starting a bit with event manage replacements

Merge branch 'mueller/tc-packet-pus-improvement' into mueller/refactor-logging-with-fmt
freertos and dll replacements
2022-05-18 11:35:17 +02:00 · 2022-05-18 10:52:50 +02:00 · 2022-05-18 10:51:38 +02:00 · 2022-05-16 14:59:58 +02:00 · 2022-05-16 14:47:15 +02:00 · 2022-05-16 14:41:19 +02:00
1120 changed files with 17488 additions and 28321 deletions
--- a/.gitignore
+++ b/.gitignore
@ -1,5 +1,5 @@
 # PyCharm and CLion
-.idea/*
+/.idea/*
 !/.idea/runConfigurations
 !/.idea/cmake.xml
 !/.idea/codeStyles
--- a/.idea/cmake.xml
+++ b/.idea/cmake.xml
@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CMakeSharedSettings">
-    <configurations>
-      <configuration PROFILE_NAME="Debug Test" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON" NO_GENERATOR="true" />
-    </configurations>
-  </component>
-</project>
--- a/.run/fsfw-tests_coverage.run.xml
+++ b/.run/fsfw-tests_coverage.run.xml
@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>
--- a/.run/fsfw.run.xml
+++ b/.run/fsfw.run.xml
@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -8,274 +8,23 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-## Fixes
-
- FreshDeviceHandlerBase did not initialize the fdirInstance
- The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
-  data with a size limited only by the size of `size_t`.
- Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
-  number fields stored the actual length of the field instead of the length minus 1 like specified
-  in the CFDP standard.
- PUS Health Service: Size check for set health command.
-  Perform operation completion for announce health command.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
- Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
- Small tweak for version getter
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
-
-## Added
-
- add CFDP subsystem ID
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
- `PusTmZcWriter` now exposes API to set message counter field.
- Relative timeshift in the PUS time service.
-
-## Changed
-
- The PUS time service now dumps the time before setting a new time and after having set the
-  time.
- HK generation is now countdown based.
- Bump ETL version to 20.35.14
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
- Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
- Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
- Assert that `FixedArrayList` is larger than 0 at compile time.
-  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
- Health functions are virtual now.
- PUS Service Base request queue depth and maximum number of handled packets per cycle is now
-  configurable.
-
-## Added
-
- `EventManager`: Add function to print all listeners.
-
-## Changed
-
- `EventManager`: Queue depth is configurable now
-
-# [v6.0.0] 2023-02-10
-
-## Fixes
-
- Mode Service: Add allowed subservice
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
-  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
-  subservice not working properly.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
- Memory leak fixes for the TCP/IP TMTC bridge.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
- `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
-  seconds instead of uptime.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
- HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
-  only the X scaling factor was used.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
- HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
-  to false correctly because the `read` and `write` calls were missing.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
-  of the correct unsegmented flags (0b11) as specified in the standard.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
- TC Scheduler Service 11: Add size and CRC check for contained TC.
-  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
- Only delete health table entry in `HealthHelper` destructor if
-  health table was set.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
- I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
-  Also properly reset the reply size for successfull transfers and erroneous transfers.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
- Bugfix for Serial Buffer Stream: Setting `doActive` to false now
-  actually fully disables printing.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
- `TcpTmTcServer.cpp`: The server was actually not able to handle
-  CCSDS packets which were clumped together. This has been fixed now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
- various fixes related to linux Unittests and memory leaks
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
- small fix to allow teardown handling
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
- fix compiler warning for fixed array list copy ctor
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
- missing include
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
- defaultconfig did not build anymore
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
- hotfix
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
- small fix for helper
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
- missing retval conv
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
- DHB Countdown Bug
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
- doc corrections
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
- better error printout
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
- include correction
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
- better warning for missing include paths
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
- Service 11 regression
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
-
-## Added
-
- `CServiceHealthCommanding`: Add announce all health info implementation
-  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
- Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
- `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
- `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
-  option on the TCP server. CTOR prototype has changed and expects an explicit
-  TCP configuration struct to be passed.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
- `DleParser` helper class to parse DLE encoded packets from a byte stream.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
- `UioMapper` is able to resolve symlinks now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
- Add new `UnsignedByteField` class
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
- publish documentation for development and master branch
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
- Add Linux HAL options
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
- Expand SerializeIF
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
- PUS Service 11: Additional Safety Check
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
- improvements for auto-formatter script
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
- provide a weak print char impl
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
-
-## Removed
-
- now that doc server is up, remove markdown files
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
- remove bsp specific code
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
+# [v5.0.0]

