesIF::RETURN_FAILED;
+  }
-    }
-    *buffer = i2cDeviceMapIter->second.replyBuffer.data();
-    *size = i2cDeviceMapIter->second.replyLen;
 
+  if (sendLen == 0) {
     return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
+               << "registered in i2cDeviceMap" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  deviceFile = i2cCookie->getDeviceFile();
+  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+  result = openDevice(deviceFile, i2cAddress, &fd);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
+                  "device with error code "
+               << errno << ". Error description: " << strerror(errno) << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
-        address_t i2cAddress, int* fileDescriptor) {
 
-    if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  ReturnValue_t result;
+  int fd;
+  std::string deviceFile;
+
+  if (requestLen == 0) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
+               << "registered in i2cDeviceMap" << std::endl;
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  deviceFile = i2cCookie->getDeviceFile();
+  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+  result = openDevice(deviceFile, i2cAddress, &fd);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    i2cDeviceMapIter->second.replyLen = 0;
+    return result;
+  }
+
+  uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
+
+  int readLen = read(fd, replyBuffer, requestLen);
+  if (readLen != static_cast<int>(requestLen)) {
+#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
+               << "device failed with error code " << errno << ". Description"
+               << " of error: " << strerror(errno) << std::endl;
+    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
+               << " bytes" << std::endl;
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  i2cDeviceMapIter->second.replyLen = requestLen;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
+               << "found in i2cDeviceMap" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  *buffer = i2cDeviceMapIter->second.replyBuffer.data();
+  *size = i2cDeviceMapIter->second.replyLen;
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
+                                   int* fileDescriptor) {
+  if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
+    sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
-                << std::endl;
+                 << std::endl;
-        sif::warning << "Error description " << strerror(errno) << std::endl;
+    sif::warning << "Error description " << strerror(errno) << std::endl;
 #else
-        sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
+    sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
-        sif::printWarning("Error description: %s\n", strerror(errno));
+    sif::printWarning("Error description: %s\n", strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

hal/src/fsfw_hal/linux/i2c/I2cComIF.h

@@ -1,13 +1,14 @@
 #ifndef LINUX_I2C_I2COMIF_H_
 #define LINUX_I2C_I2COMIF_H_
 
-#include "I2cCookie.h"
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 #include <unordered_map>
 #include <vector>
 
+#include "I2cCookie.h"
+
 /**
  * @brief 	This is the communication interface for I2C devices connected
  * 			to a system running a Linux OS.
@@ -16,46 +17,41 @@
  *
  * @author 	J. Meier
  */
-class I2cComIF: public DeviceCommunicationIF, public SystemObject {
+class I2cComIF : public DeviceCommunicationIF, public SystemObject {
-public:
+ public:
-	I2cComIF(object_id_t objectId);
+  I2cComIF(object_id_t objectId);
 
-	virtual ~I2cComIF();
+  virtual ~I2cComIF();
 
-	ReturnValue_t initializeInterface(CookieIF * cookie) override;
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
-	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
-			size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
-	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
-	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
-	        size_t requestLen) override;
-	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			size_t *size) override;
 
-private:
+ private:
+  struct I2cInstance {
+    std::vector<uint8_t> replyBuffer;
+    size_t replyLen;
+  };
 
-	struct I2cInstance {
+  using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
-		std::vector<uint8_t> replyBuffer;
+  using I2cDeviceMapIter = I2cDeviceMap::iterator;
-		size_t replyLen;
-	};
 
-	using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
+  /* In this map all i2c devices will be registered with their address and
-	using I2cDeviceMapIter = I2cDeviceMap::iterator;
+   * the appropriate file descriptor will be stored */
+  I2cDeviceMap i2cDeviceMap;
+  I2cDeviceMapIter i2cDeviceMapIter;
 
-	/* In this map all i2c devices will be registered with their address and
+  /**
-	 * the appropriate file descriptor will be stored */
+   * @brief	This function opens an I2C device and binds the opened file
-	I2cDeviceMap i2cDeviceMap;
+   * 			to a specific I2C address.
-	I2cDeviceMapIter i2cDeviceMapIter;
+   * @param deviceFile	The name of the device file. E.g. i2c-0
-
+   * @param i2cAddress	The address of the i2c slave device.
-	/**
+   * @param fileDescriptor	Pointer to device descriptor.
-	 * @brief	This function opens an I2C device and binds the opened file
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
-	 * 			to a specific I2C address.
+   */
-	 * @param deviceFile	The name of the device file. E.g. i2c-0
+  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
-	 * @param i2cAddress	The address of the i2c slave device.
-	 * @param fileDescriptor	Pointer to device descriptor.
-	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
-	 */
-	ReturnValue_t openDevice(std::string deviceFile,
-			address_t i2cAddress, int* fileDescriptor);
 };
 
 #endif /* LINUX_I2C_I2COMIF_H_ */

hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp

@@ -1,20 +1,12 @@
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
 
-I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
-		std::string deviceFile_) :
+    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}
-		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
-}
 
-address_t I2cCookie::getAddress() const {
+address_t I2cCookie::getAddress() const { return i2cAddress; }
-	return i2cAddress;
-}
 
-size_t I2cCookie::getMaxReplyLen() const {
+size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }
-	return maxReplyLen;
-}
 
-std::string I2cCookie::getDeviceFile() const {
+std::string I2cCookie::getDeviceFile() const { return deviceFile; }
-	return deviceFile;
-}
 
 I2cCookie::~I2cCookie() {}

hal/src/fsfw_hal/linux/i2c/I2cCookie.h

@@ -2,6 +2,7 @@
 #define LINUX_I2C_I2CCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
+
 #include <string>
 
 /**
@@ -9,30 +10,27 @@
  *
  * @author 	J. Meier
  */
-class I2cCookie: public CookieIF {
+class I2cCookie : public CookieIF {
-public:
+ public:
+  /**
+   * @brief	Constructor for the I2C cookie.
+   * @param i2cAddress_	The i2c address of the target device.
+   * @param maxReplyLen_	The maximum expected length of a reply from the
+   * 						target device.
+   * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
+   */
+  I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
 
-	/**
+  virtual ~I2cCookie();
-	 * @brief	Constructor for the I2C cookie.
-	 * @param i2cAddress_	The i2c address of the target device.
-	 * @param maxReplyLen_	The maximum expected length of a reply from the
-	 * 						target device.
-	 * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
-	 */
-	I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
-			std::string deviceFile_);
 
-	virtual ~I2cCookie();
+  address_t getAddress() const;
+  size_t getMaxReplyLen() const;
+  std::string getDeviceFile() const;
 
-	address_t getAddress() const;
+ private:
-	size_t getMaxReplyLen() const;
+  address_t i2cAddress = 0;
-	std::string getDeviceFile() const;
+  size_t maxReplyLen = 0;
-
+  std::string deviceFile;
-private:
-
-	address_t i2cAddress = 0;
-	size_t maxReplyLen = 0;
-	std::string deviceFile;
 };
 
 #endif /* LINUX_I2C_I2CCOOKIE_H_ */

hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -1,38 +1,38 @@
-#include "fsfw/FSFW.h"
-
 #include "fsfw_hal/linux/rpi/GpioRPi.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
+#include "fsfw/FSFW.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-        std::string consumer, gpio::Direction direction, int initValue) {
+                                        std::string consumer, gpio::Direction direction,
-    if(cookie == nullptr) {
+                                        int initValue) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+  if (cookie == nullptr) {
-    }
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
 
-    auto config = new GpiodRegularByChip();
+  auto config = new GpiodRegularByChip();
-    /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
+  /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
-    will not need this */
+  will not need this */
-    config->chipname = "gpiochip0";
+  config->chipname = "gpiochip0";
 
-    config->consumer = consumer;
+  config->consumer = consumer;
-    config->direction = direction;
+  config->direction = direction;
-    config->initValue = initValue;
+  config->initValue = initValue;
 
-    /* Sanity check for the BCM pins before assigning it */
+  /* Sanity check for the BCM pins before assigning it */
-    if(bcmPin > 27) {
+  if (bcmPin > 27) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
+    sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
 #else
-        sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
+    sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    config->lineNum = bcmPin;
+  config->lineNum = bcmPin;
-    cookie->addGpio(gpioId, config);
+  cookie->addGpio(gpioId, config);
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

hal/src/fsfw_hal/linux/rpi/GpioRPi.h

@@ -2,6 +2,7 @@
 #define BSP_RPI_GPIO_GPIORPI_H_
 
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
 #include "../../common/gpio/gpioDefinitions.h"
 
 class GpioCookie;
@@ -20,7 +21,7 @@ namespace gpio {
  * @return
  */
 ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-        std::string consumer, gpio::Direction direction, int initValue);
+                                  std::string consumer, gpio::Direction direction, int initValue);
-}
+}  // namespace gpio
 
 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -1,408 +1,404 @@
-#include "fsfw/FSFW.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
 
-#include <fsfw/ipc/MutexFactory.h>
-#include <fsfw/globalfunctions/arrayprinter.h>
-
-#include <linux/spi/spidev.h>
 #include <fcntl.h>
-#include <unistd.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/ipc/MutexFactory.h>
+#include <linux/spi/spidev.h>
 #include <sys/ioctl.h>
+#include <unistd.h>
 
 #include <cerrno>
 #include <cstring>
 
-SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
+#include "fsfw/FSFW.h"
-        SystemObject(objectId), gpioComIF(gpioComIF) {
+#include "fsfw_hal/linux/UnixFileGuard.h"
-    if(gpioComIF == nullptr) {
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/utility.h"
+
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
+    : SystemObject(objectId), gpioComIF(gpioComIF) {
+  if (gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
+    sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
 #else
-        sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
+    sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    }
+  }
 
-    spiMutex = MutexFactory::instance()->createMutex();
+  spiMutex = MutexFactory::instance()->createMutex();
 }
 
-ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
+ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
-    int retval = 0;
+  int retval = 0;
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return NULLPOINTER;
+    return NULLPOINTER;
-    }
+  }
 
-    address_t spiAddress = spiCookie->getSpiAddress();
+  address_t spiAddress = spiCookie->getSpiAddress();
 
-    auto iter = spiDeviceMap.find(spiAddress);
+  auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
-        size_t bufferSize = spiCookie->getMaxBufferSize();
+    size_t bufferSize = spiCookie->getMaxBufferSize();
-        SpiInstance spiInstance(bufferSize);
+    SpiInstance spiInstance(bufferSize);
-        auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
+    auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
-        if (not statusPair.second) {
+    if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
-                    spiAddress << "to SPI device map" << std::endl;
+                 << spiAddress << "to SPI device map" << std::endl;
 #else
-            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+      sif::printError(
-                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+          "SpiComIF::initializeInterface: Failed to insert device with address "
+          "%lu to SPI device map\n",
+          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        /* Now we emplaced the read buffer in the map, we still need to assign that location
-        to the SPI driver transfer struct */
-        spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
     }
-    else {
+    /* Now we emplaced the read buffer in the map, we still need to assign that location
+    to the SPI driver transfer struct */
+    spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
+  } else {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
+    sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
 #else
-        sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
+    sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  /* Pull CS high in any case to be sure that device is inactive */
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
+  if (gpioId != gpio::NO_GPIO) {
+    gpioComIF->pullHigh(gpioId);
+  }
+
+  uint32_t spiSpeed = 0;
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+
+  SpiCookie::UncommonParameters params;
+  spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
+
+  int fileDescriptor = 0;
+  UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+                           "SpiComIF::initializeInterface");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+
+  /* These flags are rather uncommon */
+  if (params.threeWireSpi or params.noCs or params.csHigh) {
+    uint32_t currentMode = 0;
+    retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
     }
 
-    /* Pull CS high in any case to be sure that device is inactive */
+    if (params.threeWireSpi) {
-    gpioId_t gpioId = spiCookie->getChipSelectPin();
+      currentMode |= SPI_3WIRE;
-    if(gpioId != gpio::NO_GPIO) {
-        gpioComIF->pullHigh(gpioId);
     }
-
+    if (params.noCs) {
-    uint32_t spiSpeed = 0;
+      /* Some drivers like the Raspberry Pi ignore this flag in any case */
-    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+      currentMode |= SPI_NO_CS;
-
-    SpiCookie::UncommonParameters params;
-    spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
-
-    int fileDescriptor = 0;
-    UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
-            "SpiComIF::initializeInterface");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-        return fileHelper.getOpenResult();
     }
-
+    if (params.csHigh) {
-    /* These flags are rather uncommon */
+      currentMode |= SPI_CS_HIGH;
-    if(params.threeWireSpi or params.noCs or params.csHigh) {
-        uint32_t currentMode = 0;
-        retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
-        if(retval != 0) {
-            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
-        }
-
-        if(params.threeWireSpi) {
-            currentMode |= SPI_3WIRE;
-        }
-        if(params.noCs) {
-            /* Some drivers like the Raspberry Pi ignore this flag in any case */
-            currentMode |= SPI_NO_CS;
-        }
-        if(params.csHigh) {
-            currentMode |= SPI_CS_HIGH;
-        }
-        /* Write adapted mode */
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
-        if(retval != 0) {
-            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
-        }
     }
-    if(params.lsbFirst) {
+    /* Write adapted mode */
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
-        if(retval != 0) {
+    if (retval != 0) {
-            utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
+      utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
-        }
     }
-    if(params.bitsPerWord != 8) {
+  }
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
+  if (params.lsbFirst) {
-        if(retval != 0) {
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
-            utility::handleIoctlError("SpiComIF::initializeInterface: "
+    if (retval != 0) {
-                    "Could not write bits per word!");
+      utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
-        }
     }
-    return HasReturnvaluesIF::RETURN_OK;
+  }
+  if (params.bitsPerWord != 8) {
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
+    if (retval != 0) {
+      utility::handleIoctlError(
+          "SpiComIF::initializeInterface: "
+          "Could not write bits per word!");
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
+ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return NULLPOINTER;
+    return NULLPOINTER;
-    }
+  }
 
-    if(sendLen > spiCookie->getMaxBufferSize()) {
+  if (sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
+    sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen
-                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
+                 << "larger than maximum buffer length " << spiCookie->getMaxBufferSize()
+                 << std::endl;
 #else
-        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
+    sif::printWarning(
-                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
+        "SpiComIF::sendMessage: Too much data sent, send length %lu larger "
-                static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
+        "than maximum buffer length %lu!\n",
+        static_cast<unsigned long>(sendLen),
+        static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return DeviceCommunicationIF::TOO_MUCH_DATA;
+    return DeviceCommunicationIF::TOO_MUCH_DATA;
-    }
+  }
 
-    if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
+  if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
-        result = performRegularSendOperation(spiCookie, sendData, sendLen);
+    result = performRegularSendOperation(spiCookie, sendData, sendLen);
+  } else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+    spi::send_callback_function_t sendFunc = nullptr;
+    void* funcArgs = nullptr;
+    spiCookie->getCallback(&sendFunc, &funcArgs);
+    if (sendFunc != nullptr) {
+      result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
     }
-    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+  }
-        spi::send_callback_function_t sendFunc = nullptr;
+  return result;
-        void* funcArgs = nullptr;
-        spiCookie->getCallback(&sendFunc, &funcArgs);
-        if(sendFunc != nullptr) {
-            result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
-        }
-    }
-    return result;
 }
 
-ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
+ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
-        size_t sendLen) {
+                                                    size_t sendLen) {
-    address_t spiAddress = spiCookie->getSpiAddress();
+  address_t spiAddress = spiCookie->getSpiAddress();
-    auto iter = spiDeviceMap.find(spiAddress);
+  auto iter = spiDeviceMap.find(spiAddress);
-    if(iter != spiDeviceMap.end()) {
+  if (iter != spiDeviceMap.end()) {
-        spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
+    spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
-    }
+  }
 
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    int retval = 0;
+  int retval = 0;
-    /* Prepare transfer */
+  /* Prepare transfer */
-    int fileDescriptor = 0;
+  int fileDescriptor = 0;
-    std::string device = spiCookie->getSpiDevice();
+  std::string device = spiCookie->getSpiDevice();
-    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-        return OPENING_FILE_FAILED;
+    return OPENING_FILE_FAILED;
-    }
+  }
-    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
-    uint32_t spiSpeed = 0;
+  uint32_t spiSpeed = 0;
-    spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
-    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
-    spiCookie->assignWriteBuffer(sendData);
+  spiCookie->assignWriteBuffer(sendData);
-    spiCookie->setTransferSize(sendLen);
+  spiCookie->setTransferSize(sendLen);
 
-    bool fullDuplex = spiCookie->isFullDuplex();
+  bool fullDuplex = spiCookie->isFullDuplex();
-    gpioId_t gpioId = spiCookie->getChipSelectPin();
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
 
-    /* Pull SPI CS low. For now, no support for active high given  */
+  /* Pull SPI CS low. For now, no support for active high given  */
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
-        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
-        if (result != RETURN_OK) {
+    if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
 #else
-            sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
 #endif
 #endif
-            return result;
+      return result;
-        }
+    }
-        ReturnValue_t result = gpioComIF->pullLow(gpioId);
+    ReturnValue_t result = gpioComIF->pullLow(gpioId);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
+      sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
 #else
-            sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
+      sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
 #endif
 #endif
-            return result;
+      return result;
-        }
     }
+  }
 
-    /* Execute transfer */
+  /* Execute transfer */
-    if(fullDuplex) {
+  if (fullDuplex) {
-        /* Initiate a full duplex SPI transfer. */
+    /* Initiate a full duplex SPI transfer. */
-        retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
+    retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
-        if(retval < 0) {
+    if (retval < 0) {
-            utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+      utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-            result = FULL_DUPLEX_TRANSFER_FAILED;
+      result = FULL_DUPLEX_TRANSFER_FAILED;
-        }
+    }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
-        performSpiWiretapping(spiCookie);
+    performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
-    }
+  } else {
-    else {
+    /* We write with a blocking half-duplex transfer here */
-        /* We write with a blocking half-duplex transfer here */
+    if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
-        if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
+      sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
-                    std::endl;
 #else
-            sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
+      sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            result = HALF_DUPLEX_TRANSFER_FAILED;
+      result = HALF_DUPLEX_TRANSFER_FAILED;
-        }
     }
+  }
 
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
-        gpioComIF->pullHigh(gpioId);
+    gpioComIF->pullHigh(gpioId);
-        result = spiMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
-        if (result != RETURN_OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
 #endif
-            return result;
+      return result;
-        }
     }
-    return result;
+  }
+  return result;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
+
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  if (spiCookie->isFullDuplex()) {
     return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  return performHalfDuplexReception(spiCookie);
 }
 
-ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    if(spiCookie == nullptr) {
-        return NULLPOINTER;
-    }
-
-    if(spiCookie->isFullDuplex()) {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    return performHalfDuplexReception(spiCookie);
-}
-
-
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    std::string device = spiCookie->getSpiDevice();
+  std::string device = spiCookie->getSpiDevice();
-    int fileDescriptor = 0;
+  int fileDescriptor = 0;
-    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
-            "SpiComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return OPENING_FILE_FAILED;
-        return OPENING_FILE_FAILED;
+  }
-    }
 
-    uint8_t* rxBuf = nullptr;
+  uint8_t* rxBuf = nullptr;
-    size_t readSize = spiCookie->getCurrentTransferSize();
+  size_t readSize = spiCookie->getCurrentTransferSize();
-    result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+  result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
+    return result;
-    }
+  }
 
-    gpioId_t gpioId = spiCookie->getChipSelectPin();
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
-        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
-        if (result != RETURN_OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
 #endif
-            return result;
+      return result;
-        }
-        gpioComIF->pullLow(gpioId);
     }
+    gpioComIF->pullLow(gpioId);
+  }
 
-    if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
+  if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
+    sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
 #else
-        sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
+    sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        result = HALF_DUPLEX_TRANSFER_FAILED;
+    result = HALF_DUPLEX_TRANSFER_FAILED;
-    }
+  }
 
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
-        gpioComIF->pullHigh(gpioId);
+    gpioComIF->pullHigh(gpioId);
-        result = spiMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
-        if (result != RETURN_OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
+      sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
 #endif
-            return result;
+      return result;
-        }
     }
+  }
 
-    return result;
+  return result;
 }
 
-ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    uint8_t* rxBuf = nullptr;
+  uint8_t* rxBuf = nullptr;
-    ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+  ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
+    return result;
-    }
+  }
 
-    *buffer = rxBuf;
+  *buffer = rxBuf;
-    *size = spiCookie->getCurrentTransferSize();
+  *size = spiCookie->getCurrentTransferSize();
-    spiCookie->setTransferSize(0);
+  spiCookie->setTransferSize(0);
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
-    if(timeoutType != nullptr) {
+  if (timeoutType != nullptr) {
-        *timeoutType = this->timeoutType;
+    *timeoutType = this->timeoutType;
-    }
+  }
-    if(timeoutMs != nullptr) {
+  if (timeoutMs != nullptr) {
-        *timeoutMs = this->timeoutMs;
+    *timeoutMs = this->timeoutMs;
-    }
+  }
-    return spiMutex;
+  return spiMutex;
 }
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return;
+    return;
-    }
+  }
-    size_t dataLen = spiCookie->getTransferStructHandle()->len;
+  size_t dataLen = spiCookie->getTransferStructHandle()->len;
-    uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
+  uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "Sent SPI data: " << std::endl;
+  sif::info << "Sent SPI data: " << std::endl;
-    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
-    sif::info << "Received SPI data: " << std::endl;
+  sif::info << "Received SPI data: " << std::endl;
 #else
-    sif::printInfo("Sent SPI data: \n");
+  sif::printInfo("Sent SPI data: \n");
-    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
-    sif::printInfo("Received SPI data: \n");
+  sif::printInfo("Received SPI data: \n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-    dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
+  dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
-    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
 }
 
 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
-    if(buffer == nullptr) {
+  if (buffer == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
 
-    auto iter = spiDeviceMap.find(spiAddress);
+  auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
 
-    *buffer = iter->second.replyBuffer.data();
+  *buffer = iter->second.replyBuffer.data();
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-GpioIF* SpiComIF::getGpioInterface() {
+GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
-    return gpioComIF;
-}
 
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
-    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+  int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
-    if(retval != 0) {
+  if (retval != 0) {
-        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
-    }
+  }
 
-    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+  retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
-    if(retval != 0) {
+  if (retval != 0) {
-        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
-    }
+  }
 }

hal/src/fsfw_hal/linux/spi/SpiComIF.h

@@ -1,16 +1,15 @@
 #ifndef LINUX_SPI_SPICOMIF_H_
 #define LINUX_SPI_SPICOMIF_H_
 
-#include "fsfw/FSFW.h"
+#include <unordered_map>
-#include "spiDefinitions.h"
+#include <vector>
-#include "returnvalues/classIds.h"
-#include "fsfw_hal/common/gpio/GpioIF.h"
 
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-
+#include "fsfw_hal/common/gpio/GpioIF.h"
-#include <vector>
+#include "returnvalues/classIds.h"
-#include <unordered_map>
+#include "spiDefinitions.h"
 
 class SpiCookie;
 
@@ -21,71 +20,67 @@ class SpiCookie;
  * are contained in the SPI cookie.
  * @author  R. Mueller
  */
-class SpiComIF: public DeviceCommunicationIF, public SystemObject {
+class SpiComIF : public DeviceCommunicationIF, public SystemObject {
-public:
+ public:
-    static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
+  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
-    static constexpr ReturnValue_t OPENING_FILE_FAILED =
+  static constexpr ReturnValue_t OPENING_FILE_FAILED =
-            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
-    /* Full duplex (ioctl) transfer failure */
+  /* Full duplex (ioctl) transfer failure */
-    static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
+  static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
-    /* Half duplex (read/write) transfer failure */
+  /* Half duplex (read/write) transfer failure */
-    static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
+  static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
 
-    SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
+  SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
-    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
-            size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
-            size_t requestLen) override;
-    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-            size_t *size) override;
 
-    /**
+  /**
-     * @brief   This function returns the mutex which can be used to protect the spi bus when
+   * @brief   This function returns the mutex which can be used to protect the spi bus when
-     *          the chip select must be driven from outside of the com if.
+   *          the chip select must be driven from outside of the com if.
-     */
+   */
-    MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
+  MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
 
-    /**
+  /**
-     * Perform a regular send operation using Linux iotcl. This is public so it can be used
+   * Perform a regular send operation using Linux iotcl. This is public so it can be used
-     * in functions like a user callback if special handling is only necessary for certain commands.
+   * in functions like a user callback if special handling is only necessary for certain commands.
-     * @param spiCookie
+   * @param spiCookie
-     * @param sendData
+   * @param sendData
-     * @param sendLen
+   * @param sendLen
-     * @return
+   * @return
-     */
+   */
-    ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
+  ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
-            size_t sendLen);
+                                            size_t sendLen);
 
-    GpioIF* getGpioInterface();
+  GpioIF* getGpioInterface();
-    void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
+  void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
-    void performSpiWiretapping(SpiCookie* spiCookie);
+  void performSpiWiretapping(SpiCookie* spiCookie);
 
-    ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
+  ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
 
-private:
+ private:
+  struct SpiInstance {
+    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    std::vector<uint8_t> replyBuffer;
+  };
 
-    struct SpiInstance {
+  GpioIF* gpioComIF = nullptr;
-        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
-        std::vector<uint8_t> replyBuffer;
-    };
 
-    GpioIF* gpioComIF = nullptr;
+  MutexIF* spiMutex = nullptr;
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 20;
 
-    MutexIF* spiMutex = nullptr;
+  using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
-    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  using SpiDeviceMapIter = SpiDeviceMap::iterator;
-    uint32_t timeoutMs = 20;
 
-    using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
+  SpiDeviceMap spiDeviceMap;
-    using SpiDeviceMapIter = SpiDeviceMap::iterator;
 
-    SpiDeviceMap spiDeviceMap;
+  ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
-
-    ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
 };
 
 #endif /* LINUX_SPI_SPICOMIF_H_ */

hal/src/fsfw_hal/linux/spi/SpiCookie.cpp

@@ -1,144 +1,109 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
-        SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
-                spiSpeed, nullptr, nullptr) {
+                spiSpeed, nullptr, nullptr) {}
-
-}
 
 SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
-        spi::SpiModes spiMode, uint32_t spiSpeed):
+                     spi::SpiModes spiMode, uint32_t spiSpeed)
-                SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
-}
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
-        spi::send_callback_function_t callback, void *args):
+                     spi::send_callback_function_t callback, void* args)
-		        SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
-		                spiMode, spiSpeed, callback, args) {
+                spiSpeed, callback, args) {}
-}
 
 SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-        std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+                     std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
-        spi::send_callback_function_t callback, void* args):
+                     uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
-                spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
+    : spiAddress(spiAddress),
-                comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
+      chipSelectPin(chipSelect),
-                sendCallback(callback), callbackArgs(args) {
+      spiDevice(spiDev),
-}
+      comIfMode(comIfMode),
+      maxSize(maxSize),
+      spiMode(spiMode),
+      spiSpeed(spiSpeed),
+      sendCallback(callback),
+      callbackArgs(args) {}
 
-spi::SpiComIfModes SpiCookie::getComIfMode() const {
+spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
-    return this->comIfMode;
-}
 
 void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
-        UncommonParameters* parameters) const {
+                                 UncommonParameters* parameters) const {
-    spiMode = this->spiMode;
+  spiMode = this->spiMode;
-    spiSpeed = this->spiSpeed;
+  spiSpeed = this->spiSpeed;
 
-    if(parameters != nullptr) {
+  if (parameters != nullptr) {
-        parameters->threeWireSpi = uncommonParameters.threeWireSpi;
+    parameters->threeWireSpi = uncommonParameters.threeWireSpi;
-        parameters->lsbFirst = uncommonParameters.lsbFirst;
+    parameters->lsbFirst = uncommonParameters.lsbFirst;
-        parameters->noCs = uncommonParameters.noCs;
+    parameters->noCs = uncommonParameters.noCs;
-        parameters->bitsPerWord = uncommonParameters.bitsPerWord;
+    parameters->bitsPerWord = uncommonParameters.bitsPerWord;
-        parameters->csHigh = uncommonParameters.csHigh;
+    parameters->csHigh = uncommonParameters.csHigh;
-    }
+  }
 }
 
-gpioId_t SpiCookie::getChipSelectPin() const {
+gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
-    return chipSelectPin;
-}
 
-size_t SpiCookie::getMaxBufferSize() const {
+size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
-    return maxSize;
-}
 
-address_t SpiCookie::getSpiAddress() const {
+address_t SpiCookie::getSpiAddress() const { return spiAddress; }
-    return spiAddress;
-}
 
-std::string SpiCookie::getSpiDevice() const {
+std::string SpiCookie::getSpiDevice() const { return spiDevice; }
-    return spiDevice;
-}
 
-void SpiCookie::setThreeWireSpi(bool enable) {
+void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
-    uncommonParameters.threeWireSpi = enable;
-}
 
-void SpiCookie::setLsbFirst(bool enable) {
+void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
-    uncommonParameters.lsbFirst = enable;
-}
 
-void SpiCookie::setNoCs(bool enable) {
+void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
-    uncommonParameters.noCs = enable;
-}
 
 void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
-    uncommonParameters.bitsPerWord = bitsPerWord;
+  uncommonParameters.bitsPerWord = bitsPerWord;
 }
 
-void SpiCookie::setCsHigh(bool enable) {
+void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
-    uncommonParameters.csHigh = enable;
-}
 
 void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
-    spiTransferStruct.cs_change = deselectCs;
+  spiTransferStruct.cs_change = deselectCs;
-    spiTransferStruct.delay_usecs = delayUsecs;
+  spiTransferStruct.delay_usecs = delayUsecs;
 }
 
 void SpiCookie::assignReadBuffer(uint8_t* rx) {
-    if(rx != nullptr) {
+  if (rx != nullptr) {
-        spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
+    spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
-    }
+  }
 }
 
 void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
-    if(tx != nullptr) {
+  if (tx != nullptr) {
-        spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
+    spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
-    }
+  }
 }
 
-void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
+void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
-        void *args) {
+  this->comIfMode = spi::SpiComIfModes::CALLBACK;
-    this->comIfMode = spi::SpiComIfModes::CALLBACK;
+  this->sendCallback = callback;
-    this->sendCallback = callback;
+  this->callbackArgs = args;
-    this->callbackArgs = args;
 }
 
-void SpiCookie::setCallbackArgs(void *args) {
+void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
-    this->callbackArgs = args;
-}
 
-spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
+spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
-    return &spiTransferStruct;
-}
 
-void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
+void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
-    this->halfDuplex = halfDuplex;
-}
 
-bool SpiCookie::isFullDuplex() const {
+bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
-    return not this->halfDuplex;
-}
 
-void SpiCookie::setTransferSize(size_t transferSize) {
+void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
-    spiTransferStruct.len = transferSize;
-}
 
-size_t SpiCookie::getCurrentTransferSize() const {
+size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
-    return spiTransferStruct.len;
-}
 
-void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
+void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
-    this->spiSpeed = newSpeed;
-}
 
-void SpiCookie::setSpiMode(spi::SpiModes newMode) {
+void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
-    this->spiMode = newMode;
-}
 
-void SpiCookie::getCallback(spi::send_callback_function_t *callback,
+void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
-        void **args) {
+  *callback = this->sendCallback;
-    *callback = this->sendCallback;
+  *args = this->callbackArgs;
-    *args = this->callbackArgs;
 }

hal/src/fsfw_hal/linux/spi/SpiCookie.h

@@ -1,13 +1,12 @@
 #ifndef LINUX_SPI_SPICOOKIE_H_
 #define LINUX_SPI_SPICOOKIE_H_
 
-#include "spiDefinitions.h"
-#include "../../common/gpio/gpioDefinitions.h"
-
 #include <fsfw/devicehandlers/CookieIF.h>
-
 #include <linux/spi/spidev.h>
 
+#include "../../common/gpio/gpioDefinitions.h"
+#include "spiDefinitions.h"
+
 /**
  * @brief   This cookie class is passed to the SPI communication interface
  * @details
@@ -19,165 +18,163 @@
  * special requirements like expander slave select switching (e.g. GPIO or I2C expander)
  * or special timing related requirements.
  */
-class SpiCookie: public CookieIF {
+class SpiCookie : public CookieIF {
-public:
+ public:
-    /**
+  /**
-     * Each SPI device will have a corresponding cookie. The cookie is used by the communication
+   * Each SPI device will have a corresponding cookie. The cookie is used by the communication
-     * interface and contains device specific information like the largest expected size to be
+   * interface and contains device specific information like the largest expected size to be
-     * sent and received and the GPIO pin used to toggle the SPI slave select pin.
+   * sent and received and the GPIO pin used to toggle the SPI slave select pin.
-     * @param spiAddress
+   * @param spiAddress
-     * @param chipSelect    Chip select. gpio::NO_GPIO can be used for hardware slave selects.
+   * @param chipSelect    Chip select. gpio::NO_GPIO can be used for hardware slave selects.
-     * @param spiDev
+   * @param spiDev
-     * @param maxSize
+   * @param maxSize
-     */
+   */
-    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
-
-    /**
-     * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
-     * slave select or if CS logic is performed with decoders.
-     */
-    SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
             spi::SpiModes spiMode, uint32_t spiSpeed);
 
-    /**
+  /**
-     * Use the callback mode of the SPI communication interface. The user can pass the callback
+   * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
-     * function here or by using the setter function #setCallbackMode
+   * slave select or if CS logic is performed with decoders.
-     */
+   */
-    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+  SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);
+
+  /**
+   * Use the callback mode of the SPI communication interface. The user can pass the callback
+   * function here or by using the setter function #setCallbackMode
+   */
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
             spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
-            void *args);
+            void* args);
 