 ## Changes

- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
-  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
-  `HealthServiceCfg` now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
- Moved some container returnvalues to dedicated header and namespace
-  so they can be used without template specification.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
- Remove default secondary header argument for
-  `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
-  `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
-  constants.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
- Overhaul of the TMTC stack, including various changes and improvements
-  for other modules
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
-  which also includes a migration guide
- Bump Catch2 dependency to regular version `v3.1.0`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/678
- `SerialBufferAdapter`: Rename `setBuffer` to `setConstBuffer` and update
-  API to expect `const uint8_t*` accordingly.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/677
- Remove the following user includes from `fsfw/events/Event.h` and
-  `fsfw/returnvalues/returnvalue.h`:
-  - `#include "events/subsystemIdRanges.h"`
-  - `#include "returnvalues/classIds.h"`
-  The user has to include those themselves now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/675
- `DeviceHandlerBase`: Set command sender before calling `buildCommandFromCommand`.
-  This allows finishing action commands immediately inside the function.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/672
- `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
-  a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
- Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
-  - Make functions `const` where it makes sense
-  - Add `const char* getName const` abstract function
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
- Generic TMTC Bridge Update
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
- comment tweak to event parser can read everything
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
- CMakeLists file updates
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
- improve srv20 error messages
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
- I2C Linux: remove duplicate printout
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
- printout handling improvements
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
- vec getter, reset for content
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
- updates for source sequence counter
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
- SP reader getPacketData is const now
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
- refactoring of serial drivers for linux
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
- Local Pool Update Remove Add Data Ignore Fault Argument
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
- Switch to new documentation server
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
- Windows Tweaks
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
- Refactor Local Pool API
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
- group MGM data in local pool vectors
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
-
-
-## CFDP
-
- Refactoring of CFDP stack which was done during implementation of the CFDP source and destination
-  handlers.
-   - New filesystem module, changes for filesystem abstraction `HasFileSystemIF` to better
-     fit requirements of CFDP
-   - New `HostFilesystem` implementation of the `HasFileSystemIF`
-   - New `cfdp::UserBase` class which is the abstraction for the CFDP user in an OBSW context.
-   - mib module for the CFDP stack
-   - PDU classes renamed from `...Serializer`/`...Deserializer` to `...Creator`/`...Reader`
-     respetively
-   - Renamed `TcDistributor` to `TcDistributorBase` to prevent confusion
-   - Refactored `TcDisitributorBase` to be more flexible and usable for CFDP distribution
-   - Renamed `CCSDSDistributor` to `CcsdsDistributor` and add feature which allows it
-     to remove the CCSDS header when routing a packet. This allows CCSDS agnostic receiver
-     implementation without an extra component
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
-
-# [v5.0.0] 2022-07-25
-
-## Changes
-
- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
-  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
  compiler supports it
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
-  Buffer and rejects such writeData calls with `returnvalue::FAILED`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
 - Major update for version handling, using `git describe` to fetch version information with git.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
@ -293,41 +42,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
  creation call. It allows passing context information and an arbitrary user argument into
  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
-  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
-
-### Task Module Refactoring
-
-PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
-
-**Refactoring general task code**
-
- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
-  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
-
-**Refactor PeriodicTaskIF**
-
- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
-  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
-  the operation code passed to `performOperation`. Updated API taking
-  an `ExecutableObjectIF` accordingly
-
-**Refactor FixedTimeslotTaskIF**
-
- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
-
-**Refactor FixedSequenceSlot**
-
- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
-  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
-  for the custom checker
-
-**Linux Task Module**
-
- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
-  member of the class

 ### HAL

@ -370,13 +84,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593

 ## Additions

- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
-  This is also the new default constructor for scalar value with 0 as an initial value
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
-  whether it is running in CI/CD
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
- Basic `clion` support: Update `.gitignore` and add some basic run configurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
 - LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
  can make good use of it and it usually makes the code faster and/or smaller.
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################

-set(FSFW_VERSION_IF_GIT_FAILS 6)
+set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)

@ -72,17 +72,25 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
    20
    CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.36.0
+    ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
    CACHE STRING "ETL library exact version requirement")
-set(FSFW_ETL_LINK_TARGET etl::etl)

 set(FSFW_CATCH2_LIB_MAJOR_VERSION
    3
    CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.3.2
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
    CACHE STRING "Catch2 library exact version requirement")

+set(FSFW_FMT_LIB_NAME fmt)
+set(FSFW_FMT_LINK_TARGET fmt::fmt)
+set(FSFW_FMT_LIB_MAJOR_VERSION
+    8
+    CACHE STRING "{fmt} library major version requirement")
+set(FSFW_FMT_LIB_VERSION
+    ${FSFW_FMT_LIB_MAJOR_VERSION}.1.1
+    CACHE STRING "{fmt} library exact version requirement")
+
 # Keep this off by default for now. See PR:
 # https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
 # keeping this on by default is problematic
@ -104,27 +112,19 @@ if(FSFW_GENERATE_SECTIONS)
  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()

-option(FSFW_BUILD_TESTS
-       "Build unittest binary in addition to static library. Requires Catch2"
-       OFF)
-option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
+option(FSFW_BUILD_UNITTESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()

 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
+option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)

-if(UNIX)
-  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
-         OFF)
-  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
-  option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
-endif()
-
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
@ -147,18 +147,18 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                TRUE)
 endif()

-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
  message(
    STATUS
      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
  )
  # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
    message(
      STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
    )
    include(FetchContent)

@ -170,17 +170,18 @@ if(FSFW_BUILD_TESTS)
    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
  endif()

-  set(FSFW_CONFIG_PATH unittests/testcfg)
-  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)

  project(${FSFW_TEST_TGT} CXX C)
  add_executable(${FSFW_TEST_TGT})
+
  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                  TRUE)
  endif()
-
  if(FSFW_TESTS_GEN_COV)
    message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
    message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
@ -190,10 +191,7 @@ if(FSFW_BUILD_TESTS)
  endif()
 endif()

-message(
-  STATUS
-    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
-)
+message(STATUS "${MSG_PREFIX} Finding and/or etl (Embedded Template Library)")

 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@ -201,8 +199,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
  message(
    STATUS
-      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
-  )
+      "No ETL installation was found with find_package. Installing and providing "
+      "etl with FindPackage")
  include(FetchContent)

  FetchContent_Declare(
@ -213,6 +211,26 @@ if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()

+message(STATUS "Finding and/or providing {fmt} formatting library")
+
+# Check whether the user has already installed ETL first
+find_package(fmt ${FSFW_FMT_LIB_MAJOR_VERSION} QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT ${FSFW_FMT_LIB_NAME}_FOUND)
+  message(
+    STATUS
+      "No {fmt} installation was found with find_package. Installing and providing "
+      "{fmt} with FindPackage")
+  include(FetchContent)
+
+  FetchContent_Declare(
+    ${FSFW_FMT_LIB_NAME}
+    GIT_REPOSITORY https://github.com/fmtlib/fmt.git
+    GIT_TAG ${FSFW_FMT_LIB_VERSION})
+
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_FMT_LIB_NAME})
+endif()
+
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
@ -222,7 +240,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
  endif()
  if(TARGET Catch2)
-    # Fixes regression -preview4, to be confirmed in later releases Related
+    # Fixes regression -preview4, to be confirmed in later releases. Related
    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
  endif()
@ -291,15 +309,16 @@ message(
 )

 add_subdirectory(src)
-add_subdirectory(contrib)
-if(FSFW_BUILD_TESTS)
-  add_subdirectory(unittests)
+add_subdirectory(tests)
+if(FSFW_ADD_HAL)
+  add_subdirectory(hal)
 endif()
+add_subdirectory(contrib)
 if(FSFW_BUILD_DOCS)
  add_subdirectory(docs)
 endif()