-    /**
+  /**
-     * Get the callback function
+   * Get the callback function
-     * @param callback
+   * @param callback
-     * @param args
+   * @param args
-     */
+   */
-    void getCallback(spi::send_callback_function_t* callback, void** args);
+  void getCallback(spi::send_callback_function_t* callback, void** args);
 
-    address_t getSpiAddress() const;
+  address_t getSpiAddress() const;
-    std::string getSpiDevice() const;
+  std::string getSpiDevice() const;
-    gpioId_t getChipSelectPin() const;
+  gpioId_t getChipSelectPin() const;
-    size_t getMaxBufferSize() const;
+  size_t getMaxBufferSize() const;
 
-    spi::SpiComIfModes getComIfMode() const;
+  spi::SpiComIfModes getComIfMode() const;
 
-    /** Enables changing SPI speed at run-time */
+  /** Enables changing SPI speed at run-time */
-    void setSpiSpeed(uint32_t newSpeed);
+  void setSpiSpeed(uint32_t newSpeed);
-    /** Enables changing the SPI mode at run-time */
+  /** Enables changing the SPI mode at run-time */
-    void setSpiMode(spi::SpiModes newMode);
+  void setSpiMode(spi::SpiModes newMode);
 
-    /**
+  /**
-     * Set the SPI to callback mode and assigns the user supplied callback and an argument
+   * Set the SPI to callback mode and assigns the user supplied callback and an argument
-     * passed to the callback.
+   * passed to the callback.
-     * @param callback
+   * @param callback
-     * @param args
+   * @param args
-     */
+   */
-    void setCallbackMode(spi::send_callback_function_t callback, void* args);
+  void setCallbackMode(spi::send_callback_function_t callback, void* args);
 
-    /**
+  /**
-	 * Can be used to set the callback arguments and a later point than initialization.
+   * Can be used to set the callback arguments and a later point than initialization.
-	 * @param args
+   * @param args
-	 */
+   */
-	void setCallbackArgs(void* args);
+  void setCallbackArgs(void* args);
 
-    /**
+  /**
-     * True if SPI transfers should be performed in full duplex mode
+   * True if SPI transfers should be performed in full duplex mode
-     * @return
+   * @return
-     */
+   */
-    bool isFullDuplex() const;
+  bool isFullDuplex() const;
 
-    /**
+  /**
-     * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
+   * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
-     * ressembling common SPI hardware implementation with shift registers, where read and writes
+   * ressembling common SPI hardware implementation with shift registers, where read and writes
-     * happen simultaneosly.
+   * happen simultaneosly.
-     * @param fullDuplex
+   * @param fullDuplex
-     */
+   */
-    void setFullOrHalfDuplex(bool halfDuplex);
+  void setFullOrHalfDuplex(bool halfDuplex);
 
-    /**
+  /**
-     * This needs to be called to specify where the SPI driver writes to or reads from.
+   * This needs to be called to specify where the SPI driver writes to or reads from.
-     * @param readLocation
+   * @param readLocation
-     * @param writeLocation
+   * @param writeLocation
-     */
+   */
-    void assignReadBuffer(uint8_t* rx);
+  void assignReadBuffer(uint8_t* rx);
-    void assignWriteBuffer(const uint8_t* tx);
+  void assignWriteBuffer(const uint8_t* tx);
-    /**
+  /**
-     * Set size for the next transfer. Set to 0 for no transfer
+   * Set size for the next transfer. Set to 0 for no transfer
-     * @param transferSize
+   * @param transferSize
-     */
+   */
-    void setTransferSize(size_t transferSize);
+  void setTransferSize(size_t transferSize);
-    size_t getCurrentTransferSize() const;
+  size_t getCurrentTransferSize() const;
 
-    struct UncommonParameters {
+  struct UncommonParameters {
-        uint8_t bitsPerWord = 8;
+    uint8_t bitsPerWord = 8;
-        bool noCs = false;
+    bool noCs = false;
-        bool csHigh = false;
+    bool csHigh = false;
-        bool threeWireSpi = false;
+    bool threeWireSpi = false;
-        /* MSB first is more common */
+    /* MSB first is more common */
-        bool lsbFirst = false;
+    bool lsbFirst = false;
-    };
+  };
 
-    /**
+  /**
-     * Can be used to explicitely disable hardware chip select.
+   * Can be used to explicitely disable hardware chip select.
-     * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
+   * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
-     * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
+   * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
-     * @param enable
+   * @param enable
-     */
+   */
-    void setNoCs(bool enable);
+  void setNoCs(bool enable);
-    void setThreeWireSpi(bool enable);
+  void setThreeWireSpi(bool enable);
-    void setLsbFirst(bool enable);
+  void setLsbFirst(bool enable);
-    void setCsHigh(bool enable);
+  void setCsHigh(bool enable);
-    void setBitsPerWord(uint8_t bitsPerWord);
+  void setBitsPerWord(uint8_t bitsPerWord);
 
-    void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
+  void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
-            UncommonParameters* parameters = nullptr) const;
+                        UncommonParameters* parameters = nullptr) const;
 
-    /**
+  /**
-     * See spidev.h cs_change and delay_usecs
+   * See spidev.h cs_change and delay_usecs
-     * @param deselectCs
+   * @param deselectCs
-     * @param delayUsecs
+   * @param delayUsecs
-     */
+   */
-    void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
+  void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
 
-    spi_ioc_transfer* getTransferStructHandle();
+  spi_ioc_transfer* getTransferStructHandle();
-private:
 
-    /**
+ private:
-     * Internal constructor which initializes every field
+  /**
-     * @param spiAddress
+   * Internal constructor which initializes every field
-     * @param chipSelect
+   * @param spiAddress
-     * @param spiDev
+   * @param chipSelect
-     * @param maxSize
+   * @param spiDev
-     * @param spiMode
+   * @param maxSize
-     * @param spiSpeed
+   * @param spiMode
-     * @param callback
+   * @param spiSpeed
-     * @param args
+   * @param callback
-     */
+   * @param args
-    SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+   */
+  SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
             std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
             spi::send_callback_function_t callback, void* args);
 
-    address_t spiAddress;
+  address_t spiAddress;
-    gpioId_t chipSelectPin;
+  gpioId_t chipSelectPin;
-    std::string spiDevice;
+  std::string spiDevice;
 
-    spi::SpiComIfModes comIfMode;
+  spi::SpiComIfModes comIfMode;
 
-    // Required for regular mode
+  // Required for regular mode
-    const size_t maxSize;
+  const size_t maxSize;
-    spi::SpiModes spiMode;
+  spi::SpiModes spiMode;
-    uint32_t spiSpeed;
+  uint32_t spiSpeed;
-    bool halfDuplex = false;
+  bool halfDuplex = false;
 
-    // Required for callback mode
+  // Required for callback mode
-    spi::send_callback_function_t sendCallback = nullptr;
+  spi::send_callback_function_t sendCallback = nullptr;
-    void* callbackArgs = nullptr;
+  void* callbackArgs = nullptr;
 
-    struct spi_ioc_transfer spiTransferStruct = {};
+  struct spi_ioc_transfer spiTransferStruct = {};
-    UncommonParameters uncommonParameters;
+  UncommonParameters uncommonParameters;
 };
 
-
-
 #endif /* LINUX_SPI_SPICOOKIE_H_ */

hal/src/fsfw_hal/linux/spi/spiDefinitions.h

@@ -1,28 +1,25 @@
 #ifndef LINUX_SPI_SPIDEFINITONS_H_
 #define LINUX_SPI_SPIDEFINITONS_H_
 
-#include "../../common/gpio/gpioDefinitions.h"
-#include "../../common/spi/spiCommon.h"
-
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include <linux/spi/spidev.h>
 
 #include <cstdint>
 
+#include "../../common/gpio/gpioDefinitions.h"
+#include "../../common/spi/spiCommon.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
 class SpiCookie;
 class SpiComIF;
 
 namespace spi {
 
-enum SpiComIfModes {
+enum SpiComIfModes { REGULAR, CALLBACK };
-	REGULAR,
-	CALLBACK
-};
 
+using send_callback_function_t = ReturnValue_t (*)(SpiComIF* comIf, SpiCookie* cookie,
+                                                   const uint8_t* sendData, size_t sendLen,
+                                                   void* args);
 
-using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie,
+}  // namespace spi
-        const uint8_t *sendData, size_t sendLen, void* args);
-
-}
 
 #endif /* LINUX_SPI_SPIDEFINITONS_H_ */

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -1,529 +1,557 @@
 #include "UartComIF.h"
-#include "OBSWConfig.h"
 
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-#include <cstring>
-#include <fcntl.h>
 #include <errno.h>
+#include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
 
-UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
+#include <cstring>
-}
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/utility.h"
+
+UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 UartComIF::~UartComIF() {}
 
 ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
 
-    std::string deviceFile;
+  if (cookie == nullptr) {
-    UartDeviceMapIter uartDeviceMapIter;
+    return NULLPOINTER;
+  }
 
-    if(cookie == nullptr) {
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-        return NULLPOINTER;
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  deviceFile = uartCookie->getDeviceFile();
+
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
+    int fileDescriptor = configureUartPort(uartCookie);
+    if (fileDescriptor < 0) {
+      return RETURN_FAILED;
     }
-
+    size_t maxReplyLen = uartCookie->getMaxReplyLen();
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
-    if (uartCookie == nullptr) {
+    auto status = uartDeviceMap.emplace(deviceFile, uartElements);
-        sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+    if (status.second == false) {
-        return NULLPOINTER;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
+                   << "to UART device map" << std::endl;
+#endif
+      return RETURN_FAILED;
     }
+  } else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
+                 << " already in use" << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
 
-    deviceFile = uartCookie->getDeviceFile();
+  return RETURN_OK;
-
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter == uartDeviceMap.end()) {
-        int fileDescriptor = configureUartPort(uartCookie);
-        if (fileDescriptor < 0) {
-            return RETURN_FAILED;
-        }
-        size_t maxReplyLen = uartCookie->getMaxReplyLen();
-        UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
-        auto status = uartDeviceMap.emplace(deviceFile, uartElements);
-        if (status.second == false) {
-            sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
-                    deviceFile << "to UART device map" << std::endl;
-            return RETURN_FAILED;
-        }
-    }
-    else {
-        sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
-                " already in use" << std::endl;
-        return RETURN_FAILED;
-    }
-
-    return RETURN_OK;
 }
 
 int UartComIF::configureUartPort(UartCookie* uartCookie) {
+  struct termios options = {};
 
-    struct termios options = {};
+  std::string deviceFile = uartCookie->getDeviceFile();
+  int flags = O_RDWR;
+  if (uartCookie->getUartMode() == UartModes::CANONICAL) {
+    // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
+    // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
+    flags |= O_NONBLOCK;
+  }
+  int fd = open(deviceFile.c_str(), flags);
 
-    std::string deviceFile = uartCookie->getDeviceFile();
+  if (fd < 0) {
-    int flags = O_RDWR;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-    if(uartCookie->getUartMode() == UartModes::CANONICAL) {
+    sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
-        // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
+                 << "with error code " << errno << strerror(errno) << std::endl;
-        // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
+#endif
-        flags |= O_NONBLOCK;
-    }
-    int fd = open(deviceFile.c_str(), flags);
-
-    if (fd < 0) {
-        sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
-                "with error code " << errno << strerror(errno) << std::endl;
-        return fd;
-    }
-
-    /* Read in existing settings */
-    if(tcgetattr(fd, &options) != 0) {
-        sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
-                << strerror(errno) << std::endl;
-        return fd;
-    }
-
-    setParityOptions(&options, uartCookie);
-    setStopBitOptions(&options, uartCookie);
-    setDatasizeOptions(&options, uartCookie);
-    setFixedOptions(&options);
-    setUartMode(&options, *uartCookie);
-    if(uartCookie->getInputShouldBeFlushed()) {
-        tcflush(fd, TCIFLUSH);
-    }
-
-    /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
-    options.c_cc[VTIME] = 0;
-    options.c_cc[VMIN] = 0;
-
-    configureBaudrate(&options, uartCookie);
-
-    /* Save option settings */
-    if (tcsetattr(fd, TCSANOW, &options) != 0) {
-        sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
-                errno << ": " << strerror(errno);
-        return fd;
-    }
     return fd;
+  }
+
+  /* Read in existing settings */
+  if (tcgetattr(fd, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Error " << errno
+                 << "from tcgetattr: " << strerror(errno) << std::endl;
+#endif
+    return fd;
+  }
+
+  setParityOptions(&options, uartCookie);
+  setStopBitOptions(&options, uartCookie);
+  setDatasizeOptions(&options, uartCookie);
+  setFixedOptions(&options);
+  setUartMode(&options, *uartCookie);
+  if (uartCookie->getInputShouldBeFlushed()) {
+    tcflush(fd, TCIFLUSH);
+  }
+
+  /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
+  options.c_cc[VTIME] = 0;
+  options.c_cc[VMIN] = 0;
+
+  configureBaudrate(&options, uartCookie);
+
+  /* Save option settings */
+  if (tcsetattr(fd, TCSANOW, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
+                 << ": " << strerror(errno);
+#endif
+    return fd;
+  }
+  return fd;
 }
 
 void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
-    /* Clear parity bit */
+  /* Clear parity bit */
-    options->c_cflag &= ~PARENB;
+  options->c_cflag &= ~PARENB;
-    switch (uartCookie->getParity()) {
+  switch (uartCookie->getParity()) {
     case Parity::EVEN:
-        options->c_cflag |= PARENB;
+      options->c_cflag |= PARENB;
-        options->c_cflag &= ~PARODD;
+      options->c_cflag &= ~PARODD;
-        break;
+      break;
     case Parity::ODD:
-        options->c_cflag |= PARENB;
+      options->c_cflag |= PARENB;
-        options->c_cflag |= PARODD;
+      options->c_cflag |= PARODD;
-        break;
+      break;
     default:
-        break;
+      break;
-    }
+  }
 }
 
 void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
-    /* Clear stop field. Sets stop bit to one bit */
+  /* Clear stop field. Sets stop bit to one bit */
-    options->c_cflag &= ~CSTOPB;
+  options->c_cflag &= ~CSTOPB;
-    switch (uartCookie->getStopBits()) {
+  switch (uartCookie->getStopBits()) {
     case StopBits::TWO_STOP_BITS:
-        options->c_cflag |= CSTOPB;
+      options->c_cflag |= CSTOPB;
-        break;
+      break;
     default:
-        break;
+      break;
-    }
+  }
 }
 
 void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
-    /* Clear size bits */
+  /* Clear size bits */
-    options->c_cflag &= ~CSIZE;
+  options->c_cflag &= ~CSIZE;
-    switch (uartCookie->getBitsPerWord()) {
+  switch (uartCookie->getBitsPerWord()) {
     case 5:
-        options->c_cflag |= CS5;
+      options->c_cflag |= CS5;
-        break;
+      break;
     case 6:
-        options->c_cflag |= CS6;
+      options->c_cflag |= CS6;
-        break;
+      break;
     case 7:
-        options->c_cflag |= CS7;
+      options->c_cflag |= CS7;
-        break;
+      break;
     case 8:
-        options->c_cflag |= CS8;
+      options->c_cflag |= CS8;
-        break;
+      break;
     default:
-        sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        break;
+      sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
-    }
+#endif
+      break;
+  }
 }
 
 void UartComIF::setFixedOptions(struct termios* options) {
-    /* Disable RTS/CTS hardware flow control */
+  /* Disable RTS/CTS hardware flow control */
-    options->c_cflag &= ~CRTSCTS;
+  options->c_cflag &= ~CRTSCTS;
-    /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
+  /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
-    options->c_cflag |= CREAD | CLOCAL;
+  options->c_cflag |= CREAD | CLOCAL;
-    /* Disable echo */
+  /* Disable echo */
-    options->c_lflag &= ~ECHO;
+  options->c_lflag &= ~ECHO;
-    /* Disable erasure */
+  /* Disable erasure */
-    options->c_lflag &= ~ECHOE;
+  options->c_lflag &= ~ECHOE;
-    /* Disable new-line echo */
+  /* Disable new-line echo */
-    options->c_lflag &= ~ECHONL;
+  options->c_lflag &= ~ECHONL;
-    /* Disable interpretation of INTR, QUIT and SUSP */
+  /* Disable interpretation of INTR, QUIT and SUSP */
-    options->c_lflag &= ~ISIG;
+  options->c_lflag &= ~ISIG;
-    /* Turn off s/w flow ctrl */
+  /* Turn off s/w flow ctrl */
-    options->c_iflag &= ~(IXON | IXOFF | IXANY);
+  options->c_iflag &= ~(IXON | IXOFF | IXANY);
-    /* Disable any special handling of received bytes */
+  /* Disable any special handling of received bytes */
-    options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
+  options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
-    /* Prevent special interpretation of output bytes (e.g. newline chars) */
+  /* Prevent special interpretation of output bytes (e.g. newline chars) */
-    options->c_oflag &= ~OPOST;
+  options->c_oflag &= ~OPOST;
-    /* Prevent conversion of newline to carriage return/line feed */
+  /* Prevent conversion of newline to carriage return/line feed */
-    options->c_oflag &= ~ONLCR;
+  options->c_oflag &= ~ONLCR;
 }
 
 void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
-    switch (uartCookie->getBaudrate()) {
+  switch (uartCookie->getBaudrate()) {
     case 50:
-        cfsetispeed(options, B50);
+      cfsetispeed(options, B50);
-        cfsetospeed(options, B50);
+      cfsetospeed(options, B50);
-        break;
+      break;
     case 75:
-        cfsetispeed(options, B75);
+      cfsetispeed(options, B75);
-        cfsetospeed(options, B75);
+      cfsetospeed(options, B75);
-        break;
+      break;
     case 110:
-        cfsetispeed(options, B110);
+      cfsetispeed(options, B110);
-        cfsetospeed(options, B110);
+      cfsetospeed(options, B110);
-        break;
+      break;
     case 134:
-        cfsetispeed(options, B134);
+      cfsetispeed(options, B134);
-        cfsetospeed(options, B134);
+      cfsetospeed(options, B134);
-        break;
+      break;
     case 150:
-        cfsetispeed(options, B150);
+      cfsetispeed(options, B150);
-        cfsetospeed(options, B150);
+      cfsetospeed(options, B150);
-        break;
+      break;
     case 200:
-        cfsetispeed(options, B200);
+      cfsetispeed(options, B200);
-        cfsetospeed(options, B200);
+      cfsetospeed(options, B200);
-        break;
+      break;
     case 300:
-        cfsetispeed(options, B300);
+      cfsetispeed(options, B300);
-        cfsetospeed(options, B300);
+      cfsetospeed(options, B300);
-        break;
+      break;
     case 600:
-        cfsetispeed(options, B600);
+      cfsetispeed(options, B600);
-        cfsetospeed(options, B600);
+      cfsetospeed(options, B600);
-        break;
+      break;
     case 1200:
-        cfsetispeed(options, B1200);
+      cfsetispeed(options, B1200);
-        cfsetospeed(options, B1200);
+      cfsetospeed(options, B1200);
-        break;
+      break;
     case 1800:
-        cfsetispeed(options, B1800);
+      cfsetispeed(options, B1800);
-        cfsetospeed(options, B1800);
+      cfsetospeed(options, B1800);
-        break;
+      break;
     case 2400:
-        cfsetispeed(options, B2400);
+      cfsetispeed(options, B2400);
-        cfsetospeed(options, B2400);
+      cfsetospeed(options, B2400);
-        break;
+      break;
     case 4800:
-        cfsetispeed(options, B4800);
+      cfsetispeed(options, B4800);
-        cfsetospeed(options, B4800);
+      cfsetospeed(options, B4800);
-        break;
+      break;
     case 9600:
-        cfsetispeed(options, B9600);
+      cfsetispeed(options, B9600);
-        cfsetospeed(options, B9600);
+      cfsetospeed(options, B9600);
-        break;
+      break;
     case 19200:
-        cfsetispeed(options, B19200);
+      cfsetispeed(options, B19200);
-        cfsetospeed(options, B19200);
+      cfsetospeed(options, B19200);
-        break;
+      break;
     case 38400:
-        cfsetispeed(options, B38400);
+      cfsetispeed(options, B38400);
-        cfsetospeed(options, B38400);
+      cfsetospeed(options, B38400);
-        break;
+      break;
     case 57600:
-        cfsetispeed(options, B57600);
+      cfsetispeed(options, B57600);
-        cfsetospeed(options, B57600);
+      cfsetospeed(options, B57600);
-        break;
+      break;
     case 115200:
-        cfsetispeed(options, B115200);
+      cfsetispeed(options, B115200);
-        cfsetospeed(options, B115200);
+      cfsetospeed(options, B115200);
-        break;
+      break;
     case 230400:
-        cfsetispeed(options, B230400);
+      cfsetispeed(options, B230400);
-        cfsetospeed(options, B230400);
+      cfsetospeed(options, B230400);
-        break;
+      break;
     case 460800:
-        cfsetispeed(options, B460800);
+      cfsetispeed(options, B460800);
-        cfsetospeed(options, B460800);
+      cfsetospeed(options, B460800);
-        break;
+      break;
     default:
-        sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        break;
+      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
-    }
+#endif
+      break;
+  }
 }
 
-ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
+ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
-        const uint8_t *sendData, size_t sendLen) {
+  int fd = 0;
-    int fd = 0;
+  std::string deviceFile;
-    std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
-    UartDeviceMapIter uartDeviceMapIter;
-
-    if(sendLen == 0) {
-        return RETURN_OK;
-    }
-
-    if(sendData == nullptr) {
-        sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
-        return RETURN_FAILED;
-    }
-
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
-        sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-
-    deviceFile = uartCookie->getDeviceFile();
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if (uartDeviceMapIter == uartDeviceMap.end()) {
-        sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
-                "not in UART map" << std::endl;
-        return RETURN_FAILED;
-    }
-
-    fd = uartDeviceMapIter->second.fileDescriptor;
-
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
-        sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
-                errno << ": Error description: " << strerror(errno) << std::endl;
-        return RETURN_FAILED;
-    }
 
+  if (sendLen == 0) {
     return RETURN_OK;
+  }
+
+  if (sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
+               << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  fd = uartDeviceMapIter->second.fileDescriptor;
+
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
+               << ": Error description: " << strerror(errno) << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  return RETURN_OK;
 }
 
-ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
+ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
+
+ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  UartModes uartMode = uartCookie->getUartMode();
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+
+  if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
     return RETURN_OK;
-}
+  }
 
-ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
-    std::string deviceFile;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-    UartDeviceMapIter uartDeviceMapIter;
+    sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
+               << " not in uart map" << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
 
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartMode == UartModes::CANONICAL) {
-    if(uartCookie == nullptr) {
+    return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-        sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+  } else if (uartMode == UartModes::NON_CANONICAL) {
-        return NULLPOINTER;
+    return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-    }
+  } else {
-
+    return HasReturnvaluesIF::RETURN_FAILED;
-    UartModes uartMode = uartCookie->getUartMode();
+  }
-    deviceFile = uartCookie->getDeviceFile();
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-
-    if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
-        return RETURN_OK;
-    }
-
-    if (uartDeviceMapIter == uartDeviceMap.end()) {
-        sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
-                << " not in uart map" << std::endl;
-        return RETURN_FAILED;
-    }
-
-    if (uartMode == UartModes::CANONICAL) {
-        return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-    }
-    else if (uartMode == UartModes::NON_CANONICAL) {
-        return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-    }
-    else {
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
 }
 
 ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
-        size_t requestLen) {
+                                             size_t requestLen) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    uint8_t maxReadCycles = uartCookie.getReadCycles();
+  uint8_t maxReadCycles = uartCookie.getReadCycles();
-    uint8_t currentReadCycles = 0;
+  uint8_t currentReadCycles = 0;
-    int bytesRead = 0;
+  int bytesRead = 0;
-    size_t currentBytesRead = 0;
+  size_t currentBytesRead = 0;
-    size_t maxReplySize = uartCookie.getMaxReplyLen();
+  size_t maxReplySize = uartCookie.getMaxReplyLen();
-    int fd = iter->second.fileDescriptor;
+  int fd = iter->second.fileDescriptor;
-    auto bufferPtr = iter->second.replyBuffer.data();
+  auto bufferPtr = iter->second.replyBuffer.data();
-    iter->second.replyLen = 0;
+  iter->second.replyLen = 0;
-    do {
+  do {
-        size_t allowedReadSize = 0;
+    size_t allowedReadSize = 0;
-        if(currentBytesRead >= maxReplySize) {
+    if (currentBytesRead >= maxReplySize) {
-            // Overflow risk. Emit warning, trigger event and break. If this happens,
+      // Overflow risk. Emit warning, trigger event and break. If this happens,
-            // the reception buffer is not large enough or data is not polled often enough.
+      // the reception buffer is not large enough or data is not polled often enough.
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
+      sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
-                    << std::endl;
+                   << std::endl;
 #else
-            sif::printWarning("UartComIF::requestReceiveMessage: "
+      sif::printWarning(
-                    "Next read would cause overflow!");
+          "UartComIF::requestReceiveMessage: "
+          "Next read would cause overflow!");
 #endif
 #endif
-            result = UART_RX_BUFFER_TOO_SMALL;
+      result = UART_RX_BUFFER_TOO_SMALL;
-            break;
+      break;
-        }
+    } else {
-        else {
+      allowedReadSize = maxReplySize - currentBytesRead;
-            allowedReadSize = maxReplySize - currentBytesRead;
+    }
-        }
 
-        bytesRead = read(fd, bufferPtr, allowedReadSize);
+    bytesRead = read(fd, bufferPtr, allowedReadSize);
-        if (bytesRead < 0) {
+    if (bytesRead < 0) {
-            // EAGAIN: No data available in non-blocking mode
+      // EAGAIN: No data available in non-blocking mode
-            if(errno != EAGAIN) {
+      if (errno != EAGAIN) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
+        sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
-                        errno << ": " << strerror(errno) << std::endl;
+                     << strerror(errno) << std::endl;
 #else
-                sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
+        sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
-                        errno, strerror(errno));
+                          strerror(errno));
 #endif
 #endif
-                return RETURN_FAILED;
+        return RETURN_FAILED;
-            }
+      }
 
-        }
+    } else if (bytesRead > 0) {
-        else if(bytesRead > 0) {
+      iter->second.replyLen += bytesRead;
-            iter->second.replyLen += bytesRead;
+      bufferPtr += bytesRead;
-            bufferPtr += bytesRead;
+      currentBytesRead += bytesRead;
-            currentBytesRead += bytesRead;
+    }
-        }
+    currentReadCycles++;
-        currentReadCycles++;
+  } while (bytesRead > 0 and currentReadCycles < maxReadCycles);
-    } while(bytesRead > 0 and currentReadCycles < maxReadCycles);
+  return result;
-    return result;
 }
 
-ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter,
+ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
-        size_t requestLen) {
+                                                size_t requestLen) {
-    int fd = iter->second.fileDescriptor;
+  int fd = iter->second.fileDescriptor;
-    auto bufferPtr = iter->second.replyBuffer.data();
+  auto bufferPtr = iter->second.replyBuffer.data();
-    // Size check to prevent buffer overflow
+  // Size check to prevent buffer overflow
-    if(requestLen > uartCookie.getMaxReplyLen()) {
+  if (requestLen > uartCookie.getMaxReplyLen()) {
 #if OBSW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
+    sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
-                << std::endl;
+                 << std::endl;
 #else
-        sif::printWarning("UartComIF::requestReceiveMessage: "
+    sif::printWarning(
-                "Next read would cause overflow!");
+        "UartComIF::requestReceiveMessage: "
+        "Next read would cause overflow!");
 #endif
 #endif
-        return UART_RX_BUFFER_TOO_SMALL;
+    return UART_RX_BUFFER_TOO_SMALL;
+  }
+  int bytesRead = read(fd, bufferPtr, requestLen);
+  if (bytesRead < 0) {
+    return RETURN_FAILED;
+  } else if (bytesRead != static_cast<int>(requestLen)) {
+    if (uartCookie.isReplySizeFixed()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
+                   << requestLen << " bytes" << std::endl;
+#endif
+      return RETURN_FAILED;
     }
-    int bytesRead = read(fd, bufferPtr, requestLen);
+  }
-    if (bytesRead < 0) {
+  iter->second.replyLen = bytesRead;
-        return RETURN_FAILED;
+  return HasReturnvaluesIF::RETURN_OK;
-    }
-    else if (bytesRead != static_cast<int>(requestLen)) {
-        if(uartCookie.isReplySizeFixed()) {
-            sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
-                    " of " << requestLen << " bytes" << std::endl;
-            return RETURN_FAILED;
-        }
-    }
-    iter->second.replyLen = bytesRead;
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-        uint8_t **buffer, size_t* size) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
 
-    std::string deviceFile;
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    UartDeviceMapIter uartDeviceMapIter;
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
 
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  deviceFile = uartCookie->getDeviceFile();
-    if(uartCookie == nullptr) {
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-        sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
-        return NULLPOINTER;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-    }
+    sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
+               << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
 
-    deviceFile = uartCookie->getDeviceFile();
+  *buffer = uartDeviceMapIter->second.replyBuffer.data();
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  *size = uartDeviceMapIter->second.replyLen;
-    if (uartDeviceMapIter == uartDeviceMap.end()) {
-        sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
-                " not in uart map" << std::endl;
-        return RETURN_FAILED;
-    }
 
-    *buffer = uartDeviceMapIter->second.replyBuffer.data();
+  /* Length is reset to 0 to prevent reading the same data twice */
-    *size = uartDeviceMapIter->second.replyLen;
+  uartDeviceMapIter->second.replyLen = 0;
 
-    /* Length is reset to 0 to prevent reading the same data twice */
+  return RETURN_OK;
-    uartDeviceMapIter->second.replyLen = 0;
+}
 
+ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
+    int fd = uartDeviceMapIter->second.fileDescriptor;
+    tcflush(fd, TCIFLUSH);
     return RETURN_OK;
+  }
+  return RETURN_FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
+ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
-    std::string deviceFile;
+  std::string deviceFile;
-    UartDeviceMapIter uartDeviceMapIter;
+  UartDeviceMapIter uartDeviceMapIter;
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
+  if (uartCookie == nullptr) {
-        sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        return NULLPOINTER;
+    sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
-    }
+#endif
-    deviceFile = uartCookie->getDeviceFile();
+    return NULLPOINTER;
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  }
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
+  deviceFile = uartCookie->getDeviceFile();
-        int fd = uartDeviceMapIter->second.fileDescriptor;
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-        tcflush(fd, TCIFLUSH);
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
-        return RETURN_OK;
+    int fd = uartDeviceMapIter->second.fileDescriptor;
-    }
+    tcflush(fd, TCOFLUSH);
-    return RETURN_FAILED;
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
+ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
-    std::string deviceFile;
+  std::string deviceFile;
-    UartDeviceMapIter uartDeviceMapIter;
+  UartDeviceMapIter uartDeviceMapIter;
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
+  if (uartCookie == nullptr) {
-        sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        return NULLPOINTER;
+    sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
-    }
+#endif
-    deviceFile = uartCookie->getDeviceFile();
+    return NULLPOINTER;
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  }
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
+  deviceFile = uartCookie->getDeviceFile();
-        int fd = uartDeviceMapIter->second.fileDescriptor;
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-        tcflush(fd, TCOFLUSH);
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
-        return RETURN_OK;
+    int fd = uartDeviceMapIter->second.fileDescriptor;
-    }
+    tcflush(fd, TCIOFLUSH);
-    return RETURN_FAILED;
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
+void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
-    std::string deviceFile;
+  UartModes uartMode = uartCookie.getUartMode();
-    UartDeviceMapIter uartDeviceMapIter;
+  if (uartMode == UartModes::NON_CANONICAL) {
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    /* Disable canonical mode */
-    if(uartCookie == nullptr) {
+    options->c_lflag &= ~ICANON;
-        sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
+  } else if (uartMode == UartModes::CANONICAL) {
-        return NULLPOINTER;
+    options->c_lflag |= ICANON;
-    }
+  }
-    deviceFile = uartCookie->getDeviceFile();
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
-        int fd = uartDeviceMapIter->second.fileDescriptor;
-        tcflush(fd, TCIOFLUSH);
-        return RETURN_OK;
-    }
-    return RETURN_FAILED;
-}
-
-void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
-    UartModes uartMode = uartCookie.getUartMode();
-    if(uartMode == UartModes::NON_CANONICAL) {
-        /* Disable canonical mode */
-        options->c_lflag &= ~ICANON;
-    }
-    else if(uartMode == UartModes::CANONICAL) {
-        options->c_lflag |= ICANON;
-    }
 }

hal/src/fsfw_hal/linux/uart/UartComIF.h

@@ -1,13 +1,14 @@
 #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
 #define BSP_Q7S_COMIF_UARTCOMIF_H_
 
-#include "UartCookie.h"
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 #include <unordered_map>
 #include <vector>
 
+#include "UartCookie.h"
+
 /**
  * @brief 	This is the communication interface to access serial ports on linux based operating
  *          systems.
@@ -17,109 +18,104 @@
  *
  * @author 	J. Meier
  */
-class UartComIF: public DeviceCommunicationIF, public SystemObject {
+class UartComIF : public DeviceCommunicationIF, public SystemObject {
-public:
+ public:
-    static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
+  static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
 
-    static constexpr ReturnValue_t UART_READ_FAILURE =
+  static constexpr ReturnValue_t UART_READ_FAILURE =
-            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
-    static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
+  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
-            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
-    static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
+  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
-            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);
 
-    UartComIF(object_id_t objectId);
+  UartComIF(object_id_t objectId);
 
-    virtual ~UartComIF();
+  virtual ~UartComIF();
 
-    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
-            size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
-            size_t requestLen) override;
-    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-            size_t *size) override;
 