-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
  if(FSFW_TESTS_GEN_COV)
    if(CMAKE_COMPILER_IS_GNUCXX)
      include(CodeCoverage)
@ -327,8 +346,7 @@ if(FSFW_BUILD_TESTS)
            "/usr/local/include/*"
            "*/fsfw_tests/*"
            "*/catch2-src/*"
-            "*/fsfw_hal/*"
-            "unittests/*")
+            "*/fsfw_hal/*")
      endif()

      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@ -346,15 +364,8 @@ if(FSFW_BUILD_TESTS)
          DEPENDENCIES ${FSFW_TEST_TGT})
      else()
        setup_target_for_coverage_lcov(
-          NAME
-          ${FSFW_TEST_TGT}_coverage
-          EXECUTABLE
-          ${FSFW_TEST_TGT}
-          DEPENDENCIES
-          ${FSFW_TEST_TGT}
-          GENHTML_ARGS
-          --html-epilog
-          ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
+          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
+          DEPENDENCIES ${FSFW_TEST_TGT})
      endif()
    endif()
  endif()
@ -369,8 +380,7 @@ if(NOT FSFW_CONFIG_PATH)
  if(NOT FSFW_BUILD_DOCS)
    message(
      WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
-    )
+        "${MSG_PREFIX} Flight Software Framework configuration path not set")
    message(
      WARNING
        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
@ -465,8 +475,13 @@ target_include_directories(
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                ${COMPILER_FLAGS})

-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_FMT_LINK_TARGET})
+
+target_link_libraries(
+  ${LIB_FSFW_NAME}
+  PRIVATE # If any ELT headers are ever exposed inside a header or as part of
+          # the API, the ETL target needs to be linked PUBLIC
+          ${FSFW_ETL_LINK_TARGET} ${FSFW_ADDITIONAL_LINK_LIBS})

 string(
  CONCAT
@ -476,6 +491,13 @@ string(
    "Target OSAL: ${FSFW_OS_NAME}\n"
    "######################################################################\n")

+# The additional / is important to remove the last character from the path. Note
+# that it does not matter if the OS uses / or \, because we are only saving the
+# path size.
+string(LENGTH "${CMAKE_SOURCE_DIR}/" FSFW_SOURCE_PATH_SIZE)
+target_compile_definitions(
+  ${LIB_FSFW_NAME} PRIVATE "-DFSFW_SOURCE_PATH_SIZE=${FSFW_SOURCE_PATH_SIZE}")
+
 add_custom_command(
  TARGET ${LIB_FSFW_NAME}
  POST_BUILD
--- a/README.md
+++ b/README.md
@ -99,7 +99,7 @@ add and link against the FSFW library in general.

 4. Link against the FSFW library

-   ```sh
+   ```cmake
   target_link_libraries(${YourProjectName} PRIVATE fsfw)
   ```

@ -131,15 +131,15 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system

 ```sh
-mkdir build-tests && cd build-tests
-cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+mkdir build-Unittest && cd build-Unittest
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```

 You can also use `-DFSFW_OSAL=linux` on Linux systems.

 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generate the coverage data in this format,
+To build the unittests, run them and then generare the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up

 ```sh
@ -175,7 +175,7 @@ cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 Then you can generate the documentation using