-    /**
+  /**
-     * @brief   This function discards all data received but not read in the UART buffer.
+   * @brief   This function discards all data received but not read in the UART buffer.
-     */
+   */
-    ReturnValue_t flushUartRxBuffer(CookieIF *cookie);
+  ReturnValue_t flushUartRxBuffer(CookieIF* cookie);
 
-    /**
+  /**
-     * @brief   This function discards all data in the transmit buffer of the UART driver.
+   * @brief   This function discards all data in the transmit buffer of the UART driver.
-     */
+   */
-    ReturnValue_t flushUartTxBuffer(CookieIF *cookie);
+  ReturnValue_t flushUartTxBuffer(CookieIF* cookie);
 
-    /**
+  /**
-     * @brief   This function discards both data in the transmit and receive buffer of the UART.
+   * @brief   This function discards both data in the transmit and receive buffer of the UART.
-     */
+   */
-    ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie);
+  ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
 
-private:
+ private:
+  using UartDeviceFile_t = std::string;
 
-    using UartDeviceFile_t = std::string;
+  struct UartElements {
+    int fileDescriptor;
+    std::vector<uint8_t> replyBuffer;
+    /** Number of bytes read will be written to this variable */
+    size_t replyLen;
+  };
 
-    struct UartElements {
+  using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
-        int fileDescriptor;
+  using UartDeviceMapIter = UartDeviceMap::iterator;
-        std::vector<uint8_t> replyBuffer;
-        /** Number of bytes read will be written to this variable */
-        size_t replyLen;
-    };
 
-    using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
+  /**
-    using UartDeviceMapIter = UartDeviceMap::iterator;
+   * The uart devie map stores informations of initialized uart ports.
+   */
+  UartDeviceMap uartDeviceMap;
 
-    /**
+  /**
-     * The uart devie map stores informations of initialized uart ports.
+   * @brief	This function opens and configures a uart device by using the information stored
-     */
+   *          in the uart cookie.
-    UartDeviceMap uartDeviceMap;
+   * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
+   *                      uart device file, baudrate, parity, stopbits etc.
+   * @return  The file descriptor of the configured uart.
+   */
+  int configureUartPort(UartCookie* uartCookie);
 
-    /**
+  /**
-     * @brief	This function opens and configures a uart device by using the information stored
+   * @brief   This function adds the parity settings to the termios options struct.
-     *          in the uart cookie.
+   *
-     * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
+   * @param options   Pointer to termios options struct which will be modified to enable or disable
-     *                      uart device file, baudrate, parity, stopbits etc.
+   *                  parity checking.
-     * @return  The file descriptor of the configured uart.
+   * @param uartCookie    Pointer to uart cookie containing the information about the desired
-     */
+   *                      parity settings.
-    int configureUartPort(UartCookie* uartCookie);
+   *
+   */
+  void setParityOptions(struct termios* options, UartCookie* uartCookie);
 
-    /**
+  void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
-     * @brief   This function adds the parity settings to the termios options struct.
-     *
-     * @param options   Pointer to termios options struct which will be modified to enable or disable
-     *                  parity checking.
-     * @param uartCookie    Pointer to uart cookie containing the information about the desired
-     *                      parity settings.
-     *
-     */
-    void setParityOptions(struct termios* options, UartCookie* uartCookie);
 
-    void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
+  /**
+   * @brief   This function sets options which are not configurable by the uartCookie.
+   */
+  void setFixedOptions(struct termios* options);
 
-    /**
+  /**
-     * @brief   This function sets options which are not configurable by the uartCookie.
+   * @brief   With this function the datasize settings are added to the termios options struct.
-     */
+   */
-    void setFixedOptions(struct termios* options);
+  void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
 
-    /**
+  /**
-     * @brief   With this function the datasize settings are added to the termios options struct.
+   * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
-     */
+   *          struct.
-    void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
+   */
+  void configureBaudrate(struct termios* options, UartCookie* uartCookie);
 
-    /**
+  void setUartMode(struct termios* options, UartCookie& uartCookie);
-     * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
-     *          struct.
-     */
-    void configureBaudrate(struct termios* options, UartCookie* uartCookie);
-
-    void setUartMode(struct termios* options, UartCookie& uartCookie);
-
-    ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
-            size_t requestLen);
-    ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
-            size_t requestLen);
 
+  ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                    size_t requestLen);
+  ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                       size_t requestLen);
 };
 
 #endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -1,97 +1,65 @@
 #include "fsfw_hal/linux/uart/UartCookie.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-        uint32_t baudrate, size_t maxReplyLen):
+                       uint32_t baudrate, size_t maxReplyLen)
-        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
+    : handlerId(handlerId),
-        baudrate(baudrate), maxReplyLen(maxReplyLen) {
+      deviceFile(deviceFile),
-}
+      uartMode(uartMode),
+      baudrate(baudrate),
+      maxReplyLen(maxReplyLen) {}
 
 UartCookie::~UartCookie() {}
 
-uint32_t UartCookie::getBaudrate() const {
+uint32_t UartCookie::getBaudrate() const { return baudrate; }
-    return baudrate;
-}
 
-size_t UartCookie::getMaxReplyLen() const {
+size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
-    return maxReplyLen;
-}
 
-std::string UartCookie::getDeviceFile() const {
+std::string UartCookie::getDeviceFile() const { return deviceFile; }
-    return deviceFile;
-}
 
-void UartCookie::setParityOdd() {
+void UartCookie::setParityOdd() { parity = Parity::ODD; }
-    parity = Parity::ODD;
-}
 
-void UartCookie::setParityEven() {
+void UartCookie::setParityEven() { parity = Parity::EVEN; }
-    parity = Parity::EVEN;
-}
 
-Parity UartCookie::getParity() const {
+Parity UartCookie::getParity() const { return parity; }
-    return parity;
-}
 
 void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
-    switch(bitsPerWord_) {
+  switch (bitsPerWord_) {
     case 5:
     case 6:
     case 7:
     case 8:
-        break;
+      break;
     default:
-        sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        return;
+      sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
-    }
+#endif
-    bitsPerWord = bitsPerWord_;
+      return;
+  }
+  bitsPerWord = bitsPerWord_;
 }
 
-uint8_t UartCookie::getBitsPerWord() const {
+uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
-    return bitsPerWord;
-}
 
-StopBits UartCookie::getStopBits() const {
+StopBits UartCookie::getStopBits() const { return stopBits; }
-    return stopBits;
-}
 
-void UartCookie::setTwoStopBits() {
+void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
-    stopBits = StopBits::TWO_STOP_BITS;
-}
 
-void UartCookie::setOneStopBit() {
+void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
-    stopBits = StopBits::ONE_STOP_BIT;
-}
 
-UartModes UartCookie::getUartMode() const {
+UartModes UartCookie::getUartMode() const { return uartMode; }
-    return uartMode;
-}
 
-void UartCookie::setReadCycles(uint8_t readCycles) {
+void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
-    this->readCycles = readCycles;
-}
 
-void UartCookie::setToFlushInput(bool enable) {
+void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
-    this->flushInput = enable;
-}
 
-uint8_t UartCookie::getReadCycles() const {
+uint8_t UartCookie::getReadCycles() const { return readCycles; }
-    return readCycles;
-}
 
-bool UartCookie::getInputShouldBeFlushed() {
+bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
-    return this->flushInput;
-}
 
-object_id_t UartCookie::getHandlerId() const {
+object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
-    return this->handlerId;
-}
 
-void UartCookie::setNoFixedSizeReply() {
+void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
-    replySizeFixed = false;
-}
 
-bool UartCookie::isReplySizeFixed() {
+bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
-    return replySizeFixed;
-}

hal/src/fsfw_hal/linux/uart/UartCookie.h

@@ -6,21 +6,11 @@
 
 #include <string>
 
-enum class Parity {
+enum class Parity { NONE, EVEN, ODD };
-    NONE,
-    EVEN,
-    ODD
-};
 
-enum class StopBits {
+enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
-    ONE_STOP_BIT,
-    TWO_STOP_BITS
-};
 
-enum class UartModes {
+enum class UartModes { CANONICAL, NON_CANONICAL };
-    CANONICAL,
-    NON_CANONICAL
-};
 
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
@@ -29,93 +19,91 @@ enum class UartModes {
  *
  * @author 	J. Meier
  */
-class UartCookie: public CookieIF {
+class UartCookie : public CookieIF {
-public:
+ public:
+  /**
+   * @brief	Constructor for the uart cookie.
+   * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
+   * @param uartMode      Specify the UART mode. The canonical mode should be used if the
+   *                      messages are separated by a delimited character like '\n'. See the
+   *                      termios documentation for more information
+   * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
+   *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
+   *                      38400, 57600, 115200, 230400, 460800
+   * @param maxReplyLen   The maximum size an object using this cookie expects
+   * @details
+   * Default configuration: No parity
+   *                        8 databits (number of bits transfered with one uart frame)
+   *                        One stop bit
+   */
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
+             size_t maxReplyLen);
 
-    /**
+  virtual ~UartCookie();
-     * @brief	Constructor for the uart cookie.
-     * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
-     * @param uartMode      Specify the UART mode. The canonical mode should be used if the
-     *                      messages are separated by a delimited character like '\n'. See the
-     *                      termios documentation for more information
-     * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
-     *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
-     *                      38400, 57600, 115200, 230400, 460800
-     * @param maxReplyLen   The maximum size an object using this cookie expects
-     * @details
-     * Default configuration: No parity
-     *                        8 databits (number of bits transfered with one uart frame)
-     *                        One stop bit
-     */
-    UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-            uint32_t baudrate, size_t maxReplyLen);
 
-    virtual ~UartCookie();
+  uint32_t getBaudrate() const;
+  size_t getMaxReplyLen() const;
+  std::string getDeviceFile() const;
+  Parity getParity() const;
+  uint8_t getBitsPerWord() const;
+  StopBits getStopBits() const;
+  UartModes getUartMode() const;
+  object_id_t getHandlerId() const;
 
-    uint32_t getBaudrate() const;
+  /**
-    size_t getMaxReplyLen() const;
+   * The UART ComIF will only perform a specified number of read cycles for the canonical mode.
-    std::string getDeviceFile() const;
+   * The user can specify how many of those read cycles are performed for one device handler
-    Parity getParity() const;
+   * communication cycle. An example use-case would be to read all available GPS NMEA strings
-    uint8_t getBitsPerWord() const;
+   * at once.
-    StopBits getStopBits() const;
+   * @param readCycles
-    UartModes getUartMode() const;
+   */
-    object_id_t getHandlerId() const;
+  void setReadCycles(uint8_t readCycles);
+  uint8_t getReadCycles() const;
 
-    /**
+  /**
-     * The UART ComIF will only perform a specified number of read cycles for the canonical mode.
+   * Allows to flush the data which was received but has not been read yet. This is useful
-     * The user can specify how many of those read cycles are performed for one device handler
+   * to discard obsolete data at software startup.
-     * communication cycle. An example use-case would be to read all available GPS NMEA strings
+   */
-     * at once.
+  void setToFlushInput(bool enable);
-     * @param readCycles
+  bool getInputShouldBeFlushed();
-     */
-    void setReadCycles(uint8_t readCycles);
-    uint8_t getReadCycles() const;
 
-    /**
+  /**
-     * Allows to flush the data which was received but has not been read yet. This is useful
+   * Functions two enable parity checking.
-     * to discard obsolete data at software startup.
+   */
-     */
+  void setParityOdd();
-    void setToFlushInput(bool enable);
+  void setParityEven();
-    bool getInputShouldBeFlushed();
 
-    /**
+  /**
-     * Functions two enable parity checking.
+   * Function two set number of bits per UART frame.
-     */
+   */
-    void setParityOdd();
+  void setBitsPerWord(uint8_t bitsPerWord_);
-    void setParityEven();
 
-    /**
+  /**
-     * Function two set number of bits per UART frame.
+   * Function to specify the number of stopbits.
-     */
+   */
-    void setBitsPerWord(uint8_t bitsPerWord_);
+  void setTwoStopBits();
+  void setOneStopBit();
 
-    /**
+  /**
-     * Function to specify the number of stopbits.
+   * Calling this function prevents the UartComIF to return failed if not all requested bytes
-     */
+   * could be read. This is required by a device handler when the size of a reply is not known.
-    void setTwoStopBits();
+   */
-    void setOneStopBit();
+  void setNoFixedSizeReply();
 
-    /**
+  bool isReplySizeFixed();
-     * Calling this function prevents the UartComIF to return failed if not all requested bytes
-     * could be read. This is required by a device handler when the size of a reply is not known.
-     */
-    void setNoFixedSizeReply();
 
-    bool isReplySizeFixed();
+ private:
-
+  const object_id_t handlerId;
-private:
+  std::string deviceFile;
-
+  const UartModes uartMode;
-    const object_id_t handlerId;
+  bool flushInput = false;
-    std::string deviceFile;
+  uint32_t baudrate;
-    const UartModes uartMode;
+  size_t maxReplyLen = 0;
-    bool flushInput = false;
+  Parity parity = Parity::NONE;
-    uint32_t baudrate;
+  uint8_t bitsPerWord = 8;
-    size_t maxReplyLen = 0;
+  uint8_t readCycles = 1;
-    Parity parity = Parity::NONE;
+  StopBits stopBits = StopBits::ONE_STOP_BIT;
-    uint8_t bitsPerWord = 8;
+  bool replySizeFixed = true;
-    uint8_t readCycles = 1;
-    StopBits stopBits = StopBits::ONE_STOP_BIT;
-    bool replySizeFixed = true;
 };
 
 #endif

hal/src/fsfw_hal/linux/uio/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)

hal/src/fsfw_hal/linux/uio/UioMapper.cpp

@@ -0,0 +1,86 @@
+#include "UioMapper.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <filesystem>
+#include <fstream>
+#include <sstream>
+
+#include "fsfw/serviceinterface.h"
+
+const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
+const char UioMapper::MAP_SUBSTR[] = "/maps/map";
+const char UioMapper::SIZE_FILE_PATH[] = "/size";
+
+UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
+
+UioMapper::~UioMapper() {}
+
+ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int fd = open(uioFile.c_str(), O_RDWR);
+  if (fd < 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  size_t size = 0;
+  result = getMapSize(&size);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  *address = static_cast<uint32_t*>(
+      mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
+
+  if (*address == MAP_FAILED) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
+               << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UioMapper::getMapSize(size_t* size) {
+  std::stringstream namestream;
+  namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
+             << SIZE_FILE_PATH;
+  FILE* fp;
+  fp = fopen(namestream.str().c_str(), "r");
+  if (fp == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  char hexstring[SIZE_HEX_STRING] = "";
+  int items = fscanf(fp, "%s", hexstring);
+  if (items != 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UioMapper::getMapSize: Failed with error code " << errno
+               << " to read size "
+                  "string from file "
+               << namestream.str() << std::endl;
+#endif
+    fclose(fp);
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  uint32_t sizeTmp = 0;
+  items = sscanf(hexstring, "%x", &sizeTmp);
+  if (size != nullptr) {
+    *size = sizeTmp;
+  }
+  if (items != 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
+               << "size of map" << mapNum << " to integer" << std::endl;
+#endif
+    fclose(fp);
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  fclose(fp);
+  return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/uio/UioMapper.h

@@ -0,0 +1,58 @@
+#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
+#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
+
+#include <sys/mman.h>
+
+#include <string>
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+/**
+ * @brief   Class to help opening uio device files and mapping the physical addresses into the user
+ *          address space.
+ *
+ * @author  J. Meier
+ */
+class UioMapper {
+ public:
+  enum class Permissions : int {
+    READ_ONLY = PROT_READ,
+    WRITE_ONLY = PROT_WRITE,
+    READ_WRITE = PROT_READ | PROT_WRITE
+  };
+
+  /**
+   * @brief   Constructor
+   *
+   * @param uioFile   The device file of the uiO to open
+   * @param uioMap    Number of memory map. Most UIO drivers have only one map which has than 0.
+   */
+  UioMapper(std::string uioFile, int mapNum = 0);
+  virtual ~UioMapper();
+
+  /**
+   * @brief   Maps the physical address into user address space and returns the mapped address
+   *
+   * @address The mapped user space address
+   * @permissions Specifies the read/write permissions of the address region
+   */
+  ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
+
+ private:
+  static const char UIO_PATH_PREFIX[];
+  static const char MAP_SUBSTR[];
+  static const char SIZE_FILE_PATH[];
+  static constexpr int SIZE_HEX_STRING = 10;
+
+  std::string uioFile;
+  int mapNum = 0;
+
+  /**
+   * @brief   Reads the map size from the associated sysfs size file
+   *
+   * @param size  The read map size
+   */
+  ReturnValue_t getMapSize(size_t* size);
+};
+
+#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */

hal/src/fsfw_hal/linux/utility.cpp

@@ -1,26 +1,23 @@
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/utility.h"
 
 #include <cerrno>
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
 void utility::handleIoctlError(const char* const customPrintout) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    if(customPrintout != nullptr) {
+  if (customPrintout != nullptr) {
-        sif::warning << customPrintout << std::endl;
+    sif::warning << customPrintout << std::endl;
-    }
+  }
-    sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
+  sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
-            std::endl;
 #else
-    if(customPrintout != nullptr) {
+  if (customPrintout != nullptr) {
-        sif::printWarning("%s\n", customPrintout);
+    sif::printWarning("%s\n", customPrintout);
-    }
+  }
-    sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
+  sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-
 }
-
-

hal/src/fsfw_hal/stm32h7/definitions.h

@@ -2,6 +2,7 @@
 #define FSFW_HAL_STM32H7_DEFINITIONS_H_
 
 #include <utility>
+
 #include "stm32h7xx.h"
 
 namespace stm32h7 {
@@ -11,15 +12,15 @@ namespace stm32h7 {
  * and the second entry is the pin number
  */
 struct GpioCfg {
-    GpioCfg(): port(nullptr), pin(0), altFnc(0) {};
+  GpioCfg() : port(nullptr), pin(0), altFnc(0){};
 
-    GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0):
+  GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
-        port(port), pin(pin), altFnc(altFnc) {};
+      : port(port), pin(pin), altFnc(altFnc){};
-    GPIO_TypeDef* port;
+  GPIO_TypeDef* port;
-    uint16_t pin;
+  uint16_t pin;
-    uint8_t altFnc;
+  uint8_t altFnc;
 };
 
-}
+}  // namespace stm32h7
 
 #endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp

@@ -1,549 +1,547 @@
 #include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
 
-#include "fsfw_hal/stm32h7/spi/mspInit.h"
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
-
-#include "fsfw/tasks/TaskFactory.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-#include "stm32h7xx_hal_spi.h"
-#include "stm32h7xx_hal_rcc.h"
-
 #include <cstring>
 
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
+#include "stm32h7xx_hal_rcc.h"
+#include "stm32h7xx_hal_spi.h"
+
 alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
-alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
+alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> GyroL3GD20H::txBuffer
-GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
+    __attribute__((section(".dma_buffer")));
 
 TransferStates transferState = TransferStates::IDLE;
-spi::TransferModes  GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
+spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
 
+GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
+    : spiHandle(spiHandle) {
+  txDmaHandle = new DMA_HandleTypeDef();
+  rxDmaHandle = new DMA_HandleTypeDef();
+  spi::setSpiHandle(spiHandle);
+  spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
+  transferMode = transferMode_;
+  if (transferMode == spi::TransferModes::DMA) {
+    mspCfg = new spi::MspDmaConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
+    spi::setDmaHandles(txDmaHandle, rxDmaHandle);
+    stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS);
+    spi::setSpiDmaMspFunctions(typedCfg);
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
+    mspCfg = new spi::MspIrqConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
+    stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
+    spi::setSpiIrqMspFunctions(typedCfg);
+  } else if (transferMode == spi::TransferModes::POLLING) {
+    mspCfg = new spi::MspPollingConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
+    stm32h7::h743zi::standardPollingCfg(*typedCfg);
+    spi::setSpiPollingMspFunctions(typedCfg);
+  }
 
-GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
+  spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, nullptr);
-        spiHandle(spiHandle) {
+  spi::assignTransferErrorCallback(&spiTransferErrorCallback, nullptr);
-    txDmaHandle = new DMA_HandleTypeDef();
-    rxDmaHandle = new DMA_HandleTypeDef();
-    spi::setSpiHandle(spiHandle);
-    spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
-    transferMode = transferMode_;
-    if(transferMode == spi::TransferModes::DMA) {
-        mspCfg = new spi::MspDmaConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
-        spi::setDmaHandles(txDmaHandle, rxDmaHandle);
-        stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
-                IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
-        spi::setSpiDmaMspFunctions(typedCfg);
-    }
-    else if(transferMode == spi::TransferModes::INTERRUPT) {
-        mspCfg = new spi::MspIrqConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
-        stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
-        spi::setSpiIrqMspFunctions(typedCfg);
-    }
-    else if(transferMode == spi::TransferModes::POLLING) {
-        mspCfg = new spi::MspPollingConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
-        stm32h7::h743zi::standardPollingCfg(*typedCfg);
-        spi::setSpiPollingMspFunctions(typedCfg);
-    }
 
-    spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, nullptr);
+  GPIO_InitTypeDef chipSelect = {};
-    spi::assignTransferErrorCallback(&spiTransferErrorCallback, nullptr);
+  __HAL_RCC_GPIOD_CLK_ENABLE();
-
+  chipSelect.Pin = GPIO_PIN_14;
-    GPIO_InitTypeDef chipSelect = {};
+  chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
-    __HAL_RCC_GPIOD_CLK_ENABLE();
+  HAL_GPIO_Init(GPIOD, &chipSelect);
-    chipSelect.Pin = GPIO_PIN_14;
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
-    HAL_GPIO_Init(GPIOD, &chipSelect);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
 }
 
 GyroL3GD20H::~GyroL3GD20H() {
-    delete txDmaHandle;
+  delete txDmaHandle;
-    delete rxDmaHandle;
+  delete rxDmaHandle;
-    if(mspCfg != nullptr) {
+  if (mspCfg != nullptr) {
-        delete mspCfg;
+    delete mspCfg;
-    }
+  }
 }
 
 ReturnValue_t GyroL3GD20H::initialize() {
-    // Configure the SPI peripheral
+  // Configure the SPI peripheral
-    spiHandle->Instance               = SPI1;
+  spiHandle->Instance = SPI1;
-    spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
+  spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
-    spiHandle->Init.Direction         = SPI_DIRECTION_2LINES;
+  spiHandle->Init.Direction = SPI_DIRECTION_2LINES;
-    spi::assignSpiMode(spi::SpiModes::MODE_3, *spiHandle);
+  spi::assignSpiMode(spi::SpiModes::MODE_3, *spiHandle);
-    spiHandle->Init.DataSize          = SPI_DATASIZE_8BIT;
+  spiHandle->Init.DataSize = SPI_DATASIZE_8BIT;
-    spiHandle->Init.FirstBit          = SPI_FIRSTBIT_MSB;
+  spiHandle->Init.FirstBit = SPI_FIRSTBIT_MSB;
-    spiHandle->Init.TIMode            = SPI_TIMODE_DISABLE;
+  spiHandle->Init.TIMode = SPI_TIMODE_DISABLE;
-    spiHandle->Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+  spiHandle->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-    spiHandle->Init.CRCPolynomial     = 7;
+  spiHandle->Init.CRCPolynomial = 7;
-    spiHandle->Init.CRCLength         = SPI_CRC_LENGTH_8BIT;
+  spiHandle->Init.CRCLength = SPI_CRC_LENGTH_8BIT;
-    spiHandle->Init.NSS               = SPI_NSS_SOFT;
+  spiHandle->Init.NSS = SPI_NSS_SOFT;
-    spiHandle->Init.NSSPMode          = SPI_NSS_PULSE_DISABLE;
+  spiHandle->Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
-    // Recommended setting to avoid glitches
+  // Recommended setting to avoid glitches
-    spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+  spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
-    spiHandle->Init.Mode = SPI_MODE_MASTER;
+  spiHandle->Init.Mode = SPI_MODE_MASTER;
-    if(HAL_SPI_Init(spiHandle) != HAL_OK) {
+  if (HAL_SPI_Init(spiHandle) != HAL_OK) {
-        sif::printWarning("Error initializing SPI\n");
+    sif::printWarning("Error initializing SPI\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  delete mspCfg;
+  transferState = TransferStates::WAIT;
+
+  sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
+
+  txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
+  txBuffer[1] = 0;
+
+  switch (transferMode) {
+    case (spi::TransferModes::DMA): {
+      return handleDmaTransferInit();
     }
-
+    case (spi::TransferModes::INTERRUPT): {
-    delete mspCfg;
+      return handleInterruptTransferInit();
-    transferState = TransferStates::WAIT;
-
-    sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
-
-    txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
-    txBuffer[1] = 0;
-
-    switch(transferMode)  {
-    case(spi::TransferModes::DMA): {
-        return handleDmaTransferInit();
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::POLLING): {
-        return handleInterruptTransferInit();
+      return handlePollingTransferInit();
-    }
-    case(spi::TransferModes::POLLING): {
-        return handlePollingTransferInit();
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::performOperation() {
-    switch(transferMode)  {
+  switch (transferMode) {
-    case(spi::TransferModes::DMA): {
+    case (spi::TransferModes::DMA): {
-        return handleDmaSensorRead();
+      return handleDmaSensorRead();
     }
-    case(spi::TransferModes::POLLING): {
+    case (spi::TransferModes::POLLING): {
-        return handlePollingSensorRead();
+      return handlePollingSensorRead();
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::INTERRUPT): {
-        return handleInterruptSensorRead();
+      return handleInterruptSensorRead();
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
-    /* Clean D-cache */
+  /* Clean D-cache */
-    /* Make sure the address is 32-byte aligned and add 32-bytes to length,
+  /* Make sure the address is 32-byte aligned and add 32-bytes to length,
-    in case it overlaps cacheline */
+  in case it overlaps cacheline */
-    // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
+  // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
-    HAL_StatusTypeDef result = performDmaTransfer(2);
+  HAL_StatusTypeDef result = performDmaTransfer(2);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
-        // Transfer error in transmission process
+    // Transfer error in transmission process
-        sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
+    sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
-    }
+  }
 
-    // Wait for the transfer to complete
+  // Wait for the transfer to complete
-    while (transferState == TransferStates::WAIT) {
+  while (transferState == TransferStates::WAIT) {
-        TaskFactory::delayTask(1);
+    TaskFactory::delayTask(1);
-    }
+  }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
-        uint8_t whoAmIVal = rxBuffer[1];
+      uint8_t whoAmIVal = rxBuffer[1];
-        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::initialize: "
+        sif::printDebug(
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+            "GyroL3GD20H::initialize: "
-        }
+            "Read WHO AM I value %d not equal to expected value!\n",
-        transferState = TransferStates::IDLE;
+            whoAmIVal);
-        break;
+      }
+      transferState = TransferStates::IDLE;
+      break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
-        sif::printWarning("Transfer failure\n");
+      sif::printWarning("Transfer failure\n");
-        transferState = TransferStates::FAILURE;
+      transferState = TransferStates::FAILURE;
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
-    // Configure the 5 configuration registers
+  // Configure the 5 configuration registers
-    uint8_t configRegs[5];
+  uint8_t configRegs[5];
-    prepareConfigRegs(configRegs);
+  prepareConfigRegs(configRegs);
 
-    result = performDmaTransfer(6);
+  result = performDmaTransfer(6);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
-        // Transfer error in transmission process
+    // Transfer error in transmission process
-        sif::printWarning("Error transmitting SPI with DMA\n");
+    sif::printWarning("Error transmitting SPI with DMA\n");
-    }
+  }
 
-    // Wait for the transfer to complete
+  // Wait for the transfer to complete
-    while (transferState == TransferStates::WAIT) {
+  while (transferState == TransferStates::WAIT) {
-        TaskFactory::delayTask(1);
+    TaskFactory::delayTask(1);
-    }
+  }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
-        sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
+      sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
-        transferState = TransferStates::IDLE;
+      transferState = TransferStates::IDLE;
-        break;
+      break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
-        sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
+      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
-        transferState = TransferStates::FAILURE;
+      transferState = TransferStates::FAILURE;
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  std::memset(txBuffer.data() + 1, 0, 5);
+  result = performDmaTransfer(6);
+  if (result != HAL_OK) {
+    // Transfer error in transmission process
+    sif::printWarning("Error transmitting SPI with DMA\n");
+  }
+  // Wait for the transfer to complete
+  while (transferState == TransferStates::WAIT) {
+    TaskFactory::delayTask(1);
+  }
 
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  switch (transferState) {
-    std::memset(txBuffer.data() + 1, 0 , 5);
+    case (TransferStates::SUCCESS): {
-    result = performDmaTransfer(6);
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
-    if(result != HAL_OK) {
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
-        // Transfer error in transmission process
+          rxBuffer[5] != configRegs[4]) {
-        sif::printWarning("Error transmitting SPI with DMA\n");
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+      } else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
+      transferState = TransferStates::IDLE;
+      break;
     }
-    // Wait for the transfer to complete
+    case (TransferStates::FAILURE): {
-    while (transferState == TransferStates::WAIT) {
+      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
-        TaskFactory::delayTask(1);
+      transferState = TransferStates::FAILURE;
-    }
+      return HasReturnvaluesIF::RETURN_FAILED;
-
-    switch(transferState) {
-    case(TransferStates::SUCCESS): {
-        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
-                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
-                rxBuffer[5] != configRegs[4]) {
-            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
-        else {
-            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
-        }
-        transferState = TransferStates::IDLE;
-        break;
-    }
-    case(TransferStates::FAILURE): {
-        sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
-        transferState = TransferStates::FAILURE;
-        return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 14);
+  std::memset(txBuffer.data() + 1, 0, 14);
 
-    HAL_StatusTypeDef result = performDmaTransfer(15);
+  HAL_StatusTypeDef result = performDmaTransfer(15);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
-        // Transfer error in transmission process
+    // Transfer error in transmission process
-        sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
+    sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
-    }
+  }
-    // Wait for the transfer to complete
+  // Wait for the transfer to complete
-    while (transferState == TransferStates::WAIT) {
+  while (transferState == TransferStates::WAIT) {
-        TaskFactory::delayTask(1);
+    TaskFactory::delayTask(1);
-    }
+  }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
-        handleSensorReadout();
+      handleSensorReadout();
-        break;
+      break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
-        sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
+      sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
-        transferState = TransferStates::FAILURE;
+      transferState = TransferStates::FAILURE;
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
-    transferState = TransferStates::WAIT;
+  transferState = TransferStates::WAIT;
 #if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
-    SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
+  SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
-            txBuffer.size()+32);
+                          txBuffer.size() + 32);
 #endif
 
-    // Start SPI transfer via DMA
+  // Start SPI transfer via DMA
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
+  return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
 }
 
 ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
+      sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
-        uint8_t whoAmIVal = rxBuffer[1];
+      uint8_t whoAmIVal = rxBuffer[1];
-        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::performOperation: "
+        sif::printDebug(
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+            "GyroL3GD20H::performOperation: "
-        }
+            "Read WHO AM I value %d not equal to expected value!\n",
-        break;
+            whoAmIVal);
+      }
+      break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
-    // Configure the 5 configuration registers
+  // Configure the 5 configuration registers
-    uint8_t configRegs[5];
+  uint8_t configRegs[5];
-    prepareConfigRegs(configRegs);
+  prepareConfigRegs(configRegs);
 
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
+  result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        break;
+      break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 5);
+  std::memset(txBuffer.data() + 1, 0, 5);
 
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
+  result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
-                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
-                rxBuffer[5] != configRegs[4]) {
+          rxBuffer[5] != configRegs[4]) {
-            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
+      } else {
-        else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
-            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
-        }
+      break;
-        break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 14);
+  std::memset(txBuffer.data() + 1, 0, 14);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
 
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        handleSensorReadout();
+      handleSensorReadout();
-        break;
+      break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
+      sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
-        // Wait for the transfer to complete
+      // Wait for the transfer to complete
-        while (transferState == TransferStates::WAIT) {
+      while (transferState == TransferStates::WAIT) {
-            TaskFactory::delayTask(1);
+        TaskFactory::delayTask(1);
-        }
+      }
 
-        uint8_t whoAmIVal = rxBuffer[1];
+      uint8_t whoAmIVal = rxBuffer[1];
-        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::initialize: "
+        sif::printDebug(
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+            "GyroL3GD20H::initialize: "
-        }
+            "Read WHO AM I value %d not equal to expected value!\n",
-        break;
+            whoAmIVal);
-    }
+      }
-    case(HAL_BUSY):
+      break;
-    case(HAL_ERROR):
-    case(HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
     }
+    case (HAL_BUSY):
+    case (HAL_ERROR):
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
+  }
 
-    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
-    transferState = TransferStates::WAIT;
+  transferState = TransferStates::WAIT;
-    // Configure the 5 configuration registers
+  // Configure the 5 configuration registers
-    uint8_t configRegs[5];
+  uint8_t configRegs[5];
-    prepareConfigRegs(configRegs);
+  prepareConfigRegs(configRegs);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        // Wait for the transfer to complete
+      // Wait for the transfer to complete
-        while (transferState == TransferStates::WAIT) {
+      while (transferState == TransferStates::WAIT) {
-            TaskFactory::delayTask(1);
+        TaskFactory::delayTask(1);
-        }
+      }
-        break;
+      break;
-    }
-    case(HAL_BUSY):
-    case(HAL_ERROR):
-    case(HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
     }
+    case (HAL_BUSY):
+    case (HAL_ERROR):
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
+  }
 