 ```sh
-cmake --build . -- Sphinx -j
+cmake --build . -j
 ```

 You can find the generated documentation inside the `docs/sphinx` folder inside the build
@ -188,10 +188,7 @@ and open the documentation conveniently. Try `helper.py -h for more information.

 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 `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
-````sh
-sudo pip install cmakelang
-````
+can run the `apply-clang-format.sh` helper script to format all source files consistently.

 ## Index

--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@ -5,25 +5,10 @@ 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 iputils-ping python3 pip doxygen graphviz rsync
-
-RUN python3 -m pip install sphinx breathe
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping

 RUN git clone https://github.com/catchorg/Catch2.git && \
-        cd Catch2 && \
-        git checkout v3.1.0 && \
-        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-        cmake --build build/ --target install
-
-RUN git clone https://github.com/ETLCPP/etl.git && \
-        cd etl && \
-        git checkout 20.28.0 && \
-        cmake -B build . && \
-        cmake --install build/
-
-#ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
-
-#add documentation server to known hosts
-RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
-RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
+	cd Catch2 && \
+	git checkout v3.0.0-preview5 && \
+	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+	cmake --build build/ --target install
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -1,125 +1,41 @@
 pipeline {
    environment {
-        BUILDDIR_HOST = 'cmake-build-tests-host'
-        BUILDDIR_LINUX = 'cmake-build-tests-linux'
-        DOCDDIR = 'cmake-build-documentation'
+        BUILDDIR = 'build-tests'
    }
    agent {
-        docker { 
-            image 'fsfw-ci:d6'
-            args '--network host --sysctl fs.mqueue.msg_max=100'
-        }
+        docker { image 'fsfw-ci:d2'}
    }
    stages {
-        stage('Host') {
-            stages{
-                stage('Clean') {
-                    steps {
-                        sh 'rm -rf $BUILDDIR_HOST'
-                    }
-                }
-                stage('Configure') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
-                }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake --build . -j4'
-                        }
-                    }
-                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_HOST) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
-                }
-            }
-        }
-        stage('Linux') {
-            stages{
-                stage('Clean') {
-                    steps {
-                        sh 'rm -rf $BUILDDIR_LINUX'
-                    }
-                }
-                stage('Configure') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                        }
-                    }
-                }
-                stage('Build') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake --build . -j4'
-                        }
-                    }
-                }
-                stage('Unittests') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                        }
-                    }
-                }
-                stage('Valgrind') {
-                    steps {
-                        dir(BUILDDIR_LINUX) {
-                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
-                }
-            }
-        }
-        stage('Documentation') {
-            when {
-                branch 'development'
-            }
+        stage('Clean') {
            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
-                    }
-                }
-                dir(BUILDDIR_LINUX) {
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
-                    }
+                sh 'rm -rf $BUILDDIR'
+            }
+        }
+        stage('Configure') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
                }
            }
        }
-        stage('Master Documentation') {
-            when {
-                branch 'master'
-            }
+        stage('Build') {
            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
-                    }
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -j4'
                }
-                dir(BUILDDIR_LINUX) {
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
-                    }
+            }
+        }
+        stage('Unittests') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                }
+            }
+        }
+        stage('Valgrind') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                }
            }
        }
--- a/cmake/cmake-modules/bilke/CodeCoverage.cmake
+++ b/cmake/cmake-modules/bilke/CodeCoverage.cmake
@ -140,7 +140,7 @@ find_program( GCOV_PATH gcov )
 find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
 find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
 find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
-find_program( GCOVR_PATH gcovr )
+find_program( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/scripts/test)
 find_program( CPPFILT_PATH NAMES c++filt )

 if(NOT GCOV_PATH)
--- a/docs/README-config.md
+++ b/docs/README-config.md
@ -0,0 +1,40 @@
+Configuring the FSFW
+======
+
+The FSFW can be configured via the `fsfwconfig` folder. A template folder has
+been provided to have a starting point for this. The folder should be added
+to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
+of the available options will be explained in more detail here.
+
+# Auto-Translation of Events
+
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the 
+   [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
+3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
+   and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
+4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
+   `translateEvents.h` and should be copied to the `fsfwconfig/events` folder
+   
+An example implementations of these translation file generators can be found as part
+of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
+or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
+
+## Configuring the Event Manager
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+``` c++
+namespace fsfwconfig {
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
+```
+
--- a/docs/README-controllers.md
+++ b/docs/README-controllers.md
@ -0,0 +1 @@
+## Controllers
--- a/docs/README-core.md
+++ b/docs/README-core.md
@ -0,0 +1,55 @@
+## FSFW Core Modules
+
+These core modules provide the most important functionalities of the 
+Flight Software Framework
+
+### Clock
+
+ * This is a class of static functions that can be used at anytime
+ * Leap Seconds must be set if any time conversions from UTC to other times is used
+
+### ObjectManager
+
+* Must be created during program startup
+* The component which handles all references. All SystemObjects register at this component. 
+* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
+* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
+A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
+
+```cpp
+template <typename T> T* ObjectManagerIF::get( object_id_t id )
+```
+* A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling objectManager->initialize() the produce function will be
+  called and all SystemObjects will be initialized afterwards.
+
+### Event Manager
+
+* Component which allows routing of events
+* Other objects can subscribe to specific events, ranges of events or all events of an object.
+* Subscriptions can be done during runtime but should be done during initialization
+* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
+
+### Health Table
+
+* A component which holds every health state 
+* Provides a thread safe way to access all health states without the need of message exchanges
+
+### Stores
+
+* The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
+* All of them should use the Thread Safe Class storagemanager/PoolManager
+
+### Tasks
+
+There are two different types of tasks:
+ * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+   insertion to the Tasks.
+ * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+   DeviceHandlers, where polling should be in a defined order. An example can be found in 
+   `defaultcfg/fsfwconfig/pollingSequence` folder
+
--- a/docs/README-devicehandlers.md
+++ b/docs/README-devicehandlers.md