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 5);
+  std::memset(txBuffer.data() + 1, 0, 5);
-    transferState = TransferStates::WAIT;
+  transferState = TransferStates::WAIT;
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        // Wait for the transfer to complete
+      // Wait for the transfer to complete
-        while (transferState == TransferStates::WAIT) {
+      while (transferState == TransferStates::WAIT) {
-            TaskFactory::delayTask(1);
+        TaskFactory::delayTask(1);
-        }
+      }
-        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
-                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
-                rxBuffer[5] != configRegs[4]) {
+          rxBuffer[5] != configRegs[4]) {
-            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
+      } else {
-        else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
-            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
-        }
+      break;
-        break;
     }
-    case(HAL_BUSY):
+    case (HAL_BUSY):
-    case(HAL_ERROR):
+    case (HAL_ERROR):
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
-    transferState = TransferStates::WAIT;
+  transferState = TransferStates::WAIT;
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 14);
+  std::memset(txBuffer.data() + 1, 0, 14);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        // Wait for the transfer to complete
+      // Wait for the transfer to complete
-        while (transferState == TransferStates::WAIT) {
+      while (transferState == TransferStates::WAIT) {
-            TaskFactory::delayTask(1);
+        TaskFactory::delayTask(1);
-        }
+      }
-        handleSensorReadout();
+      handleSensorReadout();
-        break;
+      break;
     }
-    case(HAL_BUSY):
+    case (HAL_BUSY):
-    case(HAL_ERROR):
+    case (HAL_ERROR):
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
+      sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) {
+void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
-    // Enable sensor
+  // Enable sensor
-    configRegs[0] = 0b00001111;
+  configRegs[0] = 0b00001111;
-    configRegs[1] = 0b00000000;
+  configRegs[1] = 0b00000000;
-    configRegs[2] = 0b00000000;
+  configRegs[2] = 0b00000000;
-    // Big endian select
+  // Big endian select
-    configRegs[3] = 0b01000000;
+  configRegs[3] = 0b01000000;
-    configRegs[4] = 0b00000000;
+  configRegs[4] = 0b00000000;
 
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
-    std::memcpy(txBuffer.data() + 1, configRegs, 5);
+  std::memcpy(txBuffer.data() + 1, configRegs, 5);
 }
 
 uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
-    uint8_t rxBuf[2] = {};
+  uint8_t rxBuf[2] = {};
-    uint8_t txBuf[2] = {};
+  uint8_t txBuf[2] = {};
-    txBuf[0] = reg | STM_READ_MASK;
+  txBuf[0] = reg | STM_READ_MASK;
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
-    if(result) {};
+  if (result) {
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  };
-    return rxBuf[1];
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  return rxBuf[1];
 }
 
 void GyroL3GD20H::handleSensorReadout() {
-    uint8_t statusReg = rxBuffer[8];
+  uint8_t statusReg = rxBuffer[8];
-    int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
+  int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
-    float gyroX = static_cast<float>(gyroXRaw) * 0.00875;
+  float gyroX = static_cast<float>(gyroXRaw) * 0.00875;
-    int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
+  int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
-    float gyroY =  static_cast<float>(gyroYRaw) * 0.00875;
+  float gyroY = static_cast<float>(gyroYRaw) * 0.00875;
-    int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
+  int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
-    float gyroZ =  static_cast<float>(gyroZRaw) * 0.00875;
+  float gyroZ = static_cast<float>(gyroZRaw) * 0.00875;
-    sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
+  sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
-    sif::printInfo("Gyro X: %f\n", gyroX);
+  sif::printInfo("Gyro X: %f\n", gyroX);
-    sif::printInfo("Gyro Y: %f\n", gyroY);
+  sif::printInfo("Gyro Y: %f\n", gyroY);
-    sif::printInfo("Gyro Z: %f\n", gyroZ);
+  sif::printInfo("Gyro Z: %f\n", gyroZ);
 }
 
-
+void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
-void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args) {
+  transferState = TransferStates::SUCCESS;
-    transferState = TransferStates::SUCCESS;
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  if (GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
-    if(GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
+    // Invalidate cache prior to access by CPU
-        // Invalidate cache prior to access by CPU
+    SCB_InvalidateDCache_by_Addr((uint32_t *)GyroL3GD20H::rxBuffer.data(),
-        SCB_InvalidateDCache_by_Addr ((uint32_t *)GyroL3GD20H::rxBuffer.data(),
+                                 GyroL3GD20H::recvBufferSize);
-                GyroL3GD20H::recvBufferSize);
+  }
-    }
 }
 
 /**
@@ -553,6 +551,6 @@ void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* arg
  *         add your own implementation.
  * @retval None
  */
-void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args) {
+void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
-    transferState = TransferStates::FAILURE;
+  transferState = TransferStates::FAILURE;
 }

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h

@@ -1,70 +1,61 @@
 #ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
 #define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
 
-#include "stm32h7xx_hal.h"
+#include <array>
-#include "stm32h7xx_hal_spi.h"
+#include <cstdint>
+
 #include "../spi/mspInit.h"
 #include "../spi/spiDefinitions.h"
-
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_spi.h"
 
-#include <cstdint>
+enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
-#include <array>
-
-enum class TransferStates {
-    IDLE,
-    WAIT,
-    SUCCESS,
-    FAILURE
-};
 
 class GyroL3GD20H {
-public:
+ public:
-    GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
+  GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
-    ~GyroL3GD20H();
+  ~GyroL3GD20H();
 
-    ReturnValue_t initialize();
+  ReturnValue_t initialize();
-    ReturnValue_t performOperation();
+  ReturnValue_t performOperation();
 
-private:
+ private:
+  const uint8_t WHO_AM_I_REG = 0b00001111;
+  const uint8_t STM_READ_MASK = 0b10000000;
+  const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
+  const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
+  const uint8_t CTRL_REG_1 = 0b00100000;
+  const uint32_t L3G_RANGE = 245;
 
-    const uint8_t WHO_AM_I_REG = 0b00001111;
+  SPI_HandleTypeDef* spiHandle;
-    const uint8_t STM_READ_MASK = 0b10000000;
-    const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
-    const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
-    const uint8_t CTRL_REG_1 = 0b00100000;
-    const uint32_t L3G_RANGE = 245;
 
-    SPI_HandleTypeDef* spiHandle;
+  static spi::TransferModes transferMode;
+  static constexpr size_t recvBufferSize = 32 * 10;
+  static std::array<uint8_t, recvBufferSize> rxBuffer;
+  static constexpr size_t txBufferSize = 32;
+  static std::array<uint8_t, txBufferSize> txBuffer;
 
-    static spi::TransferModes transferMode;
+  ReturnValue_t handleDmaTransferInit();
-    static constexpr size_t recvBufferSize = 32 * 10;
+  ReturnValue_t handlePollingTransferInit();
-    static std::array<uint8_t, recvBufferSize> rxBuffer;
+  ReturnValue_t handleInterruptTransferInit();
-    static constexpr size_t txBufferSize = 32;
-    static std::array<uint8_t, txBufferSize> txBuffer;
 
-    ReturnValue_t handleDmaTransferInit();
+  ReturnValue_t handleDmaSensorRead();
-    ReturnValue_t handlePollingTransferInit();
+  HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
-    ReturnValue_t handleInterruptTransferInit();
+  ReturnValue_t handlePollingSensorRead();
+  ReturnValue_t handleInterruptSensorRead();
 
-    ReturnValue_t handleDmaSensorRead();
+  uint8_t readRegPolling(uint8_t reg);
-    HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
-    ReturnValue_t handlePollingSensorRead();
-    ReturnValue_t handleInterruptSensorRead();
 
-    uint8_t readRegPolling(uint8_t reg);
+  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
+  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
 
-    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+  void prepareConfigRegs(uint8_t* configRegs);
-    static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
+  void handleSensorReadout();
 
-
+  DMA_HandleTypeDef* txDmaHandle = {};
-    void prepareConfigRegs(uint8_t* configRegs);
+  DMA_HandleTypeDef* rxDmaHandle = {};
-    void handleSensorReadout();
+  spi::MspCfgBase* mspCfg = {};
-
-
-    DMA_HandleTypeDef* txDmaHandle = {};
-    DMA_HandleTypeDef* rxDmaHandle = {};
-    spi::MspCfgBase* mspCfg = {};
 };
 
 #endif /*  FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */

hal/src/fsfw_hal/stm32h7/dma.cpp

@@ -1,7 +1,7 @@
 #include <fsfw_hal/stm32h7/dma.h>
 
-#include <cstdint>
 #include <cstddef>
+#include <cstdint>
 
 user_handler_t DMA_1_USER_HANDLERS[8];
 user_args_t DMA_1_USER_ARGS[8];
@@ -10,15 +10,14 @@ user_handler_t DMA_2_USER_HANDLERS[8];
 user_args_t DMA_2_USER_ARGS[8];
 
 void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
-        user_handler_t user_handler, user_args_t user_args) {
+                               user_handler_t user_handler, user_args_t user_args) {
-    if(dma_idx == DMA_1) {
+  if (dma_idx == DMA_1) {
-        DMA_1_USER_HANDLERS[stream_idx] = user_handler;
+    DMA_1_USER_HANDLERS[stream_idx] = user_handler;
-        DMA_1_USER_ARGS[stream_idx] = user_args;
+    DMA_1_USER_ARGS[stream_idx] = user_args;
-    }
+  } else if (dma_idx == DMA_2) {
-    else if(dma_idx == DMA_2) {
+    DMA_2_USER_HANDLERS[stream_idx] = user_handler;
-        DMA_2_USER_HANDLERS[stream_idx] = user_handler;
+    DMA_2_USER_ARGS[stream_idx] = user_args;
-        DMA_2_USER_ARGS[stream_idx] = user_args;
+  }
-    }
 }
 
 // The interrupt handlers in the format required for the IRQ vector table
@@ -26,59 +25,27 @@ void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
 /* Do not change these function names! They need to be exactly equal to the name of the functions
 defined in the startup_stm32h743xx.s files! */
 
-#define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX) \
+#define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX)                                  \
-    if(DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) { \
+  if (DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) {                            \
-        DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
+    DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
-        return; \
+    return;                                                                           \
-    } \
+  }                                                                                   \
-    Default_Handler() \
+  Default_Handler()
 
-extern"C" void DMA1_Stream0_IRQHandler() {
+extern "C" void DMA1_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 0); }
-    GENERIC_DMA_IRQ_HANDLER(1, 0);
+extern "C" void DMA1_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 1); }
-}
+extern "C" void DMA1_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 2); }
-extern"C" void DMA1_Stream1_IRQHandler() {
+extern "C" void DMA1_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 3); }
-    GENERIC_DMA_IRQ_HANDLER(1, 1);
+extern "C" void DMA1_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 4); }
-}
+extern "C" void DMA1_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 5); }
-extern"C" void DMA1_Stream2_IRQHandler() {
+extern "C" void DMA1_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 6); }
-    GENERIC_DMA_IRQ_HANDLER(1, 2);
+extern "C" void DMA1_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 7); }
-}
-extern"C" void DMA1_Stream3_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 3);
-}
-extern"C" void DMA1_Stream4_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 4);
-}
-extern"C" void DMA1_Stream5_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 5);
-}
-extern"C" void DMA1_Stream6_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 6);
-}
-extern"C" void DMA1_Stream7_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 7);
-}
 
-extern"C" void DMA2_Stream0_IRQHandler() {
+extern "C" void DMA2_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 0); }
-    GENERIC_DMA_IRQ_HANDLER(2, 0);
+extern "C" void DMA2_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 1); }
-}
+extern "C" void DMA2_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 2); }
-extern"C" void DMA2_Stream1_IRQHandler() {
+extern "C" void DMA2_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 3); }
-    GENERIC_DMA_IRQ_HANDLER(2, 1);
+extern "C" void DMA2_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 4); }
-}
+extern "C" void DMA2_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 5); }
-extern"C" void DMA2_Stream2_IRQHandler() {
+extern "C" void DMA2_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 6); }
-    GENERIC_DMA_IRQ_HANDLER(2, 2);
+extern "C" void DMA2_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 7); }
-}
-extern"C" void DMA2_Stream3_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 3);
-}
-extern"C" void DMA2_Stream4_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 4);
-}
-extern"C" void DMA2_Stream5_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 5);
-}
-extern"C" void DMA2_Stream6_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 6);
-}
-extern"C" void DMA2_Stream7_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 7);
-}

hal/src/fsfw_hal/stm32h7/dma.h

@@ -5,31 +5,26 @@
 extern "C" {
 #endif
 
-#include "interrupts.h"
 #include <cstdint>
 
+#include "interrupts.h"
+
 namespace dma {
 
-enum DMAType {
+enum DMAType { TX = 0, RX = 1 };
-    TX = 0,
-    RX = 1
-};
 
-enum DMAIndexes: uint8_t {
+enum DMAIndexes : uint8_t { DMA_1 = 1, DMA_2 = 2 };
-    DMA_1 = 1,
-    DMA_2 = 2
-};
 
 enum DMAStreams {
-    STREAM_0 = 0,
+  STREAM_0 = 0,
-    STREAM_1 = 1,
+  STREAM_1 = 1,
-    STREAM_2 = 2,
+  STREAM_2 = 2,
-    STREAM_3 = 3,
+  STREAM_3 = 3,
-    STREAM_4 = 4,
+  STREAM_4 = 4,
-    STREAM_5 = 5,
+  STREAM_5 = 5,
-    STREAM_6 = 6,
+  STREAM_6 = 6,
-    STREAM_7 = 7,
+  STREAM_7 = 7,
-} ;
+};
 
 /**
  * Assign user interrupt handlers for DMA streams, allowing to pass an
@@ -37,10 +32,10 @@ enum DMAStreams {
  * @param user_handler
  * @param user_args
  */
-void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
+void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, user_handler_t user_handler,
-        user_handler_t user_handler, user_args_t user_args);
+                          user_args_t user_args);
 
-}
+}  // namespace dma
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp

@@ -4,68 +4,68 @@
 
 void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
 #ifdef GPIOA
-    if(gpioPort == GPIOA) {
+  if (gpioPort == GPIOA) {
-        __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOA_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOB
-    if(gpioPort == GPIOB) {
+  if (gpioPort == GPIOB) {
-        __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOC
-    if(gpioPort == GPIOC) {
+  if (gpioPort == GPIOC) {
-        __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOD
-    if(gpioPort == GPIOD) {
+  if (gpioPort == GPIOD) {
-        __HAL_RCC_GPIOD_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOE
-    if(gpioPort == GPIOE) {
+  if (gpioPort == GPIOE) {
-        __HAL_RCC_GPIOE_CLK_ENABLE();
+    __HAL_RCC_GPIOE_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOF
-    if(gpioPort == GPIOF) {
+  if (gpioPort == GPIOF) {
-        __HAL_RCC_GPIOF_CLK_ENABLE();
+    __HAL_RCC_GPIOF_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOG
-    if(gpioPort == GPIOG) {
+  if (gpioPort == GPIOG) {
-        __HAL_RCC_GPIOG_CLK_ENABLE();
+    __HAL_RCC_GPIOG_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOH
-    if(gpioPort == GPIOH) {
+  if (gpioPort == GPIOH) {
-        __HAL_RCC_GPIOH_CLK_ENABLE();
+    __HAL_RCC_GPIOH_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOI
-    if(gpioPort == GPIOI) {
+  if (gpioPort == GPIOI) {
-        __HAL_RCC_GPIOI_CLK_ENABLE();
+    __HAL_RCC_GPIOI_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOJ
-    if(gpioPort == GPIOJ) {
+  if (gpioPort == GPIOJ) {
-        __HAL_RCC_GPIOJ_CLK_ENABLE();
+    __HAL_RCC_GPIOJ_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOK
-    if(gpioPort == GPIOK) {
+  if (gpioPort == GPIOK) {
-        __HAL_RCC_GPIOK_CLK_ENABLE();
+    __HAL_RCC_GPIOK_CLK_ENABLE();
-    }
+  }
 #endif
 }

hal/src/fsfw_hal/stm32h7/interrupts.h

@@ -12,14 +12,10 @@ extern "C" {
  */
 extern void Default_Handler();
 
-typedef void (*user_handler_t) (void*);
+typedef void (*user_handler_t)(void*);
 typedef void* user_args_t;
 
-enum IrqPriorities: uint8_t {
+enum IrqPriorities : uint8_t { HIGHEST = 0, HIGHEST_FREERTOS = 6, LOWEST = 15 };
-    HIGHEST = 0,
-    HIGHEST_FREERTOS = 6,
-    LOWEST = 15
-};
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp

@@ -1,11 +1,11 @@
 #include "fsfw_hal/stm32h7/spi/SpiComIF.h"
-#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
 #include "fsfw/tasks/SemaphoreFactory.h"
+#include "fsfw_hal/stm32h7/gpio/gpio.h"
+#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
 #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw_hal/stm32h7/spi/mspInit.h"
-#include "fsfw_hal/stm32h7/gpio/gpio.h"
 
 // FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
 // instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
@@ -13,468 +13,462 @@
 #if defined FSFW_OSAL_RTEMS
 #include "fsfw/osal/rtems/BinarySemaphore.h"
 #elif defined FSFW_OSAL_FREERTOS
-#include "fsfw/osal/freertos/TaskManagement.h"
 #include "fsfw/osal/freertos/BinarySemaphore.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
 #endif
 
 #include "stm32h7xx_hal_gpio.h"
 
-SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) {
+SpiComIF::SpiComIF(object_id_t objectId) : SystemObject(objectId) {
-    void* irqArgsVoided = reinterpret_cast<void*>(&irqArgs);
+  void *irqArgsVoided = reinterpret_cast<void *>(&irqArgs);
-    spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
+  spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
-    spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
+  spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
-    spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
+  spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
-    spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
+  spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
 }
 
 void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) {
-    this->cacheMaintenanceOnTxBuffer = enable;
+  this->cacheMaintenanceOnTxBuffer = enable;
 }
 
 void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxHandle) {
-    spi::setDmaHandles(txHandle, rxHandle);
+  spi::setDmaHandles(txHandle, rxHandle);
 }
 
-ReturnValue_t SpiComIF::initialize() {
+ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
-    return HasReturnvaluesIF::RETURN_OK;
-}
 
 ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
+    sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
 #else
-        sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
+    sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
 #endif
-        return NULLPOINTER;
+    return NULLPOINTER;
-    }
+  }
-    auto transferMode = spiCookie->getTransferMode();
+  auto transferMode = spiCookie->getTransferMode();
 
-    if(transferMode == spi::TransferModes::DMA) {
+  if (transferMode == spi::TransferModes::DMA) {
-        DMA_HandleTypeDef *txHandle = nullptr;
+    DMA_HandleTypeDef *txHandle = nullptr;
-        DMA_HandleTypeDef *rxHandle = nullptr;
+    DMA_HandleTypeDef *rxHandle = nullptr;
-        spi::getDmaHandles(&txHandle, &rxHandle);
+    spi::getDmaHandles(&txHandle, &rxHandle);
-        if(txHandle == nullptr or rxHandle == nullptr) {
+    if (txHandle == nullptr or rxHandle == nullptr) {
-            sif::printError("SpiComIF::initialize: DMA handles not set!\n");
+      sif::printError("SpiComIF::initialize: DMA handles not set!\n");
-            return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-        }
     }
-    // This semaphore ensures thread-safety for a given bus
+  }
-    spiSemaphore = dynamic_cast<BinarySemaphore*>(
+  // This semaphore ensures thread-safety for a given bus
-            SemaphoreFactory::instance()->createBinarySemaphore());
+  spiSemaphore =
-    address_t spiAddress = spiCookie->getDeviceAddress();
+      dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
+  address_t spiAddress = spiCookie->getDeviceAddress();
 
-    auto iter = spiDeviceMap.find(spiAddress);
+  auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
-        size_t bufferSize = spiCookie->getMaxRecvSize();
+    size_t bufferSize = spiCookie->getMaxRecvSize();
-        auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
+    auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
-        if (not statusPair.second) {
+    if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
-                    spiAddress << "to SPI device map" << std::endl;
+                 << spiAddress << "to SPI device map" << std::endl;
 #else
-            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+      sif::printError(
-                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+          "SpiComIF::initializeInterface: Failed to insert device with address "
+          "%lu to SPI device map\n",
+          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-        }
     }
-    auto gpioPin = spiCookie->getChipSelectGpioPin();
+  }
-    auto gpioPort = spiCookie->getChipSelectGpioPort();
+  auto gpioPin = spiCookie->getChipSelectGpioPin();
+  auto gpioPort = spiCookie->getChipSelectGpioPort();
 
-    SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
+  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
 
-    auto spiIdx = spiCookie->getSpiIdx();
+  auto spiIdx = spiCookie->getSpiIdx();
-    if(spiIdx == spi::SpiBus::SPI_1) {
+  if (spiIdx == spi::SpiBus::SPI_1) {
 #ifdef SPI1
-        spiHandle.Instance = SPI1;
+    spiHandle.Instance = SPI1;
 #endif
-    }
+  } else if (spiIdx == spi::SpiBus::SPI_2) {
-    else if(spiIdx == spi::SpiBus::SPI_2) {
 #ifdef SPI2
-        spiHandle.Instance = SPI2;
+    spiHandle.Instance = SPI2;
 #endif
-    }
+  } else {
-    else {
+    printCfgError("SPI Bus Index");
-        printCfgError("SPI Bus Index");
+    return HasReturnvaluesIF::RETURN_FAILED;
-        return HasReturnvaluesIF::RETURN_FAILED;
+  }
-    }
 
-    auto mspCfg = spiCookie->getMspCfg();
+  auto mspCfg = spiCookie->getMspCfg();
 
-    if(transferMode == spi::TransferModes::POLLING) {
+  if (transferMode == spi::TransferModes::POLLING) {
-        auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
+    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
-        if(typedCfg == nullptr) {
+    if (typedCfg == nullptr) {
-            printCfgError("Polling MSP");
+      printCfgError("Polling MSP");
-            return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        spi::setSpiPollingMspFunctions(typedCfg);
     }
-    else if(transferMode == spi::TransferModes::INTERRUPT) {
+    spi::setSpiPollingMspFunctions(typedCfg);
-        auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
-        if(typedCfg == nullptr) {
+    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
-            printCfgError("IRQ MSP");
+    if (typedCfg == nullptr) {
-            return HasReturnvaluesIF::RETURN_FAILED;
+      printCfgError("IRQ MSP");
-        }
+      return HasReturnvaluesIF::RETURN_FAILED;
-        spi::setSpiIrqMspFunctions(typedCfg);
     }
-    else if(transferMode == spi::TransferModes::DMA) {
+    spi::setSpiIrqMspFunctions(typedCfg);
-        auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
+  } else if (transferMode == spi::TransferModes::DMA) {
-        if(typedCfg == nullptr) {
+    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
-            printCfgError("DMA MSP");
+    if (typedCfg == nullptr) {
-            return HasReturnvaluesIF::RETURN_FAILED;
+      printCfgError("DMA MSP");
-        }
+      return HasReturnvaluesIF::RETURN_FAILED;
-        // Check DMA handles
-        DMA_HandleTypeDef* txHandle = nullptr;
-        DMA_HandleTypeDef* rxHandle = nullptr;
-        spi::getDmaHandles(&txHandle, &rxHandle);
-        if(txHandle == nullptr or rxHandle == nullptr) {
-            printCfgError("DMA Handle");
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        spi::setSpiDmaMspFunctions(typedCfg);
     }
+    // Check DMA handles
+    DMA_HandleTypeDef *txHandle = nullptr;
+    DMA_HandleTypeDef *rxHandle = nullptr;
+    spi::getDmaHandles(&txHandle, &rxHandle);
+    if (txHandle == nullptr or rxHandle == nullptr) {
+      printCfgError("DMA Handle");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    spi::setSpiDmaMspFunctions(typedCfg);
+  }
 
-    if(gpioPort != nullptr) {
+  if (gpioPort != nullptr) {
-        gpio::initializeGpioClock(gpioPort);
+    gpio::initializeGpioClock(gpioPort);
-        GPIO_InitTypeDef chipSelect = {};
+    GPIO_InitTypeDef chipSelect = {};
-        chipSelect.Pin = gpioPin;
+    chipSelect.Pin = gpioPin;
-        chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
+    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
-        HAL_GPIO_Init(gpioPort, &chipSelect);
+    HAL_GPIO_Init(gpioPort, &chipSelect);
-        HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
-    }
+  }
 
-    if(HAL_SPI_Init(&spiHandle) != HAL_OK) {
+  if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
-        sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
+    sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    // The MSP configuration struct is not required anymore
+  // The MSP configuration struct is not required anymore
-    spiCookie->deleteMspCfg();
+  spiCookie->deleteMspCfg();
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return NULLPOINTER;
+    return NULLPOINTER;
-    }
+  }
 
-    SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
+  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
 
-    auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
+  auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    iter->second.currentTransferLen = sendLen;
+  iter->second.currentTransferLen = sendLen;
 
-    auto transferMode = spiCookie->getTransferMode();
+  auto transferMode = spiCookie->getTransferMode();
-    switch(spiCookie->getTransferState()) {
+  switch (spiCookie->getTransferState()) {
-    case(spi::TransferStates::IDLE): {
+    case (spi::TransferStates::IDLE): {
-        break;
+      break;
     }
-    case(spi::TransferStates::WAIT):
+    case (spi::TransferStates::WAIT):
-    case(spi::TransferStates::FAILURE):
+    case (spi::TransferStates::FAILURE):
-    case(spi::TransferStates::SUCCESS):
+    case (spi::TransferStates::SUCCESS):
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    switch(transferMode) {
+  switch (transferMode) {
-    case(spi::TransferModes::POLLING): {
+    case (spi::TransferModes::POLLING): {
-        return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+      return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
-                sendData, sendLen);
+                                        sendData, sendLen);
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::INTERRUPT): {
-        return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+      return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
-                sendData, sendLen);
+                                          sendData, sendLen);
     }
-    case(spi::TransferModes::DMA): {
+    case (spi::TransferModes::DMA): {
-        return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+      return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
-                sendData, sendLen);
+                                    sendData, sendLen);
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
-    return HasReturnvaluesIF::RETURN_OK;
-}
 
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return NULLPOINTER;
+    return NULLPOINTER;
+  }
+  switch (spiCookie->getTransferState()) {
+    case (spi::TransferStates::SUCCESS): {
+      auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
+      if (iter == spiDeviceMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+      }
+      *buffer = iter->second.replyBuffer.data();
+      *size = iter->second.currentTransferLen;
+      spiCookie->setTransferState(spi::TransferStates::IDLE);
+      break;
     }
-    switch(spiCookie->getTransferState()) {
+    case (spi::TransferStates::FAILURE): {
-    case(spi::TransferStates::SUCCESS): {
-        auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
-        if(iter == spiDeviceMap.end()) {
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        *buffer = iter->second.replyBuffer.data();
-        *size = iter->second.currentTransferLen;
-        spiCookie->setTransferState(spi::TransferStates::IDLE);
-        break;
-    }
-    case(spi::TransferStates::FAILURE): {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
+      sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
 #else
-        sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
+      sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
 #endif
 #endif
-        spiCookie->setTransferState(spi::TransferStates::IDLE);
+      spiCookie->setTransferState(spi::TransferStates::IDLE);
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(spi::TransferStates::WAIT):
+    case (spi::TransferStates::WAIT):
-    case(spi::TransferStates::IDLE): {
+    case (spi::TransferStates::IDLE): {
-        break;
+      break;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
-    this->defaultPollingTimeout = timeout;
+  this->defaultPollingTimeout = timeout;
 }
 
-ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+                                                   SpiCookie &spiCookie, const uint8_t *sendData,
-    auto gpioPort = spiCookie.getChipSelectGpioPort();
+                                                   size_t sendLen) {
-    auto gpioPin = spiCookie.getChipSelectGpioPin();
+  auto gpioPort = spiCookie.getChipSelectGpioPort();
-    auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
+  auto gpioPin = spiCookie.getChipSelectGpioPin();
-    if(returnval != HasReturnvaluesIF::RETURN_OK) {
+  auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
-        return returnval;
+  if (returnval != HasReturnvaluesIF::RETURN_OK) {
-    }
+    return returnval;
-    spiCookie.setTransferState(spi::TransferStates::WAIT);
+  }
-    if(gpioPort != nullptr) {
+  spiCookie.setTransferState(spi::TransferStates::WAIT);
-        HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
+  if (gpioPort != nullptr) {
-    }
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
+  }
 
-    auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
+  auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
-            recvPtr, sendLen, defaultPollingTimeout);
+                                        sendLen, defaultPollingTimeout);
-    if(gpioPort != nullptr) {
+  if (gpioPort != nullptr) {
-        HAL_GPIO_WritePin(gpioPort, gpioPin,  GPIO_PIN_SET);
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+  }
+  spiSemaphore->release();
+  switch (result) {
+    case (HAL_OK): {
+      spiCookie.setTransferState(spi::TransferStates::SUCCESS);
+      break;
     }
-    spiSemaphore->release();
+    case (HAL_TIMEOUT): {
-    switch(result) {
-    case(HAL_OK): {
-        spiCookie.setTransferState(spi::TransferStates::SUCCESS);
-        break;
-    }
-    case(HAL_TIMEOUT): {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device" <<
+      sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
-                spiCookie->getDeviceAddress() << std::endl;
+                   << spiCookie->getDeviceAddress() << std::endl;
 #else
-        sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
+      sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
-                spiCookie.getDeviceAddress());
+                        spiCookie.getDeviceAddress());
 #endif
 #endif
-        spiCookie.setTransferState(spi::TransferStates::FAILURE);
+      spiCookie.setTransferState(spi::TransferStates::FAILURE);
-        return spi::HAL_TIMEOUT_RETVAL;
+      return spi::HAL_TIMEOUT_RETVAL;
     }
-    case(HAL_ERROR):
+    case (HAL_ERROR):
     default: {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device" <<
+      sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
-                spiCookie->getDeviceAddress() << std::endl;
+                   << spiCookie->getDeviceAddress() << std::endl;
 #else
-        sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
+      sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
-                spiCookie.getDeviceAddress());
+                        spiCookie.getDeviceAddress());
 #endif
 #endif
-        spiCookie.setTransferState(spi::TransferStates::FAILURE);
+      spiCookie.setTransferState(spi::TransferStates::FAILURE);
-        return spi::HAL_ERROR_RETVAL;
+      return spi::HAL_ERROR_RETVAL;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
+                                                     SpiCookie &spiCookie, const uint8_t *sendData,
-    return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+                                                     size_t sendLen) {
+  return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
 }
 
-ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
+                                               SpiCookie &spiCookie, const uint8_t *sendData,
-    return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+                                               size_t sendLen) {
+  return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
 }
 
-ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
+ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+                                               SpiCookie &spiCookie, const uint8_t *sendData,
-    ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+                                               size_t sendLen) {
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
-        return result;
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    }
-    // yet another HAL driver which is not const-correct..
-    HAL_StatusTypeDef status = HAL_OK;
-    auto transferMode = spiCookie.getTransferMode();
-    if(transferMode == spi::TransferModes::DMA) {
-        if(cacheMaintenanceOnTxBuffer) {
-            /* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
-            in case it overlaps cacheline */
-            SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t) sendData ) & ~(uint32_t)0x1F),
-                    sendLen + 32);
-        }
-        status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t*>(sendData),
-                currentRecvPtr, sendLen);
-    }
-    else {
-        status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData),
-                currentRecvPtr, sendLen);
-    }
-    switch(status) {
-    case(HAL_OK): {
-        break;
-    }
-    default: {
-        return halErrorHandler(status, transferMode);
-    }
-    }
     return result;
+  }
+  // yet another HAL driver which is not const-correct..
+  HAL_StatusTypeDef status = HAL_OK;
+  auto transferMode = spiCookie.getTransferMode();
+  if (transferMode == spi::TransferModes::DMA) {
+    if (cacheMaintenanceOnTxBuffer) {
+      /* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
+      in case it overlaps cacheline */
+      SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
+    }
+    status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
+                                         currentRecvPtr, sendLen);
+  } else {
+    status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
+                                        sendLen);
+  }
+  switch (status) {
+    case (HAL_OK): {
+      break;
+    }
+    default: {
+      return halErrorHandler(status, transferMode);
+    }
+  }
+  return result;
 }
 
 ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
-    char modeString[10];
+  char modeString[10];
-    if(transferMode == spi::TransferModes::DMA) {
+  if (transferMode == spi::TransferModes::DMA) {
-        std::snprintf(modeString, sizeof(modeString), "Dma");
+    std::snprintf(modeString, sizeof(modeString), "Dma");
+  } else {
+    std::snprintf(modeString, sizeof(modeString), "Interrupt");
+  }
+  sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
+  switch (status) {
+    case (HAL_BUSY): {
+      return spi::HAL_BUSY_RETVAL;
     }
-    else {
+    case (HAL_ERROR): {
-        std::snprintf(modeString, sizeof(modeString), "Interrupt");
+      return spi::HAL_ERROR_RETVAL;
     }
-    sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString,
+    case (HAL_TIMEOUT): {
-            status);
+      return spi::HAL_TIMEOUT_RETVAL;
-    switch(status) {
-    case(HAL_BUSY): {
-        return spi::HAL_BUSY_RETVAL;
-    }
-    case(HAL_ERROR): {
-        return spi::HAL_ERROR_RETVAL;
-    }
-    case(HAL_TIMEOUT): {
-        return spi::HAL_TIMEOUT_RETVAL;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 }
 
+ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
+                                            SpiCookie &spiCookie, const uint8_t *sendData,
+                                            size_t sendLen) {
+  currentRecvPtr = recvPtr;
+  currentRecvBuffSize = sendLen;
 
-ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
+  // Take the semaphore which will be released by a callback when the transfer is complete
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+  ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
-    currentRecvPtr = recvPtr;
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    currentRecvBuffSize = sendLen;
+    // Configuration error
-
+    sif::printWarning(
-    // Take the semaphore which will be released by a callback when the transfer is complete
+        "SpiComIF::handleInterruptSendOperation: Semaphore "
-    ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
+        "could not be acquired after %d ms\n",
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+        timeoutMs);
-        // Configuration error
+    return result;
-        sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore "
+  }
-                "could not be acquired after %d ms\n", timeoutMs);
+  // Cache the current SPI handle in any case
-        return result;
+  spi::setSpiHandle(&spiHandle);
-    }
+  // Assign the IRQ arguments for the user callbacks
-    // Cache the current SPI handle in any case
+  irqArgs.comIF = this;
-    spi::setSpiHandle(&spiHandle);
+  irqArgs.spiCookie = &spiCookie;
-    // Assign the IRQ arguments for the user callbacks
+  // The SPI handle is passed to the default SPI callback as a void argument. This callback
-    irqArgs.comIF = this;
+  // is different from the user callbacks specified above!
-    irqArgs.spiCookie = &spiCookie;
+  spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
-    // The SPI handle is passed to the default SPI callback as a void argument. This callback
+  if (spiCookie.getChipSelectGpioPort() != nullptr) {
-    // is different from the user callbacks specified above!
+    HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
-    spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle));
+                      GPIO_PIN_RESET);
-    if(spiCookie.getChipSelectGpioPort() != nullptr) {
+  }
-        HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
+  return HasReturnvaluesIF::RETURN_OK;
-                GPIO_PIN_RESET);
-    }
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
-    genericIrqHandler(args, spi::TransferStates::SUCCESS);
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
 }
 
 void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
-    genericIrqHandler(args, spi::TransferStates::SUCCESS);
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
 }
 
 void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
-    genericIrqHandler(args, spi::TransferStates::SUCCESS);
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
 }
 
 void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
-    genericIrqHandler(args, spi::TransferStates::FAILURE);
+  genericIrqHandler(args, spi::TransferStates::FAILURE);
 }
 
 void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
-    IrqArgs* irqArgs = reinterpret_cast<IrqArgs*>(irqArgsVoid);
+  IrqArgs *irqArgs = reinterpret_cast<IrqArgs *>(irqArgsVoid);
-    if(irqArgs == nullptr) {
+  if (irqArgs == nullptr) {
-        return;
+    return;
-    }
+  }
-    SpiCookie* spiCookie = irqArgs->spiCookie;
+  SpiCookie *spiCookie = irqArgs->spiCookie;
-    SpiComIF* comIF = irqArgs->comIF;
+  SpiComIF *comIF = irqArgs->comIF;
-    if(spiCookie == nullptr or comIF == nullptr) {
+  if (spiCookie == nullptr or comIF == nullptr) {
-        return;
+    return;
-    }
+  }
 
-    spiCookie->setTransferState(targetState);
+  spiCookie->setTransferState(targetState);
-
-    if(spiCookie->getChipSelectGpioPort() != nullptr) {
-        // Pull CS pin high again
-        HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
-                GPIO_PIN_SET);
-    }
 
+  if (spiCookie->getChipSelectGpioPort() != nullptr) {
+    // Pull CS pin high again
+    HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
+                      GPIO_PIN_SET);
+  }
 
 #if defined FSFW_OSAL_FREERTOS
-    // Release the task semaphore
+  // Release the task semaphore
-    BaseType_t taskWoken = pdFALSE;
+  BaseType_t taskWoken = pdFALSE;
-    ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
+  ReturnValue_t result =
-            &taskWoken);
+      BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
 #elif defined FSFW_OSAL_RTEMS
-    ReturnValue_t result = comIF->spiSemaphore->release();
+  ReturnValue_t result = comIF->spiSemaphore->release();
 #endif
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        // Configuration error
+    // Configuration error
-        printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
+    printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
-    }
+  }
 
-    // Perform cache maintenance operation for DMA transfers
+  // Perform cache maintenance operation for DMA transfers
-    if(spiCookie->getTransferMode() == spi::TransferModes::DMA) {
+  if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
-        // Invalidate cache prior to access by CPU
+    // Invalidate cache prior to access by CPU
-        SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
+    SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
-                comIF->currentRecvBuffSize);
+  }
-    }
 #if defined FSFW_OSAL_FREERTOS
-    /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
+  /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
-    than the currently running task */
+  than the currently running task */
-    if(taskWoken == pdTRUE) {
+  if (taskWoken == pdTRUE) {
-        TaskManagement::requestContextSwitch(CallContext::ISR);
+    TaskManagement::requestContextSwitch(CallContext::ISR);
-    }
+  }
 #endif
 }
 
 void SpiComIF::printCfgError(const char *const type) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration"
+  sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration"
-            << std::endl;
+               << std::endl;
 #else
-    sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type);
+  sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type);
 #endif
 }

hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h

@@ -1,16 +1,15 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
 #define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
 
-#include "fsfw/tasks/SemaphoreIF.h"
+#include <map>
+#include <vector>
+
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-
+#include "fsfw/tasks/SemaphoreIF.h"
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-#include "stm32h7xx_hal_spi.h"
 #include "stm32h743xx.h"
-
+#include "stm32h7xx_hal_spi.h"
-#include <vector>
-#include <map>
 
 class SpiCookie;
 class BinarySemaphore;
@@ -28,102 +27,100 @@ class BinarySemaphore;
  * implementation limits the transfer mode for a given SPI bus.
  * @author  R. Mueller
  */
-class SpiComIF:
+class SpiComIF : public SystemObject, public DeviceCommunicationIF {
-        public SystemObject,
+ public:
-        public DeviceCommunicationIF {
+  /**
-public:
+   * Create a SPI communication interface for the given SPI peripheral (spiInstance)
-    /**
+   * @param objectId
-     * Create a SPI communication interface for the given SPI peripheral (spiInstance)
+   * @param spiInstance
-     * @param objectId
+   * @param spiHandle
-     * @param spiInstance
+   * @param transferMode
-     * @param spiHandle
+   */
-     * @param transferMode
+  SpiComIF(object_id_t objectId);
-     */
-    SpiComIF(object_id_t objectId);
 
-    /**
+  /**
-     * Allows the user to disable cache maintenance on the TX buffer. This can be done if the
+   * Allows the user to disable cache maintenance on the TX buffer. This can be done if the
-     * TX buffers are places and MPU protected properly like specified in this link:
+   * TX buffers are places and MPU protected properly like specified in this link:
-     * https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
+   * https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
-     * The cache maintenace is enabled by default.
+   * The cache maintenace is enabled by default.
-     * @param enable
+   * @param enable
-     */
+   */
-    void configureCacheMaintenanceOnTxBuffer(bool enable);
+  void configureCacheMaintenanceOnTxBuffer(bool enable);
 
-    void setDefaultPollingTimeout(dur_millis_t timeout);
+  void setDefaultPollingTimeout(dur_millis_t timeout);
 
-    /**
+  /**
-     * Add the DMA handles. These need to be set in the DMA transfer mode is used.
+   * Add the DMA handles. These need to be set in the DMA transfer mode is used.
-     * @param txHandle
+   * @param txHandle
-     * @param rxHandle
+   * @param rxHandle
-     */
+   */
-    void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
+  void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
 
-    ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-    // DeviceCommunicationIF overrides
+  // DeviceCommunicationIF overrides
-    virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
+  virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    virtual ReturnValue_t sendMessage(CookieIF *cookie,
+  virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
-            const uint8_t * sendData, size_t sendLen) override;
+                                    size_t sendLen) override;
-    virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+  virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-            size_t requestLen) override;
+  virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
-    virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
+                                            size_t* size) override;
-            uint8_t **buffer, size_t *size) override;
 
-protected:
+ protected:
+  struct SpiInstance {
+    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    std::vector<uint8_t> replyBuffer;
+    size_t currentTransferLen = 0;
+  };
 
-    struct SpiInstance {
+  struct IrqArgs {
-        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    SpiComIF* comIF = nullptr;
-        std::vector<uint8_t> replyBuffer;
+    SpiCookie* spiCookie = nullptr;
-        size_t currentTransferLen = 0;
+  };
-    };
 
-    struct IrqArgs {
+  IrqArgs irqArgs;
-        SpiComIF* comIF = nullptr;
-        SpiCookie* spiCookie = nullptr;
-    };
 
-    IrqArgs irqArgs;
+  uint32_t defaultPollingTimeout = 50;
 
-    uint32_t defaultPollingTimeout = 50;
+  SemaphoreIF::TimeoutType timeoutType = SemaphoreIF::TimeoutType::WAITING;
+  dur_millis_t timeoutMs = 20;
 
-    SemaphoreIF::TimeoutType timeoutType = SemaphoreIF::TimeoutType::WAITING;
+  BinarySemaphore* spiSemaphore = nullptr;
-    dur_millis_t timeoutMs = 20;
+  bool cacheMaintenanceOnTxBuffer = true;
 
-    BinarySemaphore* spiSemaphore = nullptr;
+  using SpiDeviceMap = std::map<address_t, SpiInstance>;
-    bool cacheMaintenanceOnTxBuffer = true;
+  using SpiDeviceMapIter = SpiDeviceMap::iterator;
 
-    using SpiDeviceMap = std::map<address_t, SpiInstance>;
+  uint8_t* currentRecvPtr = nullptr;
-    using SpiDeviceMapIter = SpiDeviceMap::iterator;
+  size_t currentRecvBuffSize = 0;
 
-    uint8_t* currentRecvPtr = nullptr;
+  SpiDeviceMap spiDeviceMap;
-    size_t currentRecvBuffSize = 0;
 
-    SpiDeviceMap spiDeviceMap;
+  ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                           SpiCookie& spiCookie, const uint8_t* sendData,
+                                           size_t sendLen);
+  ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                             SpiCookie& spiCookie, const uint8_t* sendData,
+                                             size_t sendLen);
+  ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                       SpiCookie& spiCookie, const uint8_t* sendData,
+                                       size_t sendLen);
+  ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                       SpiCookie& spiCookie, const uint8_t* sendData,
+                                       size_t sendLen);
+  ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                    SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
+  ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
 
-    ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+  static void spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+  static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-    ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
-    ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
-    ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
-    ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
-    ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
 
-    static void spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+  static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
-    static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
-    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
-    static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
 
-    static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
+  void printCfgError(const char* const type);
-
-    void printCfgError(const char* const type);
 };
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp

@@ -1,78 +1,60 @@
 #include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
-
 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
-        spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
+                     spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
-        size_t maxRecvSize, stm32h7::GpioCfg csGpio):
+                     size_t maxRecvSize, stm32h7::GpioCfg csGpio)
-        deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
+    : deviceAddress(deviceAddress),
-        transferMode(transferMode), csGpio(csGpio),
+      spiIdx(spiIdx),
-        mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
+      spiSpeed(spiSpeed),
-    spiHandle.Init.DataSize          = SPI_DATASIZE_8BIT;
+      spiMode(spiMode),
-    spiHandle.Init.FirstBit          = SPI_FIRSTBIT_MSB;
+      transferMode(transferMode),
-    spiHandle.Init.TIMode            = SPI_TIMODE_DISABLE;
+      csGpio(csGpio),
-    spiHandle.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+      mspCfg(mspCfg),
-    spiHandle.Init.CRCPolynomial     = 7;
+      maxRecvSize(maxRecvSize) {
-    spiHandle.Init.CRCLength         = SPI_CRC_LENGTH_8BIT;
+  spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
-    spiHandle.Init.NSS               = SPI_NSS_SOFT;
+  spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
-    spiHandle.Init.NSSPMode          = SPI_NSS_PULSE_DISABLE;
+  spiHandle.Init.TIMode = SPI_TIMODE_DISABLE;
-    spiHandle.Init.Direction         = SPI_DIRECTION_2LINES;
+  spiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-    // Recommended setting to avoid glitches
+  spiHandle.Init.CRCPolynomial = 7;
-    spiHandle.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+  spiHandle.Init.CRCLength = SPI_CRC_LENGTH_8BIT;
-    spiHandle.Init.Mode = SPI_MODE_MASTER;
+  spiHandle.Init.NSS = SPI_NSS_SOFT;
-    spi::assignSpiMode(spiMode, spiHandle);
+  spiHandle.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
-    spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
+  spiHandle.Init.Direction = SPI_DIRECTION_2LINES;
+  // Recommended setting to avoid glitches
+  spiHandle.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+  spiHandle.Init.Mode = SPI_MODE_MASTER;
+  spi::assignSpiMode(spiMode, spiHandle);
+  spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
 }
 
-uint16_t SpiCookie::getChipSelectGpioPin() const {
+uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
-    return csGpio.pin;
-}
 
-GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() {
+GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
-    return csGpio.port;
-}
 
-address_t SpiCookie::getDeviceAddress() const {
+address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
-    return deviceAddress;
-}
 
-spi::SpiBus SpiCookie::getSpiIdx() const {
+spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
-    return spiIdx;
-}
 
-spi::SpiModes SpiCookie::getSpiMode() const {
+spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
-    return spiMode;
-}
 
-uint32_t SpiCookie::getSpiSpeed() const {
+uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
-    return spiSpeed;
-}
 
-size_t SpiCookie::getMaxRecvSize() const {
+size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
-    return maxRecvSize;
-}
 
-SPI_HandleTypeDef& SpiCookie::getSpiHandle() {
+SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
-    return spiHandle;
-}
 
-spi::MspCfgBase* SpiCookie::getMspCfg() {
+spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
-    return mspCfg;
-}
 
 void SpiCookie::deleteMspCfg() {
-    if(mspCfg != nullptr) {
+  if (mspCfg != nullptr) {
-        delete mspCfg;
+    delete mspCfg;
-    }
+  }
 }
 
-spi::TransferModes SpiCookie::getTransferMode() const {
+spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
-    return transferMode;
-}
 
 void SpiCookie::setTransferState(spi::TransferStates transferState) {
-    this->transferState = transferState;
+  this->transferState = transferState;
 }
 
-spi::TransferStates SpiCookie::getTransferState() const {
+spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }
-    return this->transferState;
-}

hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h

@@ -1,16 +1,14 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
 #define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
 
-#include "spiDefinitions.h"
-#include "mspInit.h"
-#include "../definitions.h"
-
-#include "fsfw/devicehandlers/CookieIF.h"
-
-#include "stm32h743xx.h"
-
 #include <utility>
 
+#include "../definitions.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "mspInit.h"
+#include "spiDefinitions.h"
+#include "stm32h743xx.h"
+
 /**
  * @brief   SPI cookie implementation for the STM32H7 device family
  * @details
@@ -18,63 +16,61 @@
  * SPI communication interface
  * @author  R. Mueller
  */
-class SpiCookie: public CookieIF {
+class SpiCookie : public CookieIF {
-    friend class SpiComIF;
+  friend class SpiComIF;
-public:
 
-    /**
+ public:
-     * Allows construction of a SPI cookie for a connected SPI device
+  /**
-     * @param deviceAddress
+   * Allows construction of a SPI cookie for a connected SPI device
-     * @param spiIdx                SPI bus, e.g. SPI1 or SPI2
+   * @param deviceAddress
-     * @param transferMode
+   * @param spiIdx                SPI bus, e.g. SPI1 or SPI2
-     * @param mspCfg                This is the MSP configuration. The user is expected to supply
+   * @param transferMode
-     *                              a valid MSP configuration. See mspInit.h for functions
+   * @param mspCfg                This is the MSP configuration. The user is expected to supply
-     *                              to create one.
+   *                              a valid MSP configuration. See mspInit.h for functions
-     * @param spiSpeed
+   *                              to create one.
-     * @param spiMode
+   * @param spiSpeed
-     * @param chipSelectGpioPin     GPIO port. Don't use a number here, use the 16 bit type
+   * @param spiMode
-     *                              definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
+   * @param chipSelectGpioPin     GPIO port. Don't use a number here, use the 16 bit type
-     * @param chipSelectGpioPort    GPIO port (e.g. GPIOA)
+   *                              definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
-     * @param maxRecvSize           Maximum expected receive size. Chose as small as possible.
+   * @param chipSelectGpioPort    GPIO port (e.g. GPIOA)
-     * @param csGpio                Optional CS GPIO definition.
+   * @param maxRecvSize           Maximum expected receive size. Chose as small as possible.
-     */
+   * @param csGpio                Optional CS GPIO definition.
-    SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
+   */
-            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
+  SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
-            size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
+            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
+            stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
 
-    uint16_t getChipSelectGpioPin() const;
+  uint16_t getChipSelectGpioPin() const;
-    GPIO_TypeDef* getChipSelectGpioPort();
+  GPIO_TypeDef* getChipSelectGpioPort();
-    address_t getDeviceAddress() const;
+  address_t getDeviceAddress() const;
-    spi::SpiBus getSpiIdx() const;
+  spi::SpiBus getSpiIdx() const;
-    spi::SpiModes getSpiMode() const;
+  spi::SpiModes getSpiMode() const;
-    spi::TransferModes getTransferMode() const;
+  spi::TransferModes getTransferMode() const;
-    uint32_t getSpiSpeed() const;
+  uint32_t getSpiSpeed() const;
-    size_t getMaxRecvSize() const;
+  size_t getMaxRecvSize() const;
-    SPI_HandleTypeDef& getSpiHandle();
+  SPI_HandleTypeDef& getSpiHandle();
 
-private:
+ private:
-    address_t deviceAddress;
+  address_t deviceAddress;
-    SPI_HandleTypeDef spiHandle = {};
+  SPI_HandleTypeDef spiHandle = {};
-    spi::SpiBus spiIdx;
+  spi::SpiBus spiIdx;
-    uint32_t spiSpeed;
+  uint32_t spiSpeed;
-    spi::SpiModes spiMode;
+  spi::SpiModes spiMode;
-    spi::TransferModes transferMode;
+  spi::TransferModes transferMode;
-    volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
+  volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
-    stm32h7::GpioCfg csGpio;
+  stm32h7::GpioCfg csGpio;
 
-    // The MSP configuration is cached here. Be careful when using this, it is automatically
+  // The MSP configuration is cached here. Be careful when using this, it is automatically
-    // deleted by the SPI  communication interface if it is not required anymore!
+  // deleted by the SPI  communication interface if it is not required anymore!
-    spi::MspCfgBase* mspCfg = nullptr;
+  spi::MspCfgBase* mspCfg = nullptr;
-    const size_t maxRecvSize;
+  const size_t maxRecvSize;
 
-    // Only the SpiComIF is allowed to use this to prevent dangling pointers issues
+  // Only the SpiComIF is allowed to use this to prevent dangling pointers issues
-    spi::MspCfgBase* getMspCfg();
+  spi::MspCfgBase* getMspCfg();
-    void deleteMspCfg();
+  void deleteMspCfg();
 
-    void setTransferState(spi::TransferStates transferState);
+  void setTransferState(spi::TransferStates transferState);
-    spi::TransferStates getTransferState() const;
+  spi::TransferStates getTransferState() const;
 };
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */

hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp

@@ -1,15 +1,15 @@
-#include "fsfw_hal/stm32h7/dma.h"
 #include "fsfw_hal/stm32h7/spi/mspInit.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-
-#include "stm32h743xx.h"
-#include "stm32h7xx_hal_spi.h"
-#include "stm32h7xx_hal_dma.h"
-#include "stm32h7xx_hal_def.h"
 
 #include <cstdio>
 
+#include "fsfw_hal/stm32h7/dma.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "stm32h743xx.h"
+#include "stm32h7xx_hal_def.h"
+#include "stm32h7xx_hal_dma.h"
+#include "stm32h7xx_hal_spi.h"
+
 spi::msp_func_t mspInitFunc = nullptr;
 spi::MspCfgBase* mspInitArgs = nullptr;
 
@@ -27,56 +27,55 @@ spi::MspCfgBase* mspDeinitArgs = nullptr;
  * @retval None
  */
 void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
-    auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
+  auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
-    if(hspi == nullptr or cfg == nullptr) {
+  if (hspi == nullptr or cfg == nullptr) {
-        return;
+    return;
-    }
+  }
-    setSpiHandle(hspi);
+  setSpiHandle(hspi);
 
-    DMA_HandleTypeDef* hdma_tx = nullptr;
+  DMA_HandleTypeDef* hdma_tx = nullptr;
-    DMA_HandleTypeDef* hdma_rx = nullptr;
+  DMA_HandleTypeDef* hdma_rx = nullptr;
-    spi::getDmaHandles(&hdma_tx, &hdma_rx);
+  spi::getDmaHandles(&hdma_tx, &hdma_rx);
-    if(hdma_tx == nullptr or hdma_rx == nullptr) {
+  if (hdma_tx == nullptr or hdma_rx == nullptr) {
-        printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
+    printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
-        return;
+    return;
-    }
+  }
 
-    spi::halMspInitInterrupt(hspi, cfg);
+  spi::halMspInitInterrupt(hspi, cfg);
 
-    // DMA setup
+  // DMA setup
-    if(cfg->dmaClkEnableWrapper == nullptr) {
+  if (cfg->dmaClkEnableWrapper == nullptr) {
-        mspErrorHandler("spi::halMspInitDma", "DMA Clock init invalid");
+    mspErrorHandler("spi::halMspInitDma", "DMA Clock init invalid");
-    }
+  }
-    cfg->dmaClkEnableWrapper();
+  cfg->dmaClkEnableWrapper();
 
-    // Configure the DMA
+  // Configure the DMA
-    /* Configure the DMA handler for Transmission process */
+  /* Configure the DMA handler for Transmission process */
-    if(hdma_tx->Instance == nullptr) {
+  if (hdma_tx->Instance == nullptr) {
-        // Assume it was not configured properly
+    // Assume it was not configured properly
-        mspErrorHandler("spi::halMspInitDma", "DMA TX handle invalid");
+    mspErrorHandler("spi::halMspInitDma", "DMA TX handle invalid");
-    }
+  }
 
-    HAL_DMA_Init(hdma_tx);
+  HAL_DMA_Init(hdma_tx);
-    /* Associate the initialized DMA handle to the the SPI handle */
+  /* Associate the initialized DMA handle to the the SPI handle */
-    __HAL_LINKDMA(hspi, hdmatx, *hdma_tx);
+  __HAL_LINKDMA(hspi, hdmatx, *hdma_tx);
 
-    HAL_DMA_Init(hdma_rx);
+  HAL_DMA_Init(hdma_rx);
-    /* Associate the initialized DMA handle to the the SPI handle */
+  /* Associate the initialized DMA handle to the the SPI handle */
-    __HAL_LINKDMA(hspi, hdmarx, *hdma_rx);
+  __HAL_LINKDMA(hspi, hdmarx, *hdma_rx);
 
-    /*##-4- Configure the NVIC for DMA #########################################*/
+  /*##-4- Configure the NVIC for DMA #########################################*/
-    /* NVIC configuration for DMA transfer complete interrupt (SPI1_RX) */
+  /* NVIC configuration for DMA transfer complete interrupt (SPI1_RX) */
-    // Assign the interrupt handler
+  // Assign the interrupt handler
-    dma::assignDmaUserHandler(cfg->rxDmaIndex, cfg->rxDmaStream, &spi::dmaRxIrqHandler, hdma_rx);
+  dma::assignDmaUserHandler(cfg->rxDmaIndex, cfg->rxDmaStream, &spi::dmaRxIrqHandler, hdma_rx);
-    HAL_NVIC_SetPriority(cfg->rxDmaIrqNumber, cfg->rxPreEmptPriority, cfg->rxSubpriority);
+  HAL_NVIC_SetPriority(cfg->rxDmaIrqNumber, cfg->rxPreEmptPriority, cfg->rxSubpriority);
-    HAL_NVIC_EnableIRQ(cfg->rxDmaIrqNumber);
+  HAL_NVIC_EnableIRQ(cfg->rxDmaIrqNumber);
 
-    /* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
+  /* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
-    // Assign the interrupt handler
+  // Assign the interrupt handler
-    dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream,
+  dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream, &spi::dmaTxIrqHandler, hdma_tx);
-            &spi::dmaTxIrqHandler, hdma_tx);
+  HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
-    HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
+  HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
-    HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
 }
 
 /**
@@ -88,128 +87,126 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
  * @retval None
  */
 void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
-    auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
+  auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
-    if(hspi == nullptr or cfg == nullptr) {
+  if (hspi == nullptr or cfg == nullptr) {
-        return;
+    return;
-    }
+  }
-    spi::halMspDeinitInterrupt(hspi, cfgBase);
+  spi::halMspDeinitInterrupt(hspi, cfgBase);
-    DMA_HandleTypeDef* hdma_tx = NULL;
+  DMA_HandleTypeDef* hdma_tx = NULL;
-    DMA_HandleTypeDef* hdma_rx = NULL;
+  DMA_HandleTypeDef* hdma_rx = NULL;
-    spi::getDmaHandles(&hdma_tx, &hdma_rx);
+  spi::getDmaHandles(&hdma_tx, &hdma_rx);
-    if(hdma_tx == NULL || hdma_rx == NULL) {
+  if (hdma_tx == NULL || hdma_rx == NULL) {
-        printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
+    printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
-    }
+  } else {
-    else {
+    // Disable the DMA
-        // Disable the DMA
+    /* De-Initialize the DMA associated to transmission process */
-        /* De-Initialize the DMA associated to transmission process */
+    HAL_DMA_DeInit(hdma_tx);
-        HAL_DMA_DeInit(hdma_tx);
+    /* De-Initialize the DMA associated to reception process */
-        /* De-Initialize the DMA associated to reception process */
+    HAL_DMA_DeInit(hdma_rx);
-        HAL_DMA_DeInit(hdma_rx);
+  }
-    }
-
-    // Disable the NVIC for DMA
-    HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
-    HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
 
+  // Disable the NVIC for DMA
+  HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
+  HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
 }
 
 void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
-    auto cfg = dynamic_cast<MspPollingConfigStruct*>(cfgBase);
+  auto cfg = dynamic_cast<MspPollingConfigStruct*>(cfgBase);
-    GPIO_InitTypeDef GPIO_InitStruct = {};
+  GPIO_InitTypeDef GPIO_InitStruct = {};
-    /*##-1- Enable peripherals and GPIO Clocks #################################*/
+  /*##-1- Enable peripherals and GPIO Clocks #################################*/
-    /* Enable GPIO TX/RX clock */
+  /* Enable GPIO TX/RX clock */
-    cfg->setupCb();
+  cfg->setupCb();
 
-    /*##-2- Configure peripheral GPIO ##########################################*/
+  /*##-2- Configure peripheral GPIO ##########################################*/
-    /* SPI SCK GPIO pin configuration  */
+  /* SPI SCK GPIO pin configuration  */
-    GPIO_InitStruct.Pin       = cfg->sck.pin;
+  GPIO_InitStruct.Pin = cfg->sck.pin;
-    GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull      = GPIO_PULLDOWN;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
-    GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = cfg->sck.altFnc;
+  GPIO_InitStruct.Alternate = cfg->sck.altFnc;
-    HAL_GPIO_Init(cfg->sck.port, &GPIO_InitStruct);
+  HAL_GPIO_Init(cfg->sck.port, &GPIO_InitStruct);
 
-    /* SPI MISO GPIO pin configuration  */
+  /* SPI MISO GPIO pin configuration  */
-    GPIO_InitStruct.Pin = cfg->miso.pin;
+  GPIO_InitStruct.Pin = cfg->miso.pin;
-    GPIO_InitStruct.Alternate = cfg->miso.altFnc;
+  GPIO_InitStruct.Alternate = cfg->miso.altFnc;
-    HAL_GPIO_Init(cfg->miso.port, &GPIO_InitStruct);
+  HAL_GPIO_Init(cfg->miso.port, &GPIO_InitStruct);
 
-    /* SPI MOSI GPIO pin configuration  */
+  /* SPI MOSI GPIO pin configuration  */
-    GPIO_InitStruct.Pin = cfg->mosi.pin;
+  GPIO_InitStruct.Pin = cfg->mosi.pin;
-    GPIO_InitStruct.Alternate = cfg->mosi.altFnc;
+  GPIO_InitStruct.Alternate = cfg->mosi.altFnc;
-    HAL_GPIO_Init(cfg->mosi.port, &GPIO_InitStruct);
+  HAL_GPIO_Init(cfg->mosi.port, &GPIO_InitStruct);
 }
 
 void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
-    auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase);
+  auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase);
-    // Reset peripherals
+  // Reset peripherals
-    cfg->cleanupCb();
+  cfg->cleanupCb();
 
-    // Disable peripherals and GPIO Clocks
+  // Disable peripherals and GPIO Clocks
-    /* Configure SPI SCK as alternate function  */
+  /* Configure SPI SCK as alternate function  */
-    HAL_GPIO_DeInit(cfg->sck.port, cfg->sck.pin);
+  HAL_GPIO_DeInit(cfg->sck.port, cfg->sck.pin);
-    /* Configure SPI MISO as alternate function  */
+  /* Configure SPI MISO as alternate function  */
-    HAL_GPIO_DeInit(cfg->miso.port, cfg->miso.pin);
+  HAL_GPIO_DeInit(cfg->miso.port, cfg->miso.pin);
-    /* Configure SPI MOSI as alternate function  */
+  /* Configure SPI MOSI as alternate function  */
-    HAL_GPIO_DeInit(cfg->mosi.port, cfg->mosi.pin);
+  HAL_GPIO_DeInit(cfg->mosi.port, cfg->mosi.pin);
 }
 
 void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
-    auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
+  auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
-    if(cfg == nullptr or hspi == nullptr) {
+  if (cfg == nullptr or hspi == nullptr) {
-        return;
+    return;
-    }
+  }
 
-    spi::halMspInitPolling(hspi, cfg);
+  spi::halMspInitPolling(hspi, cfg);
-    // Configure the NVIC for SPI
+  // Configure the NVIC for SPI
-    spi::assignSpiUserHandler(cfg->spiBus, cfg->spiIrqHandler, cfg->spiUserArgs);
+  spi::assignSpiUserHandler(cfg->spiBus, cfg->spiIrqHandler, cfg->spiUserArgs);
-    HAL_NVIC_SetPriority(cfg->spiIrqNumber, cfg->preEmptPriority, cfg->subpriority);
+  HAL_NVIC_SetPriority(cfg->spiIrqNumber, cfg->preEmptPriority, cfg->subpriority);
-    HAL_NVIC_EnableIRQ(cfg->spiIrqNumber);
+  HAL_NVIC_EnableIRQ(cfg->spiIrqNumber);
 }
 
 void spi::halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
-    auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
+  auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
-    spi::halMspDeinitPolling(hspi, cfg);
+  spi::halMspDeinitPolling(hspi, cfg);
-    // Disable the NVIC for SPI
+  // Disable the NVIC for SPI
-    HAL_NVIC_DisableIRQ(cfg->spiIrqNumber);
+  HAL_NVIC_DisableIRQ(cfg->spiIrqNumber);
 }
 
 void spi::getMspInitFunction(msp_func_t* init_func, MspCfgBase** args) {
-    if(init_func != NULL && args != NULL) {
+  if (init_func != NULL && args != NULL) {
-        *init_func = mspInitFunc;
+    *init_func = mspInitFunc;
-        *args = mspInitArgs;
+    *args = mspInitArgs;
-    }
+  }
 }
 
 void spi::getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args) {
-    if(deinit_func != NULL && args != NULL) {
+  if (deinit_func != NULL && args != NULL) {
-        *deinit_func = mspDeinitFunc;
+    *deinit_func = mspDeinitFunc;
-        *args = mspDeinitArgs;
+    *args = mspDeinitArgs;
-    }
+  }
 }
 
-void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
+void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc,
-        msp_func_t initFunc, msp_func_t deinitFunc) {
+                                msp_func_t deinitFunc) {
-    mspInitFunc = initFunc;
+  mspInitFunc = initFunc;
-    mspDeinitFunc = deinitFunc;
+  mspDeinitFunc = deinitFunc;
-    mspInitArgs = cfg;
+  mspInitArgs = cfg;
-    mspDeinitArgs = cfg;
+  mspDeinitArgs = cfg;
 }
 
-void spi::setSpiIrqMspFunctions(MspIrqConfigStruct *cfg, msp_func_t initFunc,
+void spi::setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc,
-        msp_func_t deinitFunc) {
+                                msp_func_t deinitFunc) {
-    mspInitFunc = initFunc;
+  mspInitFunc = initFunc;
-    mspDeinitFunc = deinitFunc;
+  mspDeinitFunc = deinitFunc;
-    mspInitArgs = cfg;
+  mspInitArgs = cfg;
-    mspDeinitArgs = cfg;
+  mspDeinitArgs = cfg;
 }
 
-void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t initFunc,
+void spi::setSpiPollingMspFunctions(MspPollingConfigStruct* cfg, msp_func_t initFunc,
-        msp_func_t deinitFunc) {
+                                    msp_func_t deinitFunc) {
-    mspInitFunc = initFunc;
+  mspInitFunc = initFunc;
-    mspDeinitFunc = deinitFunc;
+  mspDeinitFunc = deinitFunc;
-    mspInitArgs = cfg;
+  mspInitArgs = cfg;
-    mspDeinitArgs = cfg;
+  mspDeinitArgs = cfg;
 }
 
 /**
@@ -222,13 +219,12 @@ void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t init
  * @param hspi: SPI handle pointer
  * @retval None
  */
-extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
+extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
-    if(mspInitFunc != NULL) {
+  if (mspInitFunc != NULL) {
-        mspInitFunc(hspi, mspInitArgs);
+    mspInitFunc(hspi, mspInitArgs);
-    }
+  } else {
-    else {
+    printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
-        printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
+  }
-    }
 }
 
 /**
@@ -239,15 +235,14 @@ extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
  * @param hspi: SPI handle pointer
  * @retval None
  */
-extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) {
+extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
-    if(mspDeinitFunc != NULL) {
+  if (mspDeinitFunc != NULL) {
-        mspDeinitFunc(hspi, mspDeinitArgs);
+    mspDeinitFunc(hspi, mspDeinitArgs);
-    }
+  } else {
-    else {
+    printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
-        printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
+  }
-    }
 }
 