@ -0,0 +1 @@
+## Device Handlers
--- a/docs/README-highlevel.md
+++ b/docs/README-highlevel.md
@ -0,0 +1,135 @@
+High-level overview
+======
+
+# Structure
+
+The general structure is driven by the usage of interfaces provided by objects. 
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
+This simplifies the instantiation of objects and allows the usage of some standard containers. 
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
+
+# Failure Handling
+
+Functions should return a defined `ReturnValue_t` to signal to the caller that something has
+gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
+or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
+See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
+`fsfwconfig` folder.
+
+# OSAL
+
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
+The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
+The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
+and how to use them.
+
+# Core Components 
+
+The FSFW has following core components. More detailed informations can be found in the
+[core component section](doc/README-core.md#top):
+
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks 
+   with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands 
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
+3. Clock: This module provided common time related functions
+4. EventManager: This module allows routing of events generated by `SystemObjects`
+5. HealthTable: A component which stores the health states of objects
+
+# Static IDs in the framework
+
+Some parts of the framework use a static routing address for communication. 
+An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
+ inside the function `Factory::setStaticFrameworkObjectIds()`.
+
+# Events
+
+Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
+This works analog to the returnvalues. Every object that needs own EventIds has to get a
+unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
+
+# Internal Communication
+
+Components communicate mostly via Messages through Queues. 
+Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
+will create `MessageQueue` instances for the used OSAL.
+
+# External Communication
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used. 
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+## TMTC Communication
+
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
+files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
+and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+`tmtc_client_cli.py` or `tmtc_client_gui.py` utility in 
+the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
+while the `fsfw_example` application is running.
+
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the `TmTcBridge` implementation.
+
+## CCSDS Frames, CCSDS Space Packets and PUS
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in `tcdistribution`. 
+If Space Packets are used, a timestamper has to be provided by the user. 
+An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
+
+# Device Handlers
+
+DeviceHandlers are another important component of the FSFW. 
+The idea is, to have a software counterpart of every physical device to provide a simple mode,
+health and commanding interface. By separating the underlying Communication Interface with 
+`DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow
+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).
+
+# Modes and Health
+
+The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
+of components. On-board Mode Management is implement in hierarchy system. 
+DeviceHandlers and Controllers are the lowest part of the hierarchy. 
+The next layer are Assemblies. Those assemblies act as a component which handle
+redundancies of handlers. Assemblies share a common core with the next level which
+are the Subsystems. 
+
+Those Assemblies are intended to act as auto-generated components from a database which describes
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component. 
+The target table is used to describe the state that is checked continuously by the subsystem. 
+All of this allows System Modes to be generated as Subsystem object as well from the same database. 
+This System contains list of subsystem modes in the transition and target tables. 
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
+
+The health state represents if the component is able to perform its tasks. 
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery. 
+
+# Unit Tests
+
+Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
+catch2 itself. More information on how to run these tests can be found in the separate
+[`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)
--- a/docs/README-localpools.md
+++ b/docs/README-localpools.md
@ -0,0 +1,174 @@
+## Local Data Pools Developer Information
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be 
+used by other software objects like controllers as well. If a custom class should have a local 
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a `LocalDataPoolManager` member object in the custom class
+2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
+and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change 
+detected by the data creator instead of checking the data manually each cycle. Two important 
+framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
+shown above so the steps required are altered slightly.
+
+### Storing and Accessing pool data 
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
+The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all 
+cohesive pool variables. These sets simply iterator over the list of variables and call the 
+`read` and `commit` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+```cpp
+class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+public:
+    /**
+     * Constructor for data users
+     * @param gyroId
+     */
+    GyroPrimaryDataset(object_id_t gyroId):
+            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+        setAllVariablesReadOnly();
+    }
+
+    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_X, this);
+    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Y, this);
+    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Z, this);
+private:
+
+    friend class GyroHandler;
+    /**
+     * Constructor for data creator
+     * @param hkOwner
+     */
+    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+};
+```
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
+as a friend class. Both the atittude controller and the `GyroHandler` can now
+use the same class definition to access the pool variables with `read` and `commit` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+### Using the local data pools in a `DeviceHandlerBase` subclass
+
+It is very common to store data generated by devices like a sensor into a pool which can 
+then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
+local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
+as a member:
+
+```cpp
+class GyroHandler: ... {
+
+public:
+	...
+private:
+	...
+	GyroPrimaryDataset gyroData;
+	...
+};
+```
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+```cpp
+GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+        CookieIF *comCookie, uint8_t switchId):
+        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+		gyroData(this) {}
+```
+
+We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
+The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
+`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local 
+pool manager can access the custom data sets as well.
+By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
+`DeviceHandlerBase` subclass will use the internal command map to retrieve 
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the `fillCommandAndReplyMap` function:
+
+```cpp
+void GyroHandler::fillCommandAndReplyMap() {
+	...
+	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+	...
+}
+```
+
+Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
+function. Here, we also immediately subscribe for periodic housekeeping packets 
+with an interval of 4 seconds. They are still disabled in this example and can be enabled 
+with a housekeeping service command.
+
+```cpp
+ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+		LocalDataPoolManager &poolManager) {
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+			new PoolEntry<uint8_t>({0}));
+	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+			new PoolEntry<uint8_t>({0}));
+
+	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+```
+
+Now, if we receive some sensor data and converted them into the right format, 
+we can write it into the pool like this, using a guard class to ensure the set is commited back 
+in any case:
+
+```cpp
+PoolReadGuard readHelper(&gyroData);
+if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+	if(not gyroData.isValid()) {
+		gyroData.setValidity(true, true);
+	}
+
+	gyroData.angVelocityX = angularVelocityX;
+	gyroData.angVelocityY = angularVelocityY;
+	gyroData.angVelocityZ = angularVelocityZ;
+}
+```
+
+The guard class will commit the changed data on destruction automatically.
+
+### Using the local data pools in a `ExtendedControllerBase` subclass
+
+Coming soon
+
+
--- a/docs/README-osal.md
+++ b/docs/README-osal.md
@ -0,0 +1,32 @@
+# Operating System Abstraction Layer (OSAL)
+
+Some specific information on the provided OSALs are provided.
+
+## Linux OSAL
+
+This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for 
+embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
+and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
+
+More information on how to set up a Linux system accordingly can be found in the 
+[Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
+
+## Hosted OSAL
+
+This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
+
+## FreeRTOS OSAL
+
+FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
+
+When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
+
+## RTEMS OSAL
+
+The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
+
+## TCP/IP socket abstraction
+
+The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.
+
+
--- a/docs/README-pus.md
+++ b/docs/README-pus.md
@ -0,0 +1 @@
+## PUS Services
--- a/docs/api.rst
+++ b/docs/api.rst
@ -4,7 +4,6 @@ API
 .. toctree::
   :maxdepth: 4

-   api/cfdp
   api/objectmanager
   api/task
   api/ipc
--- a/docs/api/cfdp.rst
+++ b/docs/api/cfdp.rst
@ -1,8 +0,0 @@
-CFDP API
-=================
-
-``UserBase``
-----------------
-
-.. doxygenclass:: cfdp::UserBase
-	:members:
--- a/docs/api/returnvalue.rst
+++ b/docs/api/returnvalue.rst
@ -3,7 +3,7 @@
 Returnvalue API
 ==================

-.. doxygenfile:: returnvalue.h
+.. doxygenfile:: HasReturnvaluesIF.h

 .. _fwclassids:

--- a/docs/conf.py
+++ b/docs/conf.py
@ -17,12 +17,12 @@

 # -- Project information -----------------------------------------------------

-project = "Flight Software Framework"
-copyright = "2021, Institute of Space Systems (IRS)"
-author = "Institute of Space Systems (IRS)"
+project = 'Flight Software Framework'
+copyright = '2021, Institute of Space Systems (IRS)'
+author = 'Institute of Space Systems (IRS)'

 # The full version, including alpha/beta/rc tags
-release = "5.0.0"
+release = '2.0.1'


 # -- General configuration ---------------------------------------------------
@ -30,17 +30,17 @@ release = "5.0.0"
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = ["breathe"]
+extensions = [ "breathe" ]

 breathe_default_project = "fsfw"

 # Add any paths that contain templates here, relative to this directory.
-templates_path = ["_templates"]
+templates_path = ['_templates']

 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']


 # -- Options for HTML output -------------------------------------------------
@ -48,17 +48,9 @@ exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = "alabaster"
-
-html_theme_options = {
-    "extra_nav_links": {
-        "Impressum": "https://www.uni-stuttgart.de/impressum",
-        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
-    }
-}
-
+html_theme = 'alabaster'

 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = []
+html_static_path = []
--- a/docs/devicehandlers.rst
+++ b/docs/devicehandlers.rst
@ -75,11 +75,11 @@ and the respective source file with sensible default return values:
 	void TestDeviceHandler::doShutDown() {}

 	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	void TestDeviceHandler::fillCommandAndReplyMap() {}
@ -87,17 +87,17 @@ and the respective source file with sensible default return values:
 	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 	                                                         const uint8_t* commandData,
 	                                                         size_t commandDataLen) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
 	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 	                                                      const uint8_t* packet) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
@ -106,5 +106,5 @@ and the respective source file with sensible default return values:

 	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
 	                                                         LocalDataPoolManager& poolManager) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}
--- a/docs/getting_started.rst
+++ b/docs/getting_started.rst
@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console

   mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..


 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
--- a/docs/highlevel.rst
+++ b/docs/highlevel.rst
@ -6,20 +6,19 @@ High-level overview
 Structure
 ----------

-The general structure is driven by the usage of interfaces provided by objects. 
-The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
-standard, even for micocontrollers.
-
-The FSFW might use dynamic allocation during program initialization but not during runtime.
-It offers pool objects, static containers and it also exposes the
-`Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
-allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
+The general structure is driven by the usage of interfaces provided by objects.
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
+This simplifies the instantiation of objects and allows the usage of some standard containers.
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.

 Failure Handling
 -----------------

 Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
 or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
 See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
 ``fsfwconfig`` folder.
--- a/docs/localpools.rst
+++ b/docs/localpools.rst
@ -150,7 +150,7 @@ with a housekeeping service command.
 				new PoolEntry<uint8_t>({0}));

 		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-		return returnvalue::OK;
+		return HasReturnvaluesIF::RETURN_OK;
 	}

 Now, if we receive some sensor data and converted them into the right format,
@ -160,7 +160,7 @@ in any case:
 .. code-block:: cpp

 	PoolReadGuard readHelper(&gyroData);
-	if(readHelper.getReadResult() == returnvalue::OK) {
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 		if(not gyroData.isValid()) {
 			gyroData.setValidity(true, true);
 		}
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@ -0,0 +1,48 @@
+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. 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_LINUX_ADD_LIBGPIOD "Target implements libgpiod" 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)
+
+set(LINUX_HAL_PATH_NAME linux)
+set(STM32H7_PATH_NAME stm32h7)
+
+add_subdirectory(src)
+
+foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
+
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
+
+    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+endforeach()
+
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_ADD_INC_PATHS_ABS}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_DEFINES}
+)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_LINK_LIBS}
+)
--- a/hal/src/CMakeLists.txt
+++ b/hal/src/CMakeLists.txt
@ -0,0 +1,9 @@
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_subdirectory(fsfw_hal)
--- a/hal/src/fsfw_hal/CMakeLists.txt
+++ b/hal/src/fsfw_hal/CMakeLists.txt
@ -1,11 +1,10 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
-add_subdirectory(host)

 if(UNIX)
-  add_subdirectory(linux)
+    add_subdirectory(linux)
 endif()

 if(FSFW_HAL_ADD_STM32H7)
-  add_subdirectory(stm32h7)
+    add_subdirectory(stm32h7)
 endif()
--- a/hal/src/fsfw_hal/common/CMakeLists.txt
+++ b/hal/src/fsfw_hal/common/CMakeLists.txt
@ -0,0 +1 @@
+add_subdirectory(gpio)
--- a/hal/src/fsfw_hal/common/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/common/gpio/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GpioCookie.cpp
+)
--- a/hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
+++ b/hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
@ -0,0 +1,37 @@
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+
+#include "fsfw/serviceinterface.h"
+
+GpioCookie::GpioCookie() = default;
+
+ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
+  if (gpioConfig == nullptr) {
+    FSFW_LOGW("addGpio: gpioConfig is nullpointer\n");
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  auto gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+    auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
+    if (!statusPair.second) {
+      FSFW_LOGW("addGpio: Failed to add GPIO {} to GPIO map\n", gpioId);
+      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 { return gpioMap; }
+
+GpioCookie::~GpioCookie() {
+  for (auto& config : gpioMap) {
+    delete (config.second);
+  }
+}
--- a/hal/src/fsfw_hal/common/gpio/GpioCookie.h
+++ b/hal/src/fsfw_hal/common/gpio/GpioCookie.h
@ -2,7 +2,7 @@
 #define COMMON_GPIO_GPIOCOOKIE_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "GpioIF.h"
 #include "gpioDefinitions.h"
--- a/hal/src/fsfw_hal/common/gpio/GpioIF.h
+++ b/hal/src/fsfw_hal/common/gpio/GpioIF.h
@ -2,7 +2,7 @@
 #define COMMON_GPIO_GPIOIF_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "gpioDefinitions.h"

@ -13,7 +13,7 @@ class GpioCookie;
 * 			over GPIOs.
 * @author	J. Meier
 */
-class GpioIF {
+class GpioIF : public HasReturnvaluesIF {
 public:
  virtual ~GpioIF(){};

@ -29,7 +29,7 @@ class GpioIF {
   * 			functionality to pull a certain GPIO to high logic level.
   *
   * @param gpioId	A unique number which specifies the GPIO to drive.
-   * @return  Returns returnvalue::OK for success. This should never return returnvalue::FAILED.
+   * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
   */
  virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;

@ -46,9 +46,9 @@ class GpioIF {
   *          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 reference
+   * @param gpioState State of GPIO will be written to this pointer.
   */
-  virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0;
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
 };

 #endif /* COMMON_GPIO_GPIOIF_H_ */
--- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
+++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
@ -5,19 +5,11 @@
 #include <string>
 #include <unordered_map>

-#ifdef PLATFORM_WIN
-// Defined in Windows header for whatever reason, and leads to nameclash issues with
-// class enums which have entries of the same name.
-#undef IN
-#undef OUT
-#undef CALLBACK
-#endif
-
 using gpioId_t = uint16_t;

 namespace gpio {

-enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 };
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };

 enum class Direction : int { IN = 0, OUT = 1 };

--- a/hal/src/fsfw_hal/common/spi/spiCommon.h
+++ b/hal/src/fsfw_hal/common/spi/spiCommon.h
@ -0,0 +1,12 @@
+#ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+#define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+
+#include <cstdint>
+
+namespace spi {
+
+enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
+
+}
+
+#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */
--- a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
+++ b/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20Handler.cpp
+    MgmRM3100Handler.cpp
+    MgmLIS3MDLHandler.cpp
+)
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@ -46,37 +46,29 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
      return NOTHING_TO_SEND;
    }
    case (InternalState::CONFIGURE): {
-      *id = l3gd20h::CONFIGURE_CTRL_REGS;
+      *id = L3GD20H::CONFIGURE_CTRL_REGS;
      uint8_t command[5];
-      command[0] = l3gd20h::CTRL_REG_1_VAL;
-      command[1] = l3gd20h::CTRL_REG_2_VAL;
-      command[2] = l3gd20h::CTRL_REG_3_VAL;
-      command[3] = l3gd20h::CTRL_REG_4_VAL;
-      command[4] = l3gd20h::CTRL_REG_5_VAL;
+      command[0] = L3GD20H::CTRL_REG_1_VAL;
+      command[1] = L3GD20H::CTRL_REG_2_VAL;
+      command[2] = L3GD20H::CTRL_REG_3_VAL;
+      command[3] = L3GD20H::CTRL_REG_4_VAL;
+      command[4] = L3GD20H::CTRL_REG_5_VAL;
      return buildCommandFromCommand(*id, command, 5);
    }
    case (InternalState::CHECK_REGS): {
-      *id = l3gd20h::READ_REGS;
+      *id = L3GD20H::READ_REGS;
      return buildCommandFromCommand(*id, nullptr, 0);
    }
    default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
      /* Might be a configuration error. */
-      sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                      "Unknown internal state!"
-                   << std::endl;
-#else
-      sif::printDebug(
-          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-          "Unknown internal state!\n");
-#endif
-      return returnvalue::OK;
+      FSFW_LOGW("buildTransitionDeviceCommand: Unknown internal state\n");
+      return HasReturnvaluesIF::RETURN_OK;
  }
-  return returnvalue::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);
 }

@ -84,15 +76,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
                                                          const uint8_t *commandData,
                                                          size_t commandDataLen) {
  switch (deviceCommand) {
-    case (l3gd20h::READ_REGS): {
-      commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
-      std::memset(commandBuffer + 1, 0, l3gd20h::READ_LEN);
+    case (L3GD20H::READ_REGS): {
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
+      std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
      rawPacket = commandBuffer;
-      rawPacketLen = l3gd20h::READ_LEN + 1;
+      rawPacketLen = L3GD20H::READ_LEN + 1;
      break;
    }
-    case (l3gd20h::CONFIGURE_CTRL_REGS): {
-      commandBuffer[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK;
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
+      commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
      if (commandData == nullptr or commandDataLen != 5) {
        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
      }
@ -103,15 +95,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
      ctrlReg4Value = commandData[3];
      ctrlReg5Value = commandData[4];

-      bool fsH = ctrlReg4Value & l3gd20h::SET_FS_1;
-      bool fsL = ctrlReg4Value & l3gd20h::SET_FS_0;
+      bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
+      bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;

      if (not fsH and not fsL) {
-        sensitivity = l3gd20h::SENSITIVITY_00;
+        sensitivity = L3GD20H::SENSITIVITY_00;
      } else if (not fsH and fsL) {
-        sensitivity = l3gd20h::SENSITIVITY_01;
+        sensitivity = L3GD20H::SENSITIVITY_01;
      } else {
-        sensitivity = l3gd20h::SENSITIVITY_11;
+        sensitivity = L3GD20H::SENSITIVITY_11;
      }

      commandBuffer[1] = ctrlReg1Value;
@ -124,8 +116,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
      rawPacketLen = 6;
      break;
    }
-    case (l3gd20h::READ_CTRL_REGS): {
-      commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
+    case (L3GD20H::READ_CTRL_REGS): {
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;

      std::memset(commandBuffer + 1, 0, 5);
      rawPacket = commandBuffer;
@ -135,7 +127,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
@ -144,18 +136,18 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
  *foundId = this->getPendingCommand();
  *foundLen = this->rawPacketLen;

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
                                                       const uint8_t *packet) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  switch (id) {
-    case (l3gd20h::CONFIGURE_CTRL_REGS): {
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
      commandExecuted = true;
      break;
    }
-    case (l3gd20h::READ_CTRL_REGS): {
+    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) {
@ -167,7 +159,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
      }
      break;
    }
-    case (l3gd20h::READ_REGS): {
+    case (L3GD20H::READ_REGS): {
      if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
          packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
          packet[5] != ctrlReg5Value) {
@ -178,36 +170,27 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
        }
      }

-      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 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 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 angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
      float angVelocX = angVelocXRaw * sensitivity;
      float angVelocY = angVelocYRaw * 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;
      if (periodicPrintout) {
        if (debugDivider.checkAndIncrement()) {