-void spi::mspErrorHandler(const char* const function, const char *const message) {
+void spi::mspErrorHandler(const char* const function, const char* const message) {
-    printf("%s failure: %s\n", function, message);
+  printf("%s failure: %s\n", function, message);
 }

hal/src/fsfw_hal/stm32h7/spi/mspInit.h

@@ -1,19 +1,18 @@
 #ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
 #define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
 
-#include "spiDefinitions.h"
+#include <cstdint>
+
 #include "../definitions.h"
 #include "../dma.h"
-
+#include "spiDefinitions.h"
 #include "stm32h7xx_hal_spi.h"
 
-#include <cstdint>
-
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-using mspCb = void (*) (void);
+using mspCb = void (*)(void);
 
 /**
  * @brief   This file provides MSP implementation for DMA, IRQ and Polling mode for the
@@ -22,74 +21,72 @@ using mspCb = void (*) (void);
 namespace spi {
 
 struct MspCfgBase {
-    MspCfgBase();
+  MspCfgBase();
-    MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+  MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
-            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+             mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
-        sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb),
+      : sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}
-        setupCb(setupCb) {}
 
-    virtual ~MspCfgBase() = default;
+  virtual ~MspCfgBase() = default;
 
-    stm32h7::GpioCfg sck;
+  stm32h7::GpioCfg sck;
-    stm32h7::GpioCfg mosi;
+  stm32h7::GpioCfg mosi;
-    stm32h7::GpioCfg miso;
+  stm32h7::GpioCfg miso;
 
-    mspCb cleanupCb = nullptr;
+  mspCb cleanupCb = nullptr;
-    mspCb setupCb = nullptr;
+  mspCb setupCb = nullptr;
 };
 
-struct MspPollingConfigStruct: public MspCfgBase {
+struct MspPollingConfigStruct : public MspCfgBase {
-    MspPollingConfigStruct(): MspCfgBase() {};
+  MspPollingConfigStruct() : MspCfgBase(){};
-    MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+  MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
-            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+                         mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
-            MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
+      : MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
 };
 
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
-struct MspIrqConfigStruct: public MspPollingConfigStruct {
+struct MspIrqConfigStruct : public MspPollingConfigStruct {
-    MspIrqConfigStruct(): MspPollingConfigStruct() {};
+  MspIrqConfigStruct() : MspPollingConfigStruct(){};
-    MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+  MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
-            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+                     mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
-            MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
+      : MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
 
-    SpiBus spiBus = SpiBus::SPI_1;
+  SpiBus spiBus = SpiBus::SPI_1;
-    user_handler_t spiIrqHandler = nullptr;
+  user_handler_t spiIrqHandler = nullptr;
-    user_args_t spiUserArgs = nullptr;
+  user_args_t spiUserArgs = nullptr;
-    IRQn_Type spiIrqNumber = SPI1_IRQn;
+  IRQn_Type spiIrqNumber = SPI1_IRQn;
-    // Priorities for NVIC
+  // Priorities for NVIC
-    // Pre-Empt priority ranging from 0 to 15. If FreeRTOS calls are used, only 5-15 are allowed
+  // Pre-Empt priority ranging from 0 to 15. If FreeRTOS calls are used, only 5-15 are allowed
-    IrqPriorities preEmptPriority = IrqPriorities::LOWEST;
+  IrqPriorities preEmptPriority = IrqPriorities::LOWEST;
-    IrqPriorities subpriority = IrqPriorities::LOWEST;
+  IrqPriorities subpriority = IrqPriorities::LOWEST;
 };
 
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
-struct MspDmaConfigStruct: public MspIrqConfigStruct {
+struct MspDmaConfigStruct : public MspIrqConfigStruct {
-    MspDmaConfigStruct(): MspIrqConfigStruct() {};
+  MspDmaConfigStruct() : MspIrqConfigStruct(){};
-    MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+  MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
-            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+                     mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
-            MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
+      : MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
-    void (* dmaClkEnableWrapper) (void) = nullptr;
+  void (*dmaClkEnableWrapper)(void) = nullptr;
 
-    dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
+  dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
-    dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
+  dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
-    dma::DMAStreams txDmaStream = dma::DMAStreams::STREAM_0;
+  dma::DMAStreams txDmaStream = dma::DMAStreams::STREAM_0;
-    dma::DMAStreams rxDmaStream = dma::DMAStreams::STREAM_0;
+  dma::DMAStreams rxDmaStream = dma::DMAStreams::STREAM_0;
-    IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn;
+  IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn;
-    IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn;
+  IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn;
-    // Priorities for NVIC
+  // Priorities for NVIC
-    IrqPriorities txPreEmptPriority = IrqPriorities::LOWEST;
+  IrqPriorities txPreEmptPriority = IrqPriorities::LOWEST;
-    IrqPriorities rxPreEmptPriority = IrqPriorities::LOWEST;
+  IrqPriorities rxPreEmptPriority = IrqPriorities::LOWEST;
-    IrqPriorities txSubpriority = IrqPriorities::LOWEST;
+  IrqPriorities txSubpriority = IrqPriorities::LOWEST;
-    IrqPriorities rxSubpriority = IrqPriorities::LOWEST;
+  IrqPriorities rxSubpriority = IrqPriorities::LOWEST;
 };
 
-using msp_func_t = void (*) (SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
+using msp_func_t = void (*)(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
 
-
+void getMspInitFunction(msp_func_t* init_func, MspCfgBase** args);
-void getMspInitFunction(msp_func_t* init_func, MspCfgBase **args);
+void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args);
-void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase **args);
 
 void halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
 void halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
@@ -107,23 +104,17 @@ void halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
  * @param deinit_func
  * @param deinit_args
  */
-void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
+void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitDma,
-        msp_func_t initFunc = &spi::halMspInitDma,
+                           msp_func_t deinitFunc = &spi::halMspDeinitDma);
-        msp_func_t deinitFunc= &spi::halMspDeinitDma
+void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitInterrupt,
-);
+                           msp_func_t deinitFunc = &spi::halMspDeinitInterrupt);
-void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg,
-        msp_func_t initFunc = &spi::halMspInitInterrupt,
-        msp_func_t deinitFunc= &spi::halMspDeinitInterrupt
-);
 void setSpiPollingMspFunctions(MspPollingConfigStruct* cfg,
-        msp_func_t initFunc = &spi::halMspInitPolling,
+                               msp_func_t initFunc = &spi::halMspInitPolling,
-        msp_func_t deinitFunc= &spi::halMspDeinitPolling
+                               msp_func_t deinitFunc = &spi::halMspDeinitPolling);
-);
 
-void mspErrorHandler(const char* const function, const char *const message);
+void mspErrorHandler(const char* const function, const char* const message);
-
-}
 
+}  // namespace spi
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp

@@ -1,8 +1,9 @@
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 
 #include <cstdio>
 
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+
 SPI_HandleTypeDef* spiHandle = nullptr;
 DMA_HandleTypeDef* hdmaTx = nullptr;
 DMA_HandleTypeDef* hdmaRx = nullptr;
@@ -17,117 +18,109 @@ spi_transfer_cb_t errorCb = nullptr;
 void* errorArgs = nullptr;
 
 void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
-        dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber);
+                       dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber);
-void mapSpiBus(DMA_HandleTypeDef *handle, dma::DMAType dmaType, spi::SpiBus spiBus);
+void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus);
 
-void spi::configureDmaHandle(DMA_HandleTypeDef *handle, spi::SpiBus spiBus, dma::DMAType dmaType,
+void spi::configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
-        dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
+                             dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream,
-        uint32_t dmaMode, uint32_t dmaPriority) {
+                             IRQn_Type* dmaIrqNumber, uint32_t dmaMode, uint32_t dmaPriority) {
-    using namespace dma;
+  using namespace dma;
-    mapIndexAndStream(handle, dmaType, dmaIdx, dmaStream, dmaIrqNumber);
+  mapIndexAndStream(handle, dmaType, dmaIdx, dmaStream, dmaIrqNumber);
-    mapSpiBus(handle, dmaType, spiBus);
+  mapSpiBus(handle, dmaType, spiBus);
 
-    if(dmaType == DMAType::TX) {
+  if (dmaType == DMAType::TX) {
-        handle->Init.Direction = DMA_MEMORY_TO_PERIPH;
+    handle->Init.Direction = DMA_MEMORY_TO_PERIPH;
-    }
+  } else {
-    else {
+    handle->Init.Direction = DMA_PERIPH_TO_MEMORY;
-        handle->Init.Direction = DMA_PERIPH_TO_MEMORY;
+  }
-    }
 
-    handle->Init.Priority = dmaPriority;
+  handle->Init.Priority = dmaPriority;
-    handle->Init.Mode = dmaMode;
+  handle->Init.Mode = dmaMode;
 
-    // Standard settings for the rest for now
+  // Standard settings for the rest for now
-    handle->Init.FIFOMode            = DMA_FIFOMODE_DISABLE;
+  handle->Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    handle->Init.FIFOThreshold       = DMA_FIFO_THRESHOLD_FULL;
+  handle->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
-    handle->Init.MemBurst            = DMA_MBURST_INC4;
+  handle->Init.MemBurst = DMA_MBURST_INC4;
-    handle->Init.PeriphBurst         = DMA_PBURST_INC4;
+  handle->Init.PeriphBurst = DMA_PBURST_INC4;
-    handle->Init.PeriphInc           = DMA_PINC_DISABLE;
+  handle->Init.PeriphInc = DMA_PINC_DISABLE;
-    handle->Init.MemInc              = DMA_MINC_ENABLE;
+  handle->Init.MemInc = DMA_MINC_ENABLE;
-    handle->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+  handle->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    handle->Init.MemDataAlignment    = DMA_MDATAALIGN_BYTE;
+  handle->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
 }
 
 void spi::setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle) {
-    hdmaTx = txHandle;
+  hdmaTx = txHandle;
-    hdmaRx = rxHandle;
+  hdmaRx = rxHandle;
 }
 
 void spi::getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle) {
-    *txHandle = hdmaTx;
+  *txHandle = hdmaTx;
-    *rxHandle = hdmaRx;
+  *rxHandle = hdmaRx;
 }
 
-void spi::setSpiHandle(SPI_HandleTypeDef *spiHandle_) {
+void spi::setSpiHandle(SPI_HandleTypeDef* spiHandle_) {
-    if(spiHandle_ == NULL) {
+  if (spiHandle_ == NULL) {
-        return;
+    return;
-    }
+  }
-    spiHandle = spiHandle_;
+  spiHandle = spiHandle_;
 }
 
-void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
+void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
-    rxTxCb = callback;
+  rxTxCb = callback;
-    rxTxArgs = userArgs;
+  rxTxArgs = userArgs;
 }
 
-void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
+void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
-    rxCb = callback;
+  rxCb = callback;
-    rxArgs = userArgs;
+  rxArgs = userArgs;
 }
 
-void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
+void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
-    txCb = callback;
+  txCb = callback;
-    txArgs = userArgs;
+  txArgs = userArgs;
 }
 
-void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void *userArgs) {
+void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs) {
-    errorCb = callback;
+  errorCb = callback;
-    errorArgs = userArgs;
+  errorArgs = userArgs;
 }
 
-SPI_HandleTypeDef* spi::getSpiHandle() {
+SPI_HandleTypeDef* spi::getSpiHandle() { return spiHandle; }
-    return spiHandle;
-}
-
-
 
 /**
  * @brief  TxRx Transfer completed callback.
  * @param  hspi: SPI handle
  */
-extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
+extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef* hspi) {
-    if(rxTxCb != NULL) {
+  if (rxTxCb != NULL) {
-        rxTxCb(hspi, rxTxArgs);
+    rxTxCb(hspi, rxTxArgs);
-    }
+  } else {
-    else {
+    printf("HAL_SPI_TxRxCpltCallback: No user callback specified\n");
-        printf("HAL_SPI_TxRxCpltCallback: No user callback specified\n");
+  }
-    }
 }
 
 /**
  * @brief  TxRx Transfer completed callback.
  * @param  hspi: SPI handle
  */
-extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
+extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef* hspi) {
-    if(txCb != NULL) {
+  if (txCb != NULL) {
-        txCb(hspi, txArgs);
+    txCb(hspi, txArgs);
-    }
+  } else {
-    else {
+    printf("HAL_SPI_TxCpltCallback: No user callback specified\n");
-        printf("HAL_SPI_TxCpltCallback: No user callback specified\n");
+  }
-    }
 }
 
 /**
  * @brief  TxRx Transfer completed callback.
  * @param  hspi: SPI handle
  */
-extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
+extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef* hspi) {
-    if(rxCb != nullptr) {
+  if (rxCb != nullptr) {
-        rxCb(hspi, rxArgs);
+    rxCb(hspi, rxArgs);
-    }
+  } else {
-    else {
+    printf("HAL_SPI_RxCpltCallback: No user callback specified\n");
-        printf("HAL_SPI_RxCpltCallback: No user callback specified\n");
+  }
-    }
 }
 
 /**
@@ -137,205 +130,200 @@ extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
  *         add your own implementation.
  * @retval None
  */
-extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
+extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef* hspi) {
-    if(errorCb != nullptr) {
+  if (errorCb != nullptr) {
-        errorCb(hspi, rxArgs);
+    errorCb(hspi, rxArgs);
-    }
+  } else {
-    else {
+    printf("HAL_SPI_ErrorCallback: No user callback specified\n");
-        printf("HAL_SPI_ErrorCallback: No user callback specified\n");
+  }
-    }
 }
 
 void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
-        dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber) {
+                       dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber) {
-    using namespace dma;
+  using namespace dma;
-    if(dmaIdx == DMAIndexes::DMA_1) {
+  if (dmaIdx == DMAIndexes::DMA_1) {
 #ifdef DMA1
-        switch(dmaStream) {
+    switch (dmaStream) {
-        case(DMAStreams::STREAM_0): {
+      case (DMAStreams::STREAM_0): {
 #ifdef DMA1_Stream0
-            handle->Instance = DMA1_Stream0;
+        handle->Instance = DMA1_Stream0;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA1_Stream0_IRQn;
+          *dmaIrqNumber = DMA1_Stream0_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_1): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_1): {
 #ifdef DMA1_Stream1
-            handle->Instance = DMA1_Stream1;
+        handle->Instance = DMA1_Stream1;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA1_Stream1_IRQn;
+          *dmaIrqNumber = DMA1_Stream1_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_2): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_2): {
 #ifdef DMA1_Stream2
-            handle->Instance = DMA1_Stream2;
+        handle->Instance = DMA1_Stream2;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA1_Stream2_IRQn;
+          *dmaIrqNumber = DMA1_Stream2_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_3): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_3): {
 #ifdef DMA1_Stream3
-            handle->Instance = DMA1_Stream3;
+        handle->Instance = DMA1_Stream3;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA1_Stream3_IRQn;
+          *dmaIrqNumber = DMA1_Stream3_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_4): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_4): {
 #ifdef DMA1_Stream4
-            handle->Instance = DMA1_Stream4;
+        handle->Instance = DMA1_Stream4;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA1_Stream4_IRQn;
+          *dmaIrqNumber = DMA1_Stream4_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_5): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_5): {
 #ifdef DMA1_Stream5
-            handle->Instance = DMA1_Stream5;
+        handle->Instance = DMA1_Stream5;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA1_Stream5_IRQn;
+          *dmaIrqNumber = DMA1_Stream5_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_6): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_6): {
 #ifdef DMA1_Stream6
-            handle->Instance = DMA1_Stream6;
+        handle->Instance = DMA1_Stream6;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA1_Stream6_IRQn;
+          *dmaIrqNumber = DMA1_Stream6_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_7): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_7): {
 #ifdef DMA1_Stream7
-            handle->Instance = DMA1_Stream7;
+        handle->Instance = DMA1_Stream7;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA1_Stream7_IRQn;
+          *dmaIrqNumber = DMA1_Stream7_IRQn;
-            }
+        }
 #endif
-            break;
+        break;
-        }
+      }
-        }
+    }
-        if(dmaType == DMAType::TX) {
+    if (dmaType == DMAType::TX) {
-            handle->Init.Request = DMA_REQUEST_SPI1_TX;
+      handle->Init.Request = DMA_REQUEST_SPI1_TX;
-        }
+    } else {
-        else {
+      handle->Init.Request = DMA_REQUEST_SPI1_RX;
-            handle->Init.Request = DMA_REQUEST_SPI1_RX;
+    }
-        }
 #endif /* DMA1 */
-    }
+  }
-    if(dmaIdx == DMAIndexes::DMA_2) {
+  if (dmaIdx == DMAIndexes::DMA_2) {
 #ifdef DMA2
-        switch(dmaStream) {
+    switch (dmaStream) {
-        case(DMAStreams::STREAM_0): {
+      case (DMAStreams::STREAM_0): {
 #ifdef DMA2_Stream0
-            handle->Instance = DMA2_Stream0;
+        handle->Instance = DMA2_Stream0;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA2_Stream0_IRQn;
+          *dmaIrqNumber = DMA2_Stream0_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_1): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_1): {
 #ifdef DMA2_Stream1
-            handle->Instance = DMA2_Stream1;
+        handle->Instance = DMA2_Stream1;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA2_Stream1_IRQn;
+          *dmaIrqNumber = DMA2_Stream1_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_2): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_2): {
 #ifdef DMA2_Stream2
-            handle->Instance = DMA2_Stream2;
+        handle->Instance = DMA2_Stream2;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA2_Stream2_IRQn;
+          *dmaIrqNumber = DMA2_Stream2_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_3): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_3): {
 #ifdef DMA2_Stream3
-            handle->Instance = DMA2_Stream3;
+        handle->Instance = DMA2_Stream3;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA2_Stream3_IRQn;
+          *dmaIrqNumber = DMA2_Stream3_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_4): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_4): {
 #ifdef DMA2_Stream4
-            handle->Instance = DMA2_Stream4;
+        handle->Instance = DMA2_Stream4;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA2_Stream4_IRQn;
+          *dmaIrqNumber = DMA2_Stream4_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_5): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_5): {
 #ifdef DMA2_Stream5
-            handle->Instance = DMA2_Stream5;
+        handle->Instance = DMA2_Stream5;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA2_Stream5_IRQn;
+          *dmaIrqNumber = DMA2_Stream5_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_6): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_6): {
 #ifdef DMA2_Stream6
-            handle->Instance = DMA2_Stream6;
+        handle->Instance = DMA2_Stream6;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA2_Stream6_IRQn;
+          *dmaIrqNumber = DMA2_Stream6_IRQn;
-            }
-#endif
-            break;
         }
-        case(DMAStreams::STREAM_7): {
+#endif
+        break;
+      }
+      case (DMAStreams::STREAM_7): {
 #ifdef DMA2_Stream7
-            handle->Instance = DMA2_Stream7;
+        handle->Instance = DMA2_Stream7;
-            if(dmaIrqNumber != nullptr) {
+        if (dmaIrqNumber != nullptr) {
-                *dmaIrqNumber = DMA2_Stream7_IRQn;
+          *dmaIrqNumber = DMA2_Stream7_IRQn;
-            }
+        }
 #endif
-            break;
+        break;
-        }
+      }
-        }
-#endif /* DMA2 */
     }
+#endif /* DMA2 */
+  }
 }
 
-void mapSpiBus(DMA_HandleTypeDef *handle, dma::DMAType dmaType, spi::SpiBus spiBus) {
+void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus) {
-    if(dmaType == dma::DMAType::TX) {
+  if (dmaType == dma::DMAType::TX) {
-        if(spiBus == spi::SpiBus::SPI_1) {
+    if (spiBus == spi::SpiBus::SPI_1) {
 #ifdef DMA_REQUEST_SPI1_TX
-            handle->Init.Request = DMA_REQUEST_SPI1_TX;
+      handle->Init.Request = DMA_REQUEST_SPI1_TX;
 #endif
-        }
+    } else if (spiBus == spi::SpiBus::SPI_2) {
-        else if(spiBus == spi::SpiBus::SPI_2) {
 #ifdef DMA_REQUEST_SPI2_TX
-            handle->Init.Request = DMA_REQUEST_SPI2_TX;
+      handle->Init.Request = DMA_REQUEST_SPI2_TX;
 #endif
-        }
     }
-    else {
+  } else {
-        if(spiBus == spi::SpiBus::SPI_1) {
+    if (spiBus == spi::SpiBus::SPI_1) {
 #ifdef DMA_REQUEST_SPI1_RX
-            handle->Init.Request = DMA_REQUEST_SPI1_RX;
+      handle->Init.Request = DMA_REQUEST_SPI1_RX;
 #endif
-        }
+    } else if (spiBus == spi::SpiBus::SPI_2) {
-        else if(spiBus == spi::SpiBus::SPI_2) {
 #ifdef DMA_REQUEST_SPI2_RX
-            handle->Init.Request = DMA_REQUEST_SPI2_RX;
+      handle->Init.Request = DMA_REQUEST_SPI2_RX;
 #endif
-        }
     }
+  }
 }

hal/src/fsfw_hal/stm32h7/spi/spiCore.h

@@ -3,7 +3,6 @@
 
 #include "fsfw_hal/stm32h7/dma.h"
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"
 
@@ -11,14 +10,13 @@
 extern "C" {
 #endif
 
-using spi_transfer_cb_t = void (*) (SPI_HandleTypeDef *hspi, void* userArgs);
+using spi_transfer_cb_t = void (*)(SPI_HandleTypeDef* hspi, void* userArgs);
 
 namespace spi {
 
-void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus,
+void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
-        dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
+                        dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
-        dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber, uint32_t dmaMode = DMA_NORMAL,
+                        uint32_t dmaMode = DMA_NORMAL, uint32_t dmaPriority = DMA_PRIORITY_LOW);
-        uint32_t dmaPriority = DMA_PRIORITY_LOW);
 
 /**
  * Assign DMA handles. Required to use DMA for SPI transfers.
@@ -32,7 +30,7 @@ void getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle);
  * Assign SPI handle. Needs to be done before using the SPI
  * @param spiHandle
  */
-void setSpiHandle(SPI_HandleTypeDef *spiHandle);
+void setSpiHandle(SPI_HandleTypeDef* spiHandle);
 
 void assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
 void assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
@@ -45,7 +43,7 @@ void assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs);
  */
 SPI_HandleTypeDef* getSpiHandle();
 
-}
+}  // namespace spi
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp

@@ -1,52 +1,46 @@
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 
 void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle) {
-    switch(spiMode) {
+  switch (spiMode) {
-    case(SpiModes::MODE_0): {
+    case (SpiModes::MODE_0): {
-        spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
+      spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
-        spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
+      spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
-        break;
+      break;
     }
-    case(SpiModes::MODE_1): {
+    case (SpiModes::MODE_1): {
-        spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
+      spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
-        spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
+      spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
-        break;
+      break;
     }
-    case(SpiModes::MODE_2): {
+    case (SpiModes::MODE_2): {
-        spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
+      spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
-        spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
+      spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
-        break;
+      break;
-    }
-    case(SpiModes::MODE_3): {
-        spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
-        spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
-        break;
     }
+    case (SpiModes::MODE_3): {
+      spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
+      spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
+      break;
     }
+  }
 }
 
 uint32_t spi::getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps) {
-    uint32_t divisor = 0;
+  uint32_t divisor = 0;
-    uint32_t spi_clk = clock_src_freq;
+  uint32_t spi_clk = clock_src_freq;
-    uint32_t presc = 0;
+  uint32_t presc = 0;
-    static const uint32_t baudrate[] = {
+  static const uint32_t baudrate[] = {
-            SPI_BAUDRATEPRESCALER_2,
+      SPI_BAUDRATEPRESCALER_2,   SPI_BAUDRATEPRESCALER_4,   SPI_BAUDRATEPRESCALER_8,
-            SPI_BAUDRATEPRESCALER_4,
+      SPI_BAUDRATEPRESCALER_16,  SPI_BAUDRATEPRESCALER_32,  SPI_BAUDRATEPRESCALER_64,
-            SPI_BAUDRATEPRESCALER_8,
+      SPI_BAUDRATEPRESCALER_128, SPI_BAUDRATEPRESCALER_256,
-            SPI_BAUDRATEPRESCALER_16,
+  };
-            SPI_BAUDRATEPRESCALER_32,
-            SPI_BAUDRATEPRESCALER_64,
-            SPI_BAUDRATEPRESCALER_128,
-            SPI_BAUDRATEPRESCALER_256,
-    };
 
-    while( spi_clk > baudrate_mbps) {
+  while (spi_clk > baudrate_mbps) {
-        presc = baudrate[divisor];
+    presc = baudrate[divisor];
-        if (++divisor > 7)
+    if (++divisor > 7) break;
-            break;
 
-        spi_clk = ( spi_clk >> 1);
+    spi_clk = (spi_clk >> 1);
-    }
+  }
 
-    return presc;
+  return presc;
 }

hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.h

@@ -2,37 +2,24 @@
 #define FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_
 
 #include "../../common/spi/spiCommon.h"
-
 #include "fsfw/returnvalues/FwClassIds.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"
 
 namespace spi {
 
 static constexpr uint8_t HAL_SPI_ID = CLASS_ID::HAL_SPI;
-static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0);
+static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL =
+    HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0);
 static constexpr ReturnValue_t HAL_BUSY_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 1);
 static constexpr ReturnValue_t HAL_ERROR_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 2);
 
-enum class TransferStates {
+enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
-    IDLE,
-    WAIT,
-    SUCCESS,
-    FAILURE
-};
 
-enum SpiBus {
+enum SpiBus { SPI_1, SPI_2 };
-    SPI_1,
-    SPI_2
-};
 
-enum TransferModes {
+enum TransferModes { POLLING, INTERRUPT, DMA };
-    POLLING,
-    INTERRUPT,
-    DMA
-};
 
 void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle);
 
@@ -44,7 +31,6 @@ void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle);
  */
 uint32_t getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps);
 
-}
+}  // namespace spi
-
 
 #endif /* FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_ */

hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp

@@ -1,12 +1,12 @@
 #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
 
+#include <stddef.h>
+
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"
 #include "stm32h7xx_hal_spi.h"
 
-#include <stddef.h>
-
 user_handler_t spi1UserHandler = &spi::spiIrqHandler;
 user_args_t spi1UserArgs = nullptr;
 
@@ -18,11 +18,11 @@ user_args_t spi2UserArgs = nullptr;
  * @param  None
  * @retval None
  */
-void spi::dmaRxIrqHandler(void* dmaHandle) {
+void spi::dmaRxIrqHandler(void *dmaHandle) {
-    if(dmaHandle == nullptr) {
+  if (dmaHandle == nullptr) {
-        return;
+    return;
-    }
+  }
-    HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dmaHandle);
+  HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
 }
 
 /**
@@ -30,11 +30,11 @@ void spi::dmaRxIrqHandler(void* dmaHandle) {
  * @param  None
  * @retval None
  */
-void spi::dmaTxIrqHandler(void* dmaHandle) {
+void spi::dmaTxIrqHandler(void *dmaHandle) {
-    if(dmaHandle == nullptr) {
+  if (dmaHandle == nullptr) {
-        return;
+    return;
-    }
+  }
-    HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dmaHandle);
+  HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
 }
 
 /**
@@ -42,65 +42,62 @@ void spi::dmaTxIrqHandler(void* dmaHandle) {
  * @param  None
  * @retval None
  */
-void spi::spiIrqHandler(void* spiHandle) {
+void spi::spiIrqHandler(void *spiHandle) {
-    if(spiHandle == nullptr) {
+  if (spiHandle == nullptr) {
-        return;
+    return;
-    }
+  }
-    //auto currentSpiHandle = spi::getSpiHandle();
+  // auto currentSpiHandle = spi::getSpiHandle();
-    HAL_SPI_IRQHandler((SPI_HandleTypeDef *) spiHandle);
+  HAL_SPI_IRQHandler((SPI_HandleTypeDef *)spiHandle);
 }
 
 void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
-        user_args_t userArgs) {
+                               user_args_t userArgs) {
-    if(spiIdx == spi::SpiBus::SPI_1) {
+  if (spiIdx == spi::SpiBus::SPI_1) {
-        spi1UserHandler = userHandler;
+    spi1UserHandler = userHandler;
-        spi1UserArgs = userArgs;
+    spi1UserArgs = userArgs;
-    }
+  } else {
-    else {
+    spi2UserHandler = userHandler;
-        spi2UserHandler = userHandler;
+    spi2UserArgs = userArgs;
-        spi2UserArgs = userArgs;
+  }
-    }
 }
 
 void spi::getSpiUserHandler(spi::SpiBus spiBus, user_handler_t *userHandler,
-        user_args_t *userArgs) {
+                            user_args_t *userArgs) {
-    if(userHandler == nullptr or userArgs == nullptr) {
+  if (userHandler == nullptr or userArgs == nullptr) {
-        return;
+    return;
-    }
+  }
-    if(spiBus == spi::SpiBus::SPI_1) {
+  if (spiBus == spi::SpiBus::SPI_1) {
-        *userArgs = spi1UserArgs;
+    *userArgs = spi1UserArgs;
-        *userHandler = spi1UserHandler;
+    *userHandler = spi1UserHandler;
-    }
+  } else {
-    else {
+    *userArgs = spi2UserArgs;
-        *userArgs = spi2UserArgs;
+    *userHandler = spi2UserHandler;
-        *userHandler = spi2UserHandler;
+  }
-    }
 }
 
 void spi::assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) {
-    if(spiBus == spi::SpiBus::SPI_1) {
+  if (spiBus == spi::SpiBus::SPI_1) {
-        spi1UserArgs = userArgs;
+    spi1UserArgs = userArgs;
-    }
+  } else {
-    else {
+    spi2UserArgs = userArgs;
-        spi2UserArgs = userArgs;
+  }
-    }
 }
 
 /* Do not change these function names! They need to be exactly equal to the name of the functions
 defined in the startup_stm32h743xx.s files! */
 
 extern "C" void SPI1_IRQHandler() {
-    if(spi1UserHandler != NULL) {
+  if (spi1UserHandler != NULL) {
-        spi1UserHandler(spi1UserArgs);
+    spi1UserHandler(spi1UserArgs);
-        return;
+    return;
-    }
+  }
-    Default_Handler();
+  Default_Handler();
 }
 
-extern "C"  void SPI2_IRQHandler() {
+extern "C" void SPI2_IRQHandler() {
-    if(spi2UserHandler != nullptr) {
+  if (spi2UserHandler != nullptr) {
-        spi2UserHandler(spi2UserArgs);
+    spi2UserHandler(spi2UserArgs);
-        return;
+    return;
-    }
+  }
-    Default_Handler();
+  Default_Handler();
 }

hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.h

@@ -18,10 +18,8 @@ void assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs);
  * @param user_handler
  * @param user_args
  */
-void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler,
+void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler, user_args_t user_args);
-        user_args_t user_args);
+void getSpiUserHandler(spi::SpiBus spiBus, user_handler_t* user_handler, user_args_t* user_args);
-void getSpiUserHandler(spi::SpiBus spiBus, user_handler_t* user_handler,
-        user_args_t* user_args);
 
 /**
  * Generic interrupt handlers supplied for convenience. Do not call these directly! Set them
@@ -32,7 +30,7 @@ void dmaRxIrqHandler(void* dma_handle);
 void dmaTxIrqHandler(void* dma_handle);
 void spiIrqHandler(void* spi_handle);
 
-}
+}  // namespace spi
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.cpp

@@ -1,82 +1,81 @@
 #include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-
-#include "stm32h7xx_hal.h"
-#include "stm32h7xx_hal_rcc.h"
 
 #include <cstdio>
 
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_rcc.h"
+
 void spiSetupWrapper() {
-    __HAL_RCC_GPIOA_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
-    __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
-    __HAL_RCC_SPI1_CLK_ENABLE();
+  __HAL_RCC_SPI1_CLK_ENABLE();
 }
 
 void spiCleanUpWrapper() {
-    __HAL_RCC_SPI1_FORCE_RESET();
+  __HAL_RCC_SPI1_FORCE_RESET();
-    __HAL_RCC_SPI1_RELEASE_RESET();
+  __HAL_RCC_SPI1_RELEASE_RESET();
 }
 
-void spiDmaClockEnableWrapper() {
+void spiDmaClockEnableWrapper() { __HAL_RCC_DMA2_CLK_ENABLE(); }
-    __HAL_RCC_DMA2_CLK_ENABLE();
-}
 
 void stm32h7::h743zi::standardPollingCfg(spi::MspPollingConfigStruct& cfg) {
-    cfg.setupCb =  &spiSetupWrapper;
+  cfg.setupCb = &spiSetupWrapper;
-    cfg.cleanupCb = &spiCleanUpWrapper;
+  cfg.cleanupCb = &spiCleanUpWrapper;
-    cfg.sck.port = GPIOA;
+  cfg.sck.port = GPIOA;
-    cfg.sck.pin = GPIO_PIN_5;
+  cfg.sck.pin = GPIO_PIN_5;
-    cfg.miso.port = GPIOA;
+  cfg.miso.port = GPIOA;
-    cfg.miso.pin = GPIO_PIN_6;
+  cfg.miso.pin = GPIO_PIN_6;
-    cfg.mosi.port = GPIOA;
+  cfg.mosi.port = GPIOA;
-    cfg.mosi.pin = GPIO_PIN_7;
+  cfg.mosi.pin = GPIO_PIN_7;
-    cfg.sck.altFnc = GPIO_AF5_SPI1;
+  cfg.sck.altFnc = GPIO_AF5_SPI1;
-    cfg.mosi.altFnc = GPIO_AF5_SPI1;
+  cfg.mosi.altFnc = GPIO_AF5_SPI1;
-    cfg.miso.altFnc = GPIO_AF5_SPI1;
+  cfg.miso.altFnc = GPIO_AF5_SPI1;
 }
 
 void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
-        IrqPriorities spiSubprio) {
+                                           IrqPriorities spiSubprio) {
-    // High, but works on FreeRTOS as well (priorities range from 0 to 15)
+  // High, but works on FreeRTOS as well (priorities range from 0 to 15)
-    cfg.preEmptPriority = spiIrqPrio;
+  cfg.preEmptPriority = spiIrqPrio;
-    cfg.subpriority = spiSubprio;
+  cfg.subpriority = spiSubprio;
-    cfg.spiIrqNumber = SPI1_IRQn;
+  cfg.spiIrqNumber = SPI1_IRQn;
-    cfg.spiBus = spi::SpiBus::SPI_1;
+  cfg.spiBus = spi::SpiBus::SPI_1;
-    user_handler_t spiUserHandler = nullptr;
+  user_handler_t spiUserHandler = nullptr;
-    user_args_t spiUserArgs = nullptr;
+  user_args_t spiUserArgs = nullptr;
-    getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
+  getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
-    if(spiUserHandler == nullptr) {
+  if (spiUserHandler == nullptr) {
-        printf("spi::h743zi::standardInterruptCfg: Invalid SPI user handlers\n");
+    printf("spi::h743zi::standardInterruptCfg: Invalid SPI user handlers\n");
-        return;
+    return;
-    }
+  }
-    cfg.spiUserArgs = spiUserArgs;
+  cfg.spiUserArgs = spiUserArgs;
-    cfg.spiIrqHandler = spiUserHandler;
+  cfg.spiIrqHandler = spiUserHandler;
-    standardPollingCfg(cfg);
+  standardPollingCfg(cfg);
 }
 
 void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
-        IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities spiSubprio,
+                                     IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
-        IrqPriorities txSubprio, IrqPriorities rxSubprio) {
+                                     IrqPriorities spiSubprio, IrqPriorities txSubprio,
-    cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;
+                                     IrqPriorities rxSubprio) {
-    cfg.rxDmaIndex = dma::DMAIndexes::DMA_2;
+  cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;
-    cfg.txDmaIndex = dma::DMAIndexes::DMA_2;
+  cfg.rxDmaIndex = dma::DMAIndexes::DMA_2;
-    cfg.txDmaStream = dma::DMAStreams::STREAM_3;
+  cfg.txDmaIndex = dma::DMAIndexes::DMA_2;
-    cfg.rxDmaStream = dma::DMAStreams::STREAM_2;
+  cfg.txDmaStream = dma::DMAStreams::STREAM_3;
-    DMA_HandleTypeDef* txHandle;
+  cfg.rxDmaStream = dma::DMAStreams::STREAM_2;
-    DMA_HandleTypeDef* rxHandle;
+  DMA_HandleTypeDef* txHandle;
-    spi::getDmaHandles(&txHandle, &rxHandle);
+  DMA_HandleTypeDef* rxHandle;
-    if(txHandle == nullptr or rxHandle == nullptr) {
+  spi::getDmaHandles(&txHandle, &rxHandle);
-        printf("spi::h743zi::standardDmaCfg: Invalid DMA handles\n");
+  if (txHandle == nullptr or rxHandle == nullptr) {
-        return;
+    printf("spi::h743zi::standardDmaCfg: Invalid DMA handles\n");
-    }
+    return;
-    spi::configureDmaHandle(txHandle, spi::SpiBus::SPI_1, dma::DMAType::TX, cfg.txDmaIndex,
+  }
-            cfg.txDmaStream, &cfg.txDmaIrqNumber);
+  spi::configureDmaHandle(txHandle, spi::SpiBus::SPI_1, dma::DMAType::TX, cfg.txDmaIndex,
-    spi::configureDmaHandle(rxHandle, spi::SpiBus::SPI_1, dma::DMAType::RX, cfg.rxDmaIndex,
+                          cfg.txDmaStream, &cfg.txDmaIrqNumber);
-            cfg.rxDmaStream, &cfg.rxDmaIrqNumber, DMA_NORMAL, DMA_PRIORITY_HIGH);
+  spi::configureDmaHandle(rxHandle, spi::SpiBus::SPI_1, dma::DMAType::RX, cfg.rxDmaIndex,
-    cfg.txPreEmptPriority = txIrqPrio;
+                          cfg.rxDmaStream, &cfg.rxDmaIrqNumber, DMA_NORMAL, DMA_PRIORITY_HIGH);
-    cfg.rxPreEmptPriority = txSubprio;
+  cfg.txPreEmptPriority = txIrqPrio;
-    cfg.txSubpriority = rxIrqPrio;
+  cfg.rxPreEmptPriority = txSubprio;
-    cfg.rxSubpriority = rxSubprio;
+  cfg.txSubpriority = rxIrqPrio;
-    standardInterruptCfg(cfg, spiIrqPrio, spiSubprio);
+  cfg.rxSubpriority = rxSubprio;
+  standardInterruptCfg(cfg, spiIrqPrio, spiSubprio);
 }

hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.h

@@ -9,14 +9,12 @@ namespace h743zi {
 
 void standardPollingCfg(spi::MspPollingConfigStruct& cfg);
 void standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
-        IrqPriorities spiSubprio = HIGHEST);
+                          IrqPriorities spiSubprio = HIGHEST);
-void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
+void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio, IrqPriorities txIrqPrio,
-        IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
+                    IrqPriorities rxIrqPrio, IrqPriorities spiSubprio = HIGHEST,
-        IrqPriorities spiSubprio = HIGHEST, IrqPriorities txSubPrio = HIGHEST,
+                    IrqPriorities txSubPrio = HIGHEST, IrqPriorities rxSubprio = HIGHEST);
-        IrqPriorities rxSubprio = HIGHEST);
 
-
+}  // namespace h743zi
-}
+}  // namespace stm32h7
-}
 
 #endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */

misc/defaultcfg/fsfwconfig/devices/logicalAddresses.h

@@ -10,7 +10,7 @@
  */
 namespace addresses {
 	/* Logical addresses have uint32_t datatype */
-	enum logicalAddresses: address_t {
+	enum LogAddr: address_t {
 	};
 }
 

scripts/helper.py

@@ -9,36 +9,44 @@ import webbrowser
 import shutil
 import sys
 import time
+from shutil import which
 from typing import List
 
 
-UNITTEST_FOLDER_NAME = 'build-tests'
+UNITTEST_FOLDER_NAME = "build-tests"
-DOCS_FOLDER_NAME = 'build-docs'
+DOCS_FOLDER_NAME = "build-docs"
 
 
 def main():
 
     parser = argparse.ArgumentParser(description="FSFW helper script")
-    choices = ('docs', 'tests')
+    choices = ("docs", "tests")
     parser.add_argument(
-        'type', metavar='type', choices=choices,
+        "type", metavar="type", choices=choices, help=f"Target type. Choices: {choices}"
-        help=f'Target type. Choices: {choices}'
     )
     parser.add_argument(
-        '-a', '--all', action='store_true',
+        "-a", "--all", action="store_true", help="Create, build and open specified type"
-        help='Create, build and open specified type'
     )
     parser.add_argument(
-        '-c', '--create', action='store_true',
+        "-c",
-        help='Create docs or test build configuration'
+        "--create",
+        action="store_true",
+        help="Create docs or test build configuration",
     )
     parser.add_argument(
-        '-b', '--build', action='store_true',
+        "-b", "--build", action="store_true", help="Build the specified type"
-        help='Build the specified type'
     )
     parser.add_argument(
-        '-o', '--open', action='store_true',
+        "-o",
-        help='Open test or documentation data in webbrowser'
+        "--open",
+        action="store_true",
+        help="Open test or documentation data in webbrowser",
+    )
+    parser.add_argument(
+        "-v",
+        "--valgrind",
+        action="store_true",
+        help="Run valgrind on generated test binary",
     )
 
     args = parser.parse_args()
@@ -46,26 +54,26 @@ def main():
         args.build = True
         args.create = True
         args.open = True
-    elif not args.build and not args.create and not args.open:
+    elif not args.build and not args.create and not args.open and not args.valgrind:
         print(
-            'Please select at least one operation to perform. '
+            "Please select at least one operation to perform. "
-            'Use helper.py -h for more information'
+            "Use helper.py -h for more information"
         )
         sys.exit(1)
 
     # This script can be called from root and from script folder
-    if not os.path.isfile('README.md'):
+    if not os.path.isfile("README.md"):
-        os.chdir('..')
+        os.chdir("..")
     build_dir_list = []
     if not args.create:
         build_dir_list = build_build_dir_list()
 
-    if args.type == 'tests':
+    if args.type == "tests":
         handle_tests_type(args, build_dir_list)
-    elif args.type == 'docs':
+    elif args.type == "docs":
         handle_docs_type(args, build_dir_list)
     else:
-        print('Invalid or unknown type')
+        print("Invalid or unknown type")
         sys.exit(1)
 
 
@@ -76,7 +84,9 @@ def handle_docs_type(args, build_dir_list: list):
         create_docs_build_cfg()
         build_directory = DOCS_FOLDER_NAME
     elif len(build_dir_list) == 0:
-        print('No valid CMake docs build directory found. Trying to set up docs build system')
+        print(
+            "No valid CMake docs build directory found. Trying to set up docs build system"
+        )
         shutil.rmtree(DOCS_FOLDER_NAME)
         create_docs_build_cfg()
         build_directory = DOCS_FOLDER_NAME
@@ -87,18 +97,18 @@ def handle_docs_type(args, build_dir_list: list):
         build_directory = determine_build_dir(build_dir_list)
     os.chdir(build_directory)
     if args.build:
-        os.system('cmake --build . -j')
+        os.system("cmake --build . -j")
     if args.open:
-        if not os.path.isfile('docs/sphinx/index.html'):
+        if not os.path.isfile("docs/sphinx/index.html"):
             # try again..
-            os.system('cmake --build . -j')
+            os.system("cmake --build . -j")
-            if not os.path.isfile('docs/sphinx/index.html'):
+            if not os.path.isfile("docs/sphinx/index.html"):
                 print(
                     "No Sphinx documentation file detected. "
                     "Try to build it first with the -b argument"
                 )
                 sys.exit(1)
-        webbrowser.open('docs/sphinx/index.html')
+        webbrowser.open("docs/sphinx/index.html")
 
 
 def handle_tests_type(args, build_dir_list: list):
@@ -109,8 +119,8 @@ def handle_tests_type(args, build_dir_list: list):
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 0:
         print(
-            'No valid CMake tests build directory found. '
+            "No valid CMake tests build directory found. "
-            'Trying to set up test build system'
+            "Trying to set up test build system"
         )
         create_tests_build_cfg()
         build_directory = UNITTEST_FOLDER_NAME
@@ -123,24 +133,36 @@ def handle_tests_type(args, build_dir_list: list):
     if args.build:
         perform_lcov_operation(build_directory, False)
     if args.open:
-        if not os.path.isdir('fsfw-tests_coverage'):
+        if not os.path.isdir("fsfw-tests_coverage"):
-            print("No Unittest folder detected. Try to build them first with the -b argument")
+            print(
+                "No Unittest folder detected. Try to build them first with the -b argument"
+            )
             sys.exit(1)
-        webbrowser.open('fsfw-tests_coverage/index.html')
+        webbrowser.open("fsfw-tests_coverage/index.html")
+    if args.valgrind:
+        if which("valgrind") is None:
+            print("Please install valgrind first")
+            sys.exit(1)
+        if os.path.split(os.getcwd())[1] != UNITTEST_FOLDER_NAME:
+            # If we are in a different directory we try to switch into it but
+            # this might fail
+            os.chdir(UNITTEST_FOLDER_NAME)
+        os.system("valgrind --leak-check=full ./fsfw-tests")
+        os.chdir("..")
 
 
 def create_tests_build_cfg():
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
+    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
-    os.chdir('..')
+    os.chdir("..")
 
 
 def create_docs_build_cfg():
     os.mkdir(DOCS_FOLDER_NAME)
     os.chdir(DOCS_FOLDER_NAME)
-    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..')
+    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
-    os.chdir('..')
+    os.chdir("..")
 
 
 def build_build_dir_list() -> list:

src/CMakeLists.txt

@@ -7,12 +7,3 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
 )
 
 add_subdirectory(fsfw)
-
-# Configure File
-
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_BINARY_DIR}
-)

src/fsfw/CMakeLists.txt

@@ -1,6 +1,7 @@
 # Core
 
 add_subdirectory(action)
+add_subdirectory(cfdp)
 add_subdirectory(container)
 add_subdirectory(controller)
 add_subdirectory(datapool)

src/fsfw/FSFW.h.in

@@ -18,6 +18,10 @@
 
 // FSFW core defines
 
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
 #ifndef FSFW_CPP_OSTREAM_ENABLED
 #define FSFW_CPP_OSTREAM_ENABLED            1
 #endif /* FSFW_CPP_OSTREAM_ENABLED */
@@ -42,6 +46,10 @@
 #define FSFW_USE_PUS_C_TELECOMMANDS         1
 #endif
 
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
 // FSFW HAL defines
 
 // Can be used for low-level debugging of the SPI bus

src/fsfw/action.h

@@ -4,8 +4,8 @@
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/ActionMessage.h"
 #include "fsfw/action/CommandActionHelper.h"
-#include "fsfw/action/HasActionsIF.h"
 #include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/action/HasActionsIF.h"
 #include "fsfw/action/SimpleActionHelper.h"
 
 #endif /* FSFW_INC_FSFW_ACTION_H_ */

src/fsfw/action/ActionHelper.cpp

@@ -1,177 +1,165 @@
 #include "fsfw/action.h"
-
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-ActionHelper::ActionHelper(HasActionsIF* setOwner,
+ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
-        MessageQueueIF* useThisQueue) :
+    : owner(setOwner), queueToUse(useThisQueue) {}
-        owner(setOwner), queueToUse(useThisQueue) {
-}
 
-ActionHelper::~ActionHelper() {
+ActionHelper::~ActionHelper() {}
-}
 
 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
-    if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
+  if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
-        ActionId_t currentAction = ActionMessage::getActionId(command);
+    ActionId_t currentAction = ActionMessage::getActionId(command);
-        prepareExecution(command->getSender(), currentAction,
+    prepareExecution(command->getSender(), currentAction, ActionMessage::getStoreId(command));
-                ActionMessage::getStoreId(command));
+    return HasReturnvaluesIF::RETURN_OK;
-        return HasReturnvaluesIF::RETURN_OK;
+  } else {
-    } else {
+    return CommandMessage::UNKNOWN_COMMAND;
-        return CommandMessage::UNKNOWN_COMMAND;
+  }
-    }
 }
 
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
-    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-    if (ipcStore == nullptr) {
+  if (ipcStore == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    if(queueToUse_ != nullptr) {
+  if (queueToUse_ != nullptr) {
-        setQueueToUse(queueToUse_);
+    setQueueToUse(queueToUse_);
-    }
+  }
 
-    if(queueToUse == nullptr) {
+  if (queueToUse == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
+    sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
 #else
-        sif::printWarning("ActionHelper::initialize: No queue set\n");
+    sif::printWarning("ActionHelper::initialize: No queue set\n");
 #endif
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
+void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
-        ActionId_t commandId, ReturnValue_t result) {
+                        ReturnValue_t result) {
-    CommandMessage reply;
+  CommandMessage reply;
-    ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
+  ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
-    queueToUse->sendMessage(reportTo, &reply);
+  queueToUse->sendMessage(reportTo, &reply);
 }
 
 void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
-        ReturnValue_t result) {
+                          ReturnValue_t result) {
+  CommandMessage reply;
+  ActionMessage::setCompletionReply(&reply, commandId, success, result);
+  queueToUse->sendMessage(reportTo, &reply);
+}
+
+void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
+
+void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
+                                    store_address_t dataAddress) {
+  const uint8_t* dataPtr = NULL;
+  size_t size = 0;
+  ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     CommandMessage reply;
-    ActionMessage::setCompletionReply(&reply, commandId, success, result);
+    ActionMessage::setStepReply(&reply, actionId, 0, result);
-    queueToUse->sendMessage(reportTo, &reply);
+    queueToUse->sendMessage(commandedBy, &reply);
-}
+    return;
-
+  }
-void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
+  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-    queueToUse = queue;
+  ipcStore->deleteData(dataAddress);
-}
+  if (result == HasActionsIF::EXECUTION_FINISHED) {
-
-void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
-        ActionId_t actionId, store_address_t dataAddress) {
-    const uint8_t* dataPtr = NULL;
-    size_t size = 0;
-    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        CommandMessage reply;
-        ActionMessage::setStepReply(&reply, actionId, 0, result);
-        queueToUse->sendMessage(commandedBy, &reply);
-        return;
-    }
-    result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-    ipcStore->deleteData(dataAddress);
-    if(result == HasActionsIF::EXECUTION_FINISHED) {
-        CommandMessage reply;
-        ActionMessage::setCompletionReply(&reply, actionId, true, result);
-        queueToUse->sendMessage(commandedBy, &reply);
-    }
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        CommandMessage reply;
-        ActionMessage::setStepReply(&reply, actionId, 0, result);
-        queueToUse->sendMessage(commandedBy, &reply);
-        return;
-    }
-}
-
-ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
-        ActionId_t replyId, SerializeIF* data, bool hideSender) {
     CommandMessage reply;
-    store_address_t storeAddress;
+    ActionMessage::setCompletionReply(&reply, actionId, true, result);
-    uint8_t *dataPtr;
+    queueToUse->sendMessage(commandedBy, &reply);
-    size_t maxSize = data->getSerializedSize();
+  }
-    if (maxSize == 0) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        /* No error, there's simply nothing to report. */
+    CommandMessage reply;
-        return HasReturnvaluesIF::RETURN_OK;
+    ActionMessage::setStepReply(&reply, actionId, 0, result);
-    }
+    queueToUse->sendMessage(commandedBy, &reply);
-    size_t size = 0;
+    return;
-    ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
+  }
-            &dataPtr);
+}
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+                                       SerializeIF* data, bool hideSender) {
+  CommandMessage reply;
+  store_address_t storeAddress;
+  uint8_t* dataPtr;
+  size_t maxSize = data->getSerializedSize();
+  if (maxSize == 0) {
+    /* No error, there's simply nothing to report. */
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+  size_t size = 0;
+  ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!" <<
+    sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
-                std::endl;
+                 << std::endl;
 #else
-        sif::printWarning("ActionHelper::reportData: Getting free element from IPC "
+    sif::printWarning(
-                "store failed!\n");
+        "ActionHelper::reportData: Getting free element from IPC "
+        "store failed!\n");
 #endif
-        return result;
-    }
-    result = data->serialize(&dataPtr, &size, maxSize,
-            SerializeIF::Endianness::BIG);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        ipcStore->deleteData(storeAddress);
-        return result;
-    }
-
-    /* We don't need to report the objectId, as we receive REQUESTED data before the completion
-    success message. True aperiodic replies need to be reported with another dedicated message. */
-    ActionMessage::setDataReply(&reply, replyId, storeAddress);
-
-    /* If the sender needs to be hidden, for example to handle packet
-    as unrequested reply, this will be done here. */
-    if (hideSender) {
-        result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
-    }
-    else {
-        result = queueToUse->sendMessage(reportTo, &reply);
-    }
-
-    if (result != HasReturnvaluesIF::RETURN_OK){
-        ipcStore->deleteData(storeAddress);
-    }
     return result;
+  }
+  result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ipcStore->deleteData(storeAddress);
+    return result;
+  }
+
+  /* We don't need to report the objectId, as we receive REQUESTED data before the completion
+  success message. True aperiodic replies need to be reported with another dedicated message. */
+  ActionMessage::setDataReply(&reply, replyId, storeAddress);
+
+  /* If the sender needs to be hidden, for example to handle packet
+  as unrequested reply, this will be done here. */
+  if (hideSender) {
+    result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
+  } else {
+    result = queueToUse->sendMessage(reportTo, &reply);
+  }
+
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ipcStore->deleteData(storeAddress);
+  }
+  return result;
 }
 
-void ActionHelper::resetHelper() {
+void ActionHelper::resetHelper() {}
-}
 
-ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId,
-        ActionId_t replyId, const uint8_t *data, size_t dataSize,
+                                       const uint8_t* data, size_t dataSize, bool hideSender) {
-        bool hideSender) {
+  CommandMessage reply;
-    CommandMessage reply;
+  store_address_t storeAddress;
-    store_address_t storeAddress;
+  ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
-    ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
+    sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
 #else
-        sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
+    sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
 #endif
-        return result;
-    }
-
-    /* We don't need to report the objectId, as we receive REQUESTED data before the completion
-    success message. True aperiodic replies need to be reported with another dedicated message. */
-    ActionMessage::setDataReply(&reply, replyId, storeAddress);
-
-    /* If the sender needs to be hidden, for example to handle packet
-    as unrequested reply, this will be done here. */
-    if (hideSender) {
-        result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
-    }
-    else {
-        result = queueToUse->sendMessage(reportTo, &reply);
-    }
-
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        ipcStore->deleteData(storeAddress);
-    }
     return result;
+  }
+
+  /* We don't need to report the objectId, as we receive REQUESTED data before the completion
+  success message. True aperiodic replies need to be reported with another dedicated message. */
+  ActionMessage::setDataReply(&reply, replyId, storeAddress);
+
+  /* If the sender needs to be hidden, for example to handle packet
+  as unrequested reply, this will be done here. */
+  if (hideSender) {
+    result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
+  } else {
+    result = queueToUse->sendMessage(reportTo, &reply);
+  }
+
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ipcStore->deleteData(storeAddress);
+  }
+  return result;
 }

src/fsfw/action/ActionHelper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
-#include "ActionMessage.h"
-#include "../serialize/SerializeIF.h"
 #include "../ipc/MessageQueueIF.h"
+#include "../serialize/SerializeIF.h"
+#include "ActionMessage.h"
 /**
  * @brief Action Helper is a helper class which handles action messages
  *
@@ -17,110 +17,110 @@
 class HasActionsIF;
 
 class ActionHelper {
-public:
+ public:
-    /**
+  /**
-     * Constructor of the action helper
+   * Constructor of the action helper
-     * @param setOwner Pointer to the owner of the interface
+   * @param setOwner Pointer to the owner of the interface
-     * @param useThisQueue  messageQueue to be used, can be set during
+   * @param useThisQueue  messageQueue to be used, can be set during
-     *                      initialize function as well.
+   *                      initialize function as well.
-     */
+   */
-    ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
+  ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
 
-    virtual ~ActionHelper();
+  virtual ~ActionHelper();
-    /**
+  /**
-     * Function to be called from the owner with a new command message
+   * Function to be called from the owner with a new command message
-     *
+   *
-     * If the message is a valid action message the helper will use the
+   * If the message is a valid action message the helper will use the
-     * executeAction function from HasActionsIF.
+   * executeAction function from HasActionsIF.
-     * If the message is invalid or the callback fails a message reply will be
+   * If the message is invalid or the callback fails a message reply will be
-     * send to the sender of the message automatically.
+   * send to the sender of the message automatically.
-     *
+   *
-     * @param command Pointer to a command message received by the owner
+   * @param command Pointer to a command message received by the owner
-     * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
+   * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
-     *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
+   *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
-     */
+   */
-    ReturnValue_t handleActionMessage(CommandMessage* command);
+  ReturnValue_t handleActionMessage(CommandMessage* command);
-    /**
+  /**
-     * Helper initialize function. Must be called before use of any other
+   * Helper initialize function. Must be called before use of any other
-     * helper function
+   * helper function
-     * @param queueToUse_   Pointer to the messageQueue to be used, optional
+   * @param queueToUse_   Pointer to the messageQueue to be used, optional
-     *                      if queue was set in constructor
+   *                      if queue was set in constructor
-     * @return Returns RETURN_OK if successful
+   * @return Returns RETURN_OK if successful
-     */
+   */
-    ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
+  ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
-    /**
+  /**
-     * Function to be called from the owner to send a step message.
+   * Function to be called from the owner to send a step message.
-     * Success or failure will be determined by the result value.
+   * Success or failure will be determined by the result value.
-     *
+   *
-     * @param step Number of steps already done
+   * @param step Number of steps already done
-     * @param reportTo The messageQueueId to report the step message to
+   * @param reportTo The messageQueueId to report the step message to
-     * @param commandId ID of the executed command
+   * @param commandId ID of the executed command
-     * @param result Result of the execution
+   * @param result Result of the execution
-     */
+   */
-    void step(uint8_t step, MessageQueueId_t reportTo,
+  void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
-            ActionId_t commandId,
             ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-    /**
+  /**
-     * Function to be called by the owner to send a action completion message
+   * Function to be called by the owner to send a action completion message
-     * @param success   Specify whether action was completed successfully or not.
+   * @param success   Specify whether action was completed successfully or not.
-     * @param reportTo MessageQueueId_t to report the action completion message to
+   * @param reportTo MessageQueueId_t to report the action completion message to
-     * @param commandId ID of the executed command
+   * @param commandId ID of the executed command
-     * @param result Result of the execution
+   * @param result Result of the execution
-     */
+   */
-    void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
+  void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
-            ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+              ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-    /**
+  /**
-     * Function to be called by the owner if an action does report data.
+   * Function to be called by the owner if an action does report data.
-     * Takes a SerializeIF* pointer and serializes it into the IPC store.
+   * Takes a SerializeIF* pointer and serializes it into the IPC store.
-     * @param reportTo  MessageQueueId_t to report the action completion
+   * @param reportTo  MessageQueueId_t to report the action completion
-     *                  message to
+   *                  message to
-     * @param replyId ID of the executed command
+   * @param replyId ID of the executed command
-     * @param data Pointer to the data
+   * @param data Pointer to the data
-     * @return Returns RETURN_OK if successful, otherwise failure code
+   * @return Returns RETURN_OK if successful, otherwise failure code
-     */
+   */
-    ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+  ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data,
-            SerializeIF* data, bool hideSender = false);
+                           bool hideSender = false);
-    /**
+  /**
-     * Function to be called by the owner if an action does report data.
+   * Function to be called by the owner if an action does report data.
-     * Takes the raw data and writes it into the IPC store.
+   * Takes the raw data and writes it into the IPC store.
-     * @param reportTo  MessageQueueId_t to report the action completion
+   * @param reportTo  MessageQueueId_t to report the action completion
-     *                  message to
+   *                  message to
-     * @param replyId ID of the executed command
+   * @param replyId ID of the executed command
-     * @param data Pointer to the data
+   * @param data Pointer to the data
-     * @return Returns RETURN_OK if successful, otherwise failure code
+   * @return Returns RETURN_OK if successful, otherwise failure code
-     */
+   */
-    ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+  ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data,
-            const uint8_t* data, size_t dataSize, bool hideSender = false);
+                           size_t dataSize, bool hideSender = false);
-    /**
+  /**
-     * Function to setup the MessageQueueIF* of the helper. Can be used to
+   * Function to setup the MessageQueueIF* of the helper. Can be used to
-     * set the MessageQueueIF* if message queue is unavailable at construction
+   * set the MessageQueueIF* if message queue is unavailable at construction
-     * and initialize but must be setup before first call of other functions.
+   * and initialize but must be setup before first call of other functions.
-     * @param queue Queue to be used by the helper
+   * @param queue Queue to be used by the helper
-     */
+   */
-    void setQueueToUse(MessageQueueIF *queue);
+  void setQueueToUse(MessageQueueIF* queue);
-protected:
-    //! Increase of value of this per step
-    static const uint8_t STEP_OFFSET = 1;
-    //! Pointer to the owner
-    HasActionsIF* owner;
-    //! Queue to be used as response sender, has to be set in ctor or with
-    //! setQueueToUse
-    MessageQueueIF* queueToUse;
-    //! Pointer to an IPC Store, initialized during construction or
-    StorageManagerIF* ipcStore = nullptr;
 
-    /**
+ protected:
-     * Internal function called by handleActionMessage
+  //! Increase of value of this per step
-     * @param commandedBy MessageQueueID of Commander
+  static const uint8_t STEP_OFFSET = 1;
-     * @param actionId ID of action to be done
+  //! Pointer to the owner
-     * @param dataAddress Address of additional data in IPC Store
+  HasActionsIF* owner;
-     */
+  //! Queue to be used as response sender, has to be set in ctor or with
-    virtual void prepareExecution(MessageQueueId_t commandedBy,
+  //! setQueueToUse
-            ActionId_t actionId, store_address_t dataAddress);
+  MessageQueueIF* queueToUse;
-    /**
+  //! Pointer to an IPC Store, initialized during construction or
-     * @brief Default implementation is empty.
+  StorageManagerIF* ipcStore = nullptr;
-     */
+
-    virtual void resetHelper();
+  /**
+   * Internal function called by handleActionMessage
+   * @param commandedBy MessageQueueID of Commander
+   * @param actionId ID of action to be done
+   * @param dataAddress Address of additional data in IPC Store
+   */
+  virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
+                                store_address_t dataAddress);
+  /**
+   * @brief Default implementation is empty.
+   */
+  virtual void resetHelper();
 };
 
 #endif /* FSFW_ACTION_ACTIONHELPER_H_ */

src/fsfw/action/ActionMessage.cpp

@@ -1,81 +1,77 @@
 #include "fsfw/action.h"
-
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-ActionMessage::ActionMessage() {
+ActionMessage::ActionMessage() {}
-}
 
-ActionMessage::~ActionMessage() {
+ActionMessage::~ActionMessage() {}
-}
 
 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
-        store_address_t parameters) {
+                               store_address_t parameters) {
-    message->setCommand(EXECUTE_ACTION);
+  message->setCommand(EXECUTE_ACTION);
-    message->setParameter(fid);
+  message->setParameter(fid);
-    message->setParameter2(parameters.raw);
+  message->setParameter2(parameters.raw);
 }
 
 ActionId_t ActionMessage::getActionId(const CommandMessage* message) {
-    return ActionId_t(message->getParameter());
+  return ActionId_t(message->getParameter());
 }
 
 store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
-    store_address_t temp;
+  store_address_t temp;
-    temp.raw = message->getParameter2();
+  temp.raw = message->getParameter2();
-    return temp;
+  return temp;
 }
 
 void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
-        ReturnValue_t result) {
+                                 ReturnValue_t result) {
-    if (result == HasReturnvaluesIF::RETURN_OK) {
+  if (result == HasReturnvaluesIF::RETURN_OK) {
-        message->setCommand(STEP_SUCCESS);
+    message->setCommand(STEP_SUCCESS);
-    } else {
+  } else {
-        message->setCommand(STEP_FAILED);
+    message->setCommand(STEP_FAILED);
-    }
+  }
-    message->setParameter(fid);
+  message->setParameter(fid);
-    message->setParameter2((step << 16) + result);
+  message->setParameter2((step << 16) + result);
 }
 
 uint8_t ActionMessage::getStep(const CommandMessage* message) {
-    return uint8_t((message->getParameter2() >> 16) & 0xFF);
+  return uint8_t((message->getParameter2() >> 16) & 0xFF);
 }
 
 ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) {
-    return message->getParameter2() & 0xFFFF;
+  return message->getParameter2() & 0xFFFF;
 }
 
 void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
-        store_address_t data) {
+                                 store_address_t data) {
-    message->setCommand(DATA_REPLY);
+  message->setCommand(DATA_REPLY);
-    message->setParameter(actionId);
+  message->setParameter(actionId);
-    message->setParameter2(data.raw);
+  message->setParameter2(data.raw);
 }
 
-void ActionMessage::setCompletionReply(CommandMessage* message,
+void ActionMessage::setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
-        ActionId_t fid, bool success, ReturnValue_t result) {
+                                       ReturnValue_t result) {
-    if (success) {
+  if (success) {
-        message->setCommand(COMPLETION_SUCCESS);
+    message->setCommand(COMPLETION_SUCCESS);
-    }
+  } else {
-    else {
+    message->setCommand(COMPLETION_FAILED);
-        message->setCommand(COMPLETION_FAILED);
+  }
-    }
+  message->setParameter(fid);
-    message->setParameter(fid);
+  message->setParameter2(result);
-    message->setParameter2(result);
 }
 
 void ActionMessage::clear(CommandMessage* message) {
-    switch(message->getCommand()) {
+  switch (message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-        StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
+      StorageManagerIF* ipcStore =
-                objects::IPC_STORE);
+          ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-        if (ipcStore != NULL) {
+      if (ipcStore != NULL) {
-            ipcStore->deleteData(getStoreId(message));
+        ipcStore->deleteData(getStoreId(message));
-        }
+      }
-        break;
+      break;
     }
     default:
-        break;
+      break;
-    }
+  }
 }

src/fsfw/action/ActionMessage.h

@@ -14,34 +14,33 @@ using ActionId_t = uint32_t;
  * ActionHelper are able to process these messages.
  */
 class ActionMessage {
-private:
+ private:
-    ActionMessage();
+  ActionMessage();
-public:
-    static const uint8_t MESSAGE_ID = messagetypes::ACTION;
-    static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
-    static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
-    static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
-    static const Command_t DATA_REPLY =  MAKE_COMMAND_ID(4);
-    static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
-    static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
 
-    virtual ~ActionMessage();
+ public:
-    static void setCommand(CommandMessage* message, ActionId_t fid,
+  static const uint8_t MESSAGE_ID = messagetypes::ACTION;
-            store_address_t parameters);
+  static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
+  static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
+  static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
+  static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
+  static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
+  static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
 
-    static ActionId_t getActionId(const CommandMessage* message );
+  virtual ~ActionMessage();
-    static store_address_t getStoreId(const CommandMessage* message);
+  static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
 
-    static void setStepReply(CommandMessage* message, ActionId_t fid,
+  static ActionId_t getActionId(const CommandMessage* message);
-            uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+  static store_address_t getStoreId(const CommandMessage* message);
-    static uint8_t getStep(const CommandMessage* message );
-    static ReturnValue_t getReturnCode(const CommandMessage* message );
-    static void setDataReply(CommandMessage* message, ActionId_t actionId,
-            store_address_t data);
-    static void setCompletionReply(CommandMessage* message, ActionId_t fid,
-            bool success, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 
-    static void clear(CommandMessage* message);
+  static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
+                           ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+  static uint8_t getStep(const CommandMessage* message);
+  static ReturnValue_t getReturnCode(const CommandMessage* message);
+  static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
+  static void setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
+                                 ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+
+  static void clear(CommandMessage* message);
 };
 
 #endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */

src/fsfw/action/CommandActionHelper.cpp

@@ -1,125 +1,115 @@
 #include "fsfw/action.h"
-
 #include "fsfw/objectmanager/ObjectManager.h"
 
-CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
+CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
-        owner(setOwner), queueToUse(NULL), ipcStore(
+    : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
-        NULL), commandCount(0), lastTarget(0) {
-}
 
-CommandActionHelper::~CommandActionHelper() {
+CommandActionHelper::~CommandActionHelper() {}
-}
 
-ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
+ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
-        ActionId_t actionId, SerializeIF *data) {
+                                                 SerializeIF *data) {
-    HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-    if (receiver == NULL) {
+  if (receiver == NULL) {
-        return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
+    return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
-    }
+  }
-    store_address_t storeId;
+  store_address_t storeId;
-    uint8_t *storePointer;
+  uint8_t *storePointer;
-    size_t maxSize = data->getSerializedSize();
+  size_t maxSize = data->getSerializedSize();
-    ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
+  ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, &storePointer);
-            &storePointer);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    size_t size = 0;
-    result = data->serialize(&storePointer, &size, maxSize,
-            SerializeIF::Endianness::BIG);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    return sendCommand(receiver->getCommandQueue(), actionId, storeId);
-}
-
-ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
-        ActionId_t actionId, const uint8_t *data, uint32_t size) {
-//    if (commandCount != 0) {
-//        return CommandsFunctionsIF::ALREADY_COMMANDING;
-//    }
-    HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-    if (receiver == NULL) {
-        return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
-    }
-    store_address_t storeId;
-    ReturnValue_t result = ipcStore->addData(&storeId, data, size);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-    return sendCommand(receiver->getCommandQueue(), actionId, storeId);
-}
-
-ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
-        ActionId_t actionId, store_address_t storeId) {
-    CommandMessage command;
-    ActionMessage::setCommand(&command, actionId, storeId);
-    ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        ipcStore->deleteData(storeId);
-    }
-    lastTarget = queueId;
-    commandCount++;
     return result;
+  }
+  size_t size = 0;
+  result = data->serialize(&storePointer, &size, maxSize, SerializeIF::Endianness::BIG);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return sendCommand(receiver->getCommandQueue(), actionId, storeId);
+}
+
+ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
+                                                 const uint8_t *data, uint32_t size) {
+  //    if (commandCount != 0) {
+  //        return CommandsFunctionsIF::ALREADY_COMMANDING;
+  //    }
+  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == NULL) {
+    return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
+  }
+  store_address_t storeId;
+  ReturnValue_t result = ipcStore->addData(&storeId, data, size);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return sendCommand(receiver->getCommandQueue(), actionId, storeId);
+}
+
+ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
+                                               store_address_t storeId) {
+  CommandMessage command;
+  ActionMessage::setCommand(&command, actionId, storeId);
+  ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ipcStore->deleteData(storeId);
+  }
+  lastTarget = queueId;
+  commandCount++;
+  return result;
 }
 
 ReturnValue_t CommandActionHelper::initialize() {
-    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-    if (ipcStore == NULL) {
+  if (ipcStore == NULL) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
 
-    queueToUse = owner->getCommandQueuePtr();
+  queueToUse = owner->getCommandQueuePtr();
-    if (queueToUse == NULL) {
+  if (queueToUse == NULL) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
-    if (reply->getSender() != lastTarget) {
+  if (reply->getSender() != lastTarget) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    switch (reply->getCommand()) {
+  switch (reply->getCommand()) {
     case ActionMessage::COMPLETION_SUCCESS:
-        commandCount--;
+      commandCount--;
-        owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
+      owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::COMPLETION_FAILED:
-        commandCount--;
+      commandCount--;
-        owner->completionFailedReceived(ActionMessage::getActionId(reply),
+      owner->completionFailedReceived(ActionMessage::getActionId(reply),
-                ActionMessage::getReturnCode(reply));
+                                      ActionMessage::getReturnCode(reply));
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::STEP_SUCCESS:
-        owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
+      owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
-                ActionMessage::getStep(reply));
+                                    ActionMessage::getStep(reply));
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::STEP_FAILED:
-        commandCount--;
+      commandCount--;
-        owner->stepFailedReceived(ActionMessage::getActionId(reply),
+      owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
-                ActionMessage::getStep(reply),
+                                ActionMessage::getReturnCode(reply));
-                ActionMessage::getReturnCode(reply));
+      return HasReturnvaluesIF::RETURN_OK;
-        return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::DATA_REPLY:
-        extractDataForOwner(ActionMessage::getActionId(reply),
+      extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
-                ActionMessage::getStoreId(reply));
+      return HasReturnvaluesIF::RETURN_OK;
-        return HasReturnvaluesIF::RETURN_OK;
     default:
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
 }
 
-uint8_t CommandActionHelper::getCommandCount() const {
+uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
-    return commandCount;
-}
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-    const uint8_t * data = NULL;
+  const uint8_t *data = NULL;
-    size_t size = 0;
+  size_t size = 0;
-    ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
+  ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        return;
+    return;
-    }
+  }
-    owner->dataReceived(actionId, data, size);
+  owner->dataReceived(actionId, data, size);
-    ipcStore->deleteData(storeId);
+  ipcStore->deleteData(storeId);
 }

src/fsfw/action/CommandActionHelper.h

@@ -2,35 +2,35 @@
 #define COMMANDACTIONHELPER_H_
 
 #include "ActionMessage.h"
+#include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/serialize/SerializeIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/ipc/MessageQueueIF.h"
 
 class CommandsActionsIF;
 
 class CommandActionHelper {
-    friend class CommandsActionsIF;
+  friend class CommandsActionsIF;
-public:
+
-    CommandActionHelper(CommandsActionsIF* owner);
+ public:
-    virtual ~CommandActionHelper();
+  CommandActionHelper(CommandsActionsIF* owner);
-    ReturnValue_t commandAction(object_id_t commandTo,
+  virtual ~CommandActionHelper();
-            ActionId_t actionId, const uint8_t* data, uint32_t size);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
-    ReturnValue_t commandAction(object_id_t commandTo,
+                              uint32_t size);
-            ActionId_t actionId, SerializeIF* data);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
-    ReturnValue_t initialize();
+  ReturnValue_t initialize();
-    ReturnValue_t handleReply(CommandMessage* reply);
+  ReturnValue_t handleReply(CommandMessage* reply);
-    uint8_t getCommandCount() const;
+  uint8_t getCommandCount() const;
-private:
+
-    CommandsActionsIF* owner;
+ private:
-    MessageQueueIF* queueToUse;
+  CommandsActionsIF* owner;
-    StorageManagerIF* ipcStore;
+  MessageQueueIF* queueToUse;
-    uint8_t commandCount;
+  StorageManagerIF* ipcStore;
-    MessageQueueId_t lastTarget;
+  uint8_t commandCount;
-    void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
+  MessageQueueId_t lastTarget;
-    ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
+  void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
-            store_address_t storeId);
+  ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, store_address_t storeId);
 };
 
 #endif /* COMMANDACTIONHELPER_H_ */

src/fsfw/action/CommandsActionsIF.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
 #define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
-#include "CommandActionHelper.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "../ipc/MessageQueueIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "CommandActionHelper.h"
 
 /**
  * Interface to separate commanding actions of other objects.
@@ -15,23 +15,21 @@
  * - replyReceived(id, step, cause) (if cause == OK, it's a success).
  */
 class CommandsActionsIF {
-    friend class CommandActionHelper;
+  friend class CommandActionHelper;
-public:
+
-    static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
+ public:
-    static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
+  static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
-    static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
+  static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
-    virtual ~CommandsActionsIF() {}
+  static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
-    virtual MessageQueueIF* getCommandQueuePtr() = 0;
+  virtual ~CommandsActionsIF() {}
-protected:
+  virtual MessageQueueIF* getCommandQueuePtr() = 0;
-    virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
+
-    virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
+ protected:
-            ReturnValue_t returnCode) = 0;
+  virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
-    virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
+  virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
-            uint32_t size) = 0;
+  virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
-    virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
+  virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
-    virtual void completionFailedReceived(ActionId_t actionId,
+  virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
-            ReturnValue_t returnCode) = 0;
 };
 
-
 #endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */

src/fsfw/action/HasActionsIF.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_ACTION_HASACTIONSIF_H_
 #define FSFW_ACTION_HASACTIONSIF_H_
 
+#include "../ipc/MessageQueueIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include "../ipc/MessageQueueIF.h"
 
 /**
  * @brief
@@ -34,30 +34,29 @@
  * @ingroup interfaces
  */
 class HasActionsIF {
-public:
+ public:
-    static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
+  static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
-    static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
+  static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
-    static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
+  static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
-    static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
+  static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
-    static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
+  static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
-    virtual ~HasActionsIF() { }
+  virtual ~HasActionsIF() {}
-    /**
+  /**
-     * Function to get the MessageQueueId_t of the implementing object
+   * Function to get the MessageQueueId_t of the implementing object
-     * @return MessageQueueId_t of the object
+   * @return MessageQueueId_t of the object
-     */
+   */
-    virtual MessageQueueId_t getCommandQueue() const = 0;
+  virtual MessageQueueId_t getCommandQueue() const = 0;
-    /**
+  /**
-     * Execute or initialize the execution of a certain function.
+   * Execute or initialize the execution of a certain function.
-     * The ActionHelpers will execute this function and behave differently
+   * The ActionHelpers will execute this function and behave differently
-     * depending on the returnvalue.
+   * depending on the returnvalue.
-     *
+   *
-     * @return
+   * @return
-     * -@c EXECUTION_FINISHED Finish reply will be generated
+   * -@c EXECUTION_FINISHED Finish reply will be generated
-     * -@c Not RETURN_OK Step failure reply will be generated
+   * -@c Not RETURN_OK Step failure reply will be generated
-     */
+   */
-    virtual ReturnValue_t executeAction(ActionId_t actionId,
+  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-            MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
+                                      const uint8_t* data, size_t size) = 0;
 };
 
-
 #endif /* FSFW_ACTION_HASACTIONSIF_H_ */

src/fsfw/action/SimpleActionHelper.cpp

@@ -1,74 +1,67 @@
 #include "fsfw/action.h"
 
-SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
+SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
-        MessageQueueIF* useThisQueue) :
+    : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
-        ActionHelper(setOwner, useThisQueue), isExecuting(false) {
-}
 
-SimpleActionHelper::~SimpleActionHelper() {
+SimpleActionHelper::~SimpleActionHelper() {}
-}
 
 void SimpleActionHelper::step(ReturnValue_t result) {
-    // STEP_OFFESET is subtracted to compensate for adding offset in base
+  // STEP_OFFESET is subtracted to compensate for adding offset in base
-    // method, which is not necessary here.
+  // method, which is not necessary here.
-    ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
+  ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, result);
-            result);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+    resetHelper();
-        resetHelper();
+  }
-    }
 }
 
 void SimpleActionHelper::finish(ReturnValue_t result) {
-    ActionHelper::finish(lastCommander, lastAction, result);
+  ActionHelper::finish(lastCommander, lastAction, result);
-    resetHelper();
+  resetHelper();
 }
 
 ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) {
-    return ActionHelper::reportData(lastCommander, lastAction, data);
+  return ActionHelper::reportData(lastCommander, lastAction, data);
 }
 
 void SimpleActionHelper::resetHelper() {
-    stepCount = 0;
+  stepCount = 0;
-    isExecuting = false;
+  isExecuting = false;
-    lastAction = 0;
+  lastAction = 0;
-    lastCommander = 0;
+  lastCommander = 0;
 }
 
-void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
+void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-        ActionId_t actionId, store_address_t dataAddress) {
+                                          store_address_t dataAddress) {
-    CommandMessage reply;
+  CommandMessage reply;
-    if (isExecuting) {
+  if (isExecuting) {
-        ipcStore->deleteData(dataAddress);
-        ActionMessage::setStepReply(&reply, actionId, 0,
-                HasActionsIF::IS_BUSY);
-        queueToUse->sendMessage(commandedBy, &reply);
-    }
-    const uint8_t* dataPtr = NULL;
-    size_t size = 0;
-    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        ActionMessage::setStepReply(&reply, actionId, 0, result);
-        queueToUse->sendMessage(commandedBy, &reply);
-        return;
-    }
-    lastCommander = commandedBy;
-    lastAction = actionId;
-    result = owner->executeAction(actionId, commandedBy, dataPtr, size);
     ipcStore->deleteData(dataAddress);
-    switch (result) {
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
+    queueToUse->sendMessage(commandedBy, &reply);
+  }
+  const uint8_t* dataPtr = NULL;
+  size_t size = 0;
+  ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ActionMessage::setStepReply(&reply, actionId, 0, result);
+    queueToUse->sendMessage(commandedBy, &reply);
+    return;
+  }
+  lastCommander = commandedBy;
+  lastAction = actionId;
+  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+  ipcStore->deleteData(dataAddress);
+  switch (result) {
     case HasReturnvaluesIF::RETURN_OK:
-        isExecuting = true;
+      isExecuting = true;
-        stepCount++;
+      stepCount++;
-        break;
+      break;
     case HasActionsIF::EXECUTION_FINISHED:
-        ActionMessage::setCompletionReply(&reply, actionId,
+      ActionMessage::setCompletionReply(&reply, actionId, true, HasReturnvaluesIF::RETURN_OK);
-                true, HasReturnvaluesIF::RETURN_OK);
+      queueToUse->sendMessage(commandedBy, &reply);
-        queueToUse->sendMessage(commandedBy, &reply);
+      break;
-        break;
     default:
-        ActionMessage::setStepReply(&reply, actionId, 0, result);
+      ActionMessage::setStepReply(&reply, actionId, 0, result);
-        queueToUse->sendMessage(commandedBy, &reply);
+      queueToUse->sendMessage(commandedBy, &reply);
-        break;
+      break;
-    }
+  }
-
 }

src/fsfw/action/SimpleActionHelper.h

@@ -8,23 +8,24 @@
  *             at a time but remembers last commander and last action which
  *             simplifies usage
  */
-class SimpleActionHelper: public ActionHelper {
+class SimpleActionHelper : public ActionHelper {
-public:
+ public:
-    SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
+  SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
-    virtual ~SimpleActionHelper();
+  virtual ~SimpleActionHelper();
-    void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+  void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-    void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+  void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-    ReturnValue_t reportData(SerializeIF* data);
+  ReturnValue_t reportData(SerializeIF* data);
 
-protected:
+ protected:
-    void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
+  void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-            store_address_t dataAddress);
+                        store_address_t dataAddress);
-    virtual void resetHelper();
+  virtual void resetHelper();
-private:
+
-    bool isExecuting;
+ private:
-    MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
+  bool isExecuting;
-    ActionId_t lastAction = 0;
+  MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
-    uint8_t stepCount = 0;
+  ActionId_t lastAction = 0;
+  uint8_t stepCount = 0;
 };
 
 #endif /* SIMPLEACTIONHELPER_H_ */

src/fsfw/cfdp/CFDPHandler.cpp

@@ -0,0 +1,57 @@
+#include "fsfw/cfdp/CFDPHandler.h"
+
+#include "fsfw/cfdp/CFDPMessage.h"
+#include "fsfw/ipc/CommandMessage.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/storagemanager/storeAddress.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+
+object_id_t CFDPHandler::packetSource = 0;
+object_id_t CFDPHandler::packetDestination = 0;
+
+CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
+    : SystemObject(setObjectId) {
+  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
+  distributor = dist;
+}
+
+CFDPHandler::~CFDPHandler() {}
+
+ReturnValue_t CFDPHandler::initialize() {
+  ReturnValue_t result = SystemObject::initialize();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  this->distributor->registerHandler(this);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::debug << "CFDPHandler::handleRequest" << std::endl;
+#else
+  sif::printDebug("CFDPHandler::handleRequest\n");
+#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif
+
+  // TODO read out packet from store using storeId
+
+  return RETURN_OK;
+}
+
+ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
+  ReturnValue_t status = RETURN_OK;
+  CommandMessage currentMessage;
+  for (status = this->requestQueue->receiveMessage(&currentMessage); status == RETURN_OK;
+       status = this->requestQueue->receiveMessage(&currentMessage)) {
+    store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
+    this->handleRequest(storeId);
+  }
+  return RETURN_OK;
+}
+
+uint16_t CFDPHandler::getIdentifier() { return 0; }
+
+MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }

src/fsfw/cfdp/CFDPHandler.h

@@ -0,0 +1,63 @@
+#ifndef FSFW_CFDP_CFDPHANDLER_H_
+#define FSFW_CFDP_CFDPHANDLER_H_
+
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tcdistribution/CFDPDistributor.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+
+namespace Factory {
+void setStaticFrameworkObjectIds();
+}
+
+class CFDPHandler : public ExecutableObjectIF,
+                    public AcceptsTelecommandsIF,
+                    public SystemObject,
+                    public HasReturnvaluesIF {
+  friend void(Factory::setStaticFrameworkObjectIds)();
+
+ public:
+  CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
+  /**
+   * The destructor is empty.
+   */
+  virtual ~CFDPHandler();
+
+  virtual ReturnValue_t handleRequest(store_address_t storeId);
+
+  virtual ReturnValue_t initialize() override;
+  virtual uint16_t getIdentifier() override;
+  MessageQueueId_t getRequestQueue() override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ protected:
+  /**
+   * This is a complete instance of the telecommand reception queue
+   * of the class. It is initialized on construction of the class.
+   */
+  MessageQueueIF* requestQueue = nullptr;
+
+  CFDPDistributor* distributor = nullptr;
+
+  /**
+   * The current CFDP packet to be processed.
+   * It is deleted after handleRequest was executed.
+   */
+  CFDPPacketStored currentPacket;
+
+  static object_id_t packetSource;
+
+  static object_id_t packetDestination;
+
+ private:
+  /**
+   * This constant sets the maximum number of packets accepted per call.
+   * Remember that one packet must be completely handled in one
+   * #handleRequest call.
+   */
+  static const uint8_t CFDP_HANDLER_MAX_RECEPTION = 100;
+};
+
+#endif /* FSFW_CFDP_CFDPHANDLER_H_ */

src/fsfw/cfdp/CFDPMessage.cpp

@@ -0,0 +1,17 @@
+#include "CFDPMessage.h"
+
+CFDPMessage::CFDPMessage() {}
+
+CFDPMessage::~CFDPMessage() {}
+
+void CFDPMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
+  message->setParameter(cfdpPacket.raw);
+}
+
+store_address_t CFDPMessage::getStoreId(const CommandMessage *message) {
+  store_address_t storeAddressCFDPPacket;
+  storeAddressCFDPPacket = message->getParameter();
+  return storeAddressCFDPPacket;
+}
+
+void CFDPMessage::clear(CommandMessage *message) {}

src/fsfw/cfdp/CFDPMessage.h

@@ -0,0 +1,23 @@
+#ifndef FSFW_CFDP_CFDPMESSAGE_H_
+#define FSFW_CFDP_CFDPMESSAGE_H_
+
+#include "fsfw/ipc/CommandMessage.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+
+class CFDPMessage {
+ private:
+  CFDPMessage();
+
+ public:
+  static const uint8_t MESSAGE_ID = messagetypes::CFDP;
+
+  virtual ~CFDPMessage();
+  static void setCommand(CommandMessage* message, store_address_t cfdpPacket);
+
+  static store_address_t getStoreId(const CommandMessage* message);
+
+  static void clear(CommandMessage* message);
+};
+
+#endif /* FSFW_CFDP_CFDPMESSAGE_H_ */

src/fsfw/cfdp/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    CFDPHandler.cpp
+    CFDPMessage.cpp
+)
+
+add_subdirectory(pdu)
+add_subdirectory(tlv)

src/fsfw/cfdp/FileSize.h

@@ -0,0 +1,78 @@
+#ifndef FSFW_SRC_FSFW_CFDP_FILESIZE_H_
+#define FSFW_SRC_FSFW_CFDP_FILESIZE_H_
+
+#include "fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/serialize/SerializeIF.h"
+
+namespace cfdp {
+
+struct FileSize : public SerializeIF {
+ public:
+  FileSize() : largeFile(false){};
+
+  FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
+
+  ReturnValue_t serialize(bool isLarge, uint8_t **buffer, size_t *size, size_t maxSize,
+                          Endianness streamEndianness) {
+    this->largeFile = isLarge;
+    return serialize(buffer, size, maxSize, streamEndianness);
+  }
+
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                          Endianness streamEndianness) const override {
+    if (not largeFile) {
+      uint32_t fileSizeTyped = fileSize;
+      return SerializeAdapter::serialize(&fileSizeTyped, buffer, size, maxSize, streamEndianness);
+    }
+    return SerializeAdapter::serialize(&fileSize, buffer, size, maxSize, streamEndianness);
+  }
+
+  size_t getSerializedSize() const override {
+    if (largeFile) {
+      return 8;
+    } else {
+      return 4;
+    }
+  }
+
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override {
+    if (largeFile) {
+      return SerializeAdapter::deSerialize(&size, buffer, size, streamEndianness);
+    } else {
+      uint32_t sizeTmp = 0;
+      ReturnValue_t result =
+          SerializeAdapter::deSerialize(&sizeTmp, buffer, size, streamEndianness);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        fileSize = sizeTmp;
+      }
+      return result;
+    }
+  }
+
+  ReturnValue_t setFileSize(uint64_t fileSize, bool largeFile) {
+    if (not largeFile and fileSize > UINT32_MAX) {
+      // TODO: emit warning here
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    this->fileSize = fileSize;
+    this->largeFile = largeFile;
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  bool isLargeFile() const { return largeFile; }
+  uint64_t getSize(bool *largeFile = nullptr) const {
+    if (largeFile != nullptr) {
+      *largeFile = this->largeFile;
+    }
+    return fileSize;
+  }
+
+ private:
+  uint64_t fileSize = 0;
+  bool largeFile = false;
+};
+
+}  // namespace cfdp
+
+#endif /* FSFW_SRC_FSFW_CFDP_FILESIZE_H_ */

src/fsfw/cfdp/definitions.h

@@ -0,0 +1,137 @@
+#ifndef FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_
+
+#include <fsfw/serialize/SerializeIF.h>
+
+#include <cstddef>
+#include <cstdint>
+
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+namespace cfdp {
+
+static constexpr uint8_t VERSION_BITS = 0b00100000;
+
+static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
+
+static constexpr ReturnValue_t INVALID_TLV_TYPE =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 1);
+static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 2);
+static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 3);
+static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 4);
+//! Can not parse options. This can also occur because there are options
+//! available but the user did not pass a valid options array
+static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 5);
+static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
+static constexpr ReturnValue_t FINISHED_CANT_PARSE_FS_RESPONSES =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
+static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 8);
+//! Can not parse filestore response because user did not pass a valid instance
+//! or remaining size is invalid
+static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
+    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 9);
+
+//! Checksum types according to the SANA Checksum Types registry
+//! https://sanaregistry.org/r/checksum_identifiers/
+enum ChecksumType {
+  // Modular legacy checksum
+  MODULAR = 0,
+  CRC_32_PROXIMITY_1 = 1,
+  CRC_32C = 2,
+  CRC_32 = 3,
+  NULL_CHECKSUM = 15
+};
+
+enum PduType : bool { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
+
+enum TransmissionModes : bool { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
+
+enum SegmentMetadataFlag : bool { NOT_PRESENT = 0, PRESENT = 1 };
+
+enum Direction : bool { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
+
+enum SegmentationControl : bool {
+  NO_RECORD_BOUNDARIES_PRESERVATION = 0,
+  RECORD_BOUNDARIES_PRESERVATION = 1
+};
+
+enum WidthInBytes : uint8_t {
+  // Only those are supported for now
+  ONE_BYTE = 1,
+  TWO_BYTES = 2,
+  FOUR_BYTES = 4,
+};
+
+enum FileDirectives : uint8_t {
+  INVALID_DIRECTIVE = 0x0f,
+  EOF_DIRECTIVE = 0x04,
+  FINISH = 0x05,
+  ACK = 0x06,
+  METADATA = 0x07,
+  NAK = 0x08,
+  PROMPT = 0x09,
+  KEEP_ALIVE = 0x0c
+};
+
+enum ConditionCode : uint8_t {
+  NO_CONDITION_FIELD = 0xff,
+  NO_ERROR = 0b0000,
+  POSITIVE_ACK_LIMIT_REACHED = 0b0001,
+  KEEP_ALIVE_LIMIT_REACHED = 0b0010,
+  INVALID_TRANSMISSION_MODE = 0b0011,
+  FILESTORE_REJECTION = 0b0100,
+  FILE_CHECKSUM_FAILURE = 0b0101,
+  FILE_SIZE_ERROR = 0b0110,
+  NAK_LIMIT_REACHED = 0b0111,
+  INACTIVITY_DETECTED = 0b1000,
+  CHECK_LIMIT_REACHED = 0b1010,
+  UNSUPPORTED_CHECKSUM_TYPE = 0b1011,
+  SUSPEND_REQUEST_RECEIVED = 0b1110,
+  CANCEL_REQUEST_RECEIVED = 0b1111
+};
+
+enum AckTransactionStatus {
+  UNDEFINED = 0b00,
+  ACTIVE = 0b01,
+  TERMINATED = 0b10,
+  UNRECOGNIZED = 0b11
+};
+
+enum FinishedDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
+
+enum FinishedFileStatus {
+  DISCARDED_DELIBERATELY = 0,
+  DISCARDED_FILESTORE_REJECTION = 1,
+  RETAINED_IN_FILESTORE = 2,
+  FILE_STATUS_UNREPORTED = 3
+};
+
+enum PromptResponseRequired : bool { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
+
+enum TlvTypes : uint8_t {
+  FILESTORE_REQUEST = 0x00,
+  FILESTORE_RESPONSE = 0x01,
+  MSG_TO_USER = 0x02,
+  FAULT_HANDLER = 0x04,
+  FLOW_LABEL = 0x05,
+  ENTITY_ID = 0x06,
+  INVALID_TLV = 0xff,
+};
+
+enum RecordContinuationState {
+  NO_START_NO_END = 0b00,
+  CONTAINS_START_NO_END = 0b01,
+  CONTAINS_END_NO_START = 0b10,
+  CONTAINS_START_AND_END = 0b11
+};
+
+}  // namespace cfdp
+
+#endif /* FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_ */

src/fsfw/cfdp/pdu/AckInfo.cpp

@@ -0,0 +1,45 @@
+#include "AckInfo.h"
+
+AckInfo::AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
+                 cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode)
+    : ackedDirective(ackedDirective),
+      ackedConditionCode(ackedConditionCode),
+      transactionStatus(transactionStatus),
+      directiveSubtypeCode(directiveSubtypeCode) {
+  if (ackedDirective == cfdp::FileDirectives::FINISH) {
+    this->directiveSubtypeCode = 0b0001;
+  } else {
+    this->directiveSubtypeCode = 0b0000;
+  }
+}
+
+cfdp::ConditionCode AckInfo::getAckedConditionCode() const { return ackedConditionCode; }
+
+void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode) {
+  this->ackedConditionCode = ackedConditionCode;
+  if (ackedDirective == cfdp::FileDirectives::FINISH) {
+    this->directiveSubtypeCode = 0b0001;
+  } else {
+    this->directiveSubtypeCode = 0b0000;
+  }
+}
+
+cfdp::FileDirectives AckInfo::getAckedDirective() const { return ackedDirective; }
+
+void AckInfo::setAckedDirective(cfdp::FileDirectives ackedDirective) {
+  this->ackedDirective = ackedDirective;
+}
+
+uint8_t AckInfo::getDirectiveSubtypeCode() const { return directiveSubtypeCode; }
+
+void AckInfo::setDirectiveSubtypeCode(uint8_t directiveSubtypeCode) {
+  this->directiveSubtypeCode = directiveSubtypeCode;
+}
+
+cfdp::AckTransactionStatus AckInfo::getTransactionStatus() const { return transactionStatus; }
+
+AckInfo::AckInfo() {}
+
+void AckInfo::setTransactionStatus(cfdp::AckTransactionStatus transactionStatus) {
+  this->transactionStatus = transactionStatus;
+}

src/fsfw/cfdp/pdu/AckInfo.h

@@ -0,0 +1,31 @@
+#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_
+#define FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_
+
+#include "../definitions.h"
+
+class AckInfo {
+ public:
+  AckInfo();
+  AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
+          cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode = 0);
+
+  cfdp::ConditionCode getAckedConditionCode() const;
+  void setAckedConditionCode(cfdp::ConditionCode ackedConditionCode);
+
+  cfdp::FileDirectives getAckedDirective() const;
+  void setAckedDirective(cfdp::FileDirectives ackedDirective);
+
+  uint8_t getDirectiveSubtypeCode() const;
+  void setDirectiveSubtypeCode(uint8_t directiveSubtypeCode);
+
+  cfdp::AckTransactionStatus getTransactionStatus() const;
+  void setTransactionStatus(cfdp::AckTransactionStatus transactionStatus);
+
+ private:
+  cfdp::FileDirectives ackedDirective = cfdp::FileDirectives::INVALID_DIRECTIVE;
+  cfdp::ConditionCode ackedConditionCode = cfdp::ConditionCode::NO_CONDITION_FIELD;
+  cfdp::AckTransactionStatus transactionStatus = cfdp::AckTransactionStatus::UNDEFINED;
+  uint8_t directiveSubtypeCode = 0;
+};
+
+#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_ */

src/fsfw/cfdp/pdu/AckPduDeserializer.cpp

@@ -0,0 +1,37 @@
+#include "AckPduDeserializer.h"
+
+AckPduDeserializer::AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info)
+    : FileDirectiveDeserializer(pduBuf, maxSize), info(info) {}
+
+ReturnValue_t AckPduDeserializer::parseData() {
+  ReturnValue_t result = FileDirectiveDeserializer::parseData();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
+  if (currentIdx + 2 > this->maxSize) {
+    return SerializeIF::BUFFER_TOO_SHORT;
+  }
+  if (not checkAndSetCodes(rawPtr[currentIdx], rawPtr[currentIdx + 1])) {
+    return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+bool AckPduDeserializer::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {
+  uint8_t ackedDirective = static_cast<cfdp::FileDirectives>(firstByte >> 4);
+
+  if (ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE and
+      ackedDirective != cfdp::FileDirectives::FINISH) {
+    return false;
+  }
+  this->info.setAckedDirective(static_cast<cfdp::FileDirectives>(ackedDirective));
+  uint8_t directiveSubtypeCode = firstByte & 0x0f;
+  if (directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
+    return false;
+  }
+  this->info.setDirectiveSubtypeCode(directiveSubtypeCode);
+  this->info.setAckedConditionCode(static_cast<cfdp::ConditionCode>(secondByte >> 4));
+  this->info.setTransactionStatus(static_cast<cfdp::AckTransactionStatus>(secondByte & 0x0f));
+  return true;
+}

src/fsfw/cfdp/pdu/AckPduDeserializer.h

@@ -0,0 +1,23 @@
+#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
+#define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
+
+#include "AckInfo.h"
+#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
+
+class AckPduDeserializer : public FileDirectiveDeserializer {
+ public:
+  AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info);
+
+  /**
+   *
+   * @return
+   *  - cfdp::INVALID_DIRECTIVE_FIELDS: Invalid fields
+   */
+  ReturnValue_t parseData();
+
+ private:
+  bool checkAndSetCodes(uint8_t rawAckedByte, uint8_t rawAckedConditionCode);
+  AckInfo& info;
+};
+
+#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_ */

src/fsfw/cfdp/pdu/AckPduSerializer.cpp

@@ -0,0 +1,36 @@
+#include "AckPduSerializer.h"
+
+AckPduSerializer::AckPduSerializer(AckInfo &ackInfo, PduConfig &pduConf)
+    : FileDirectiveSerializer(pduConf, cfdp::FileDirectives::ACK, 2), ackInfo(ackInfo) {}
+
+size_t AckPduSerializer::getSerializedSize() const {
+  return FileDirectiveSerializer::getWholePduSize();
+}
+
+ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                          Endianness streamEndianness) const {
+  ReturnValue_t result =
+      FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  cfdp::FileDirectives ackedDirective = ackInfo.getAckedDirective();
+  uint8_t directiveSubtypeCode = ackInfo.getDirectiveSubtypeCode();
+  cfdp::ConditionCode ackedConditionCode = ackInfo.getAckedConditionCode();
+  cfdp::AckTransactionStatus transactionStatus = ackInfo.getTransactionStatus();
+  if (ackedDirective != cfdp::FileDirectives::FINISH and
+      ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE) {
+    // TODO: better returncode
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (*size + 2 > maxSize) {
+    return SerializeIF::BUFFER_TOO_SHORT;
+  }
+  **buffer = ackedDirective << 4 | directiveSubtypeCode;
+  *buffer += 1;
+  *size += 1;
+  **buffer = ackedConditionCode << 4 | transactionStatus;
+  *buffer += 1;
+  *size += 1;
+  return HasReturnvaluesIF::RETURN_OK;
+}