          /* 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 << "X: " << angVelocX << std::endl;
-          sif::info << "Y: " << angVelocY << std::endl;
-          sif::info << "Z: " << angVelocZ << std::endl;
-#else
-          sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
-          sif::printInfo("X: %f\n", angVelocX);
-          sif::printInfo("Y: %f\n", angVelocY);
-          sif::printInfo("Z: %f\n", angVelocZ);
-#endif
+          FSFW_LOGI("GyroHandlerL3GD20H: Angular velocities (deg/s):\nX {} | Y {} | Z {}\n",
+                    angVelocX, angVelocY, angVelocZ);
        }
      }

      PoolReadGuard readSet(&dataset);
-      if (readSet.getReadResult() == returnvalue::OK) {
+      if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
        if (std::abs(angVelocX) < this->absLimitX) {
          dataset.angVelocX = angVelocX;
          dataset.angVelocX.setValid(true);
@ -248,19 +231,17 @@ void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeIm

 ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                          LocalDataPoolManager &poolManager) {
-  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_Z, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(dataset.getSid(), false, 10.0));
-  return returnvalue::OK;
+  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_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(l3gd20h::READ_REGS, 1, &dataset);
-  insertInCommandAndReplyMap(l3gd20h::CONFIGURE_CTRL_REGS, 1);
-  insertInCommandAndReplyMap(l3gd20h::READ_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
+  insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
 }

 void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
@ -3,7 +3,8 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
+
+#include "devicedefinitions/GyroL3GD20Definitions.h"

 /**
 * @brief 	Device Handler for the L3GD20H gyroscope sensor
@ -58,9 +59,9 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
  uint32_t transitionDelayMs = 0;
  GyroPrimaryDataset dataset;

-  float absLimitX = l3gd20h::RANGE_DPS_00;
-  float absLimitY = l3gd20h::RANGE_DPS_00;
-  float absLimitZ = l3gd20h::RANGE_DPS_00;
+  float absLimitX = L3GD20H::RANGE_DPS_00;
+  float absLimitY = L3GD20H::RANGE_DPS_00;
+  float absLimitZ = L3GD20H::RANGE_DPS_00;

  enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
  InternalState internalState = InternalState::NONE;
@ -69,16 +70,16 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
  uint8_t statusReg = 0;
  bool goNormalModeImmediately = false;

-  uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
-  uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;
-  uint8_t ctrlReg3Value = l3gd20h::CTRL_REG_3_VAL;
-  uint8_t ctrlReg4Value = l3gd20h::CTRL_REG_4_VAL;
-  uint8_t ctrlReg5Value = l3gd20h::CTRL_REG_5_VAL;
+  uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
+  uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
+  uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
+  uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_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
-  float sensitivity = l3gd20h::SENSITIVITY_00;
+  float sensitivity = L3GD20H::SENSITIVITY_00;

  bool periodicPrintout = false;
  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@ -10,11 +10,11 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
      dataset(this),
      transitionDelay(transitionDelay) {
  // Set to default values right away
-  registers[0] = mgmLis3::CTRL_REG1_DEFAULT;
-  registers[1] = mgmLis3::CTRL_REG2_DEFAULT;
-  registers[2] = mgmLis3::CTRL_REG3_DEFAULT;
-  registers[3] = mgmLis3::CTRL_REG4_DEFAULT;
-  registers[4] = mgmLis3::CTRL_REG5_DEFAULT;
+  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;
 }

 MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
@ -63,37 +63,48 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
      return DeviceHandlerBase::NOTHING_TO_SEND;
    }
    case (InternalState::STATE_FIRST_CONTACT): {
-      *id = mgmLis3::IDENTIFY_DEVICE;
+      *id = MGMLIS3MDL::IDENTIFY_DEVICE;
      break;
    }
    case (InternalState::STATE_SETUP): {
-      *id = mgmLis3::SETUP_MGM;
+      *id = MGMLIS3MDL::SETUP_MGM;
      break;
    }
    case (InternalState::STATE_CHECK_REGISTERS): {
-      *id = mgmLis3::READ_CONFIG_AND_DATA;
+      *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
      break;
    }
    default: {
      /* might be a configuration error. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
-                   << std::endl;
-#else
-      sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-      return returnvalue::OK;
+      FSFW_LOGW("buildTransitionDeviceCommand: Unknown internal state\n");
+      return HasReturnvaluesIF::RETURN_OK;
    }
  }
-  return buildCommandFromCommand(*id, NULL, 0);
+  return buildCommandFromCommand(*id, nullptr, 0);
+}
+
+uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
+  command |= (1 << MGMLIS3MDL::RW_BIT);
+  if (continuousCom) {
+    command |= (1 << MGMLIS3MDL::MS_BIT);
+  }
+  return command;
+}
+
+uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
+  command &= ~(1 << MGMLIS3MDL::RW_BIT);
+  if (continuousCom) {
+    command |= (1 << MGMLIS3MDL::MS_BIT);
+  }
+  return command;
 }

 void MgmLIS3MDLHandler::setupMgm() {
-  registers[0] = mgmLis3::CTRL_REG1_DEFAULT;
-  registers[1] = mgmLis3::CTRL_REG2_DEFAULT;
-  registers[2] = mgmLis3::CTRL_REG3_DEFAULT;
-  registers[3] = mgmLis3::CTRL_REG4_DEFAULT;
-  registers[4] = mgmLis3::CTRL_REG5_DEFAULT;
+  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;

  prepareCtrlRegisterWrite();
 }
@ -101,11 +112,11 @@ void MgmLIS3MDLHandler::setupMgm() {
 ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  // Data/config register will be read in an alternating manner.
  if (communicationStep == CommunicationStep::DATA) {
-    *id = mgmLis3::READ_CONFIG_AND_DATA;
+    *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
    communicationStep = CommunicationStep::TEMPERATURE;
    return buildCommandFromCommand(*id, NULL, 0);
  } else {
-    *id = mgmLis3::READ_TEMPERATURE;
+    *id = MGMLIS3MDL::READ_TEMPERATURE;
    communicationStep = CommunicationStep::DATA;
    return buildCommandFromCommand(*id, NULL, 0);
  }
@ -115,100 +126,86 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
                                                         const uint8_t *commandData,
                                                         size_t commandDataLen) {
  switch (deviceCommand) {
-    case (mgmLis3::READ_CONFIG_AND_DATA): {
+    case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
      std::memset(commandBuffer, 0, sizeof(commandBuffer));
-      commandBuffer[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
+      commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);

      rawPacket = commandBuffer;
-      rawPacketLen = mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-      return returnvalue::OK;
+      rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
+      return RETURN_OK;
    }
-    case (mgmLis3::READ_TEMPERATURE): {
+    case (MGMLIS3MDL::READ_TEMPERATURE): {
      std::memset(commandBuffer, 0, 3);
-      commandBuffer[0] = mgmLis3::readCommand(mgmLis3::TEMP_LOWBYTE, true);
+      commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);

      rawPacket = commandBuffer;
      rawPacketLen = 3;
-      return returnvalue::OK;
+      return RETURN_OK;
    }
-    case (mgmLis3::IDENTIFY_DEVICE): {
+    case (MGMLIS3MDL::IDENTIFY_DEVICE): {
      return identifyDevice();
    }
-    case (mgmLis3::TEMP_SENSOR_ENABLE): {
+    case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
      return enableTemperatureSensor(commandData, commandDataLen);
    }
-    case (mgmLis3::SETUP_MGM): {
+    case (MGMLIS3MDL::SETUP_MGM): {
      setupMgm();
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
    }
-    case (mgmLis3::ACCURACY_OP_MODE_SET): {
+    case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
      return setOperatingMode(commandData, commandDataLen);
    }
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }

 ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
  uint32_t size = 2;
-  commandBuffer[0] = mgmLis3::readCommand(mgmLis3::IDENTIFY_DEVICE_REG_ADDR);
+  commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
  commandBuffer[1] = 0x00;

  rawPacket = commandBuffer;
  rawPacketLen = size;

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
                                              DeviceCommandId_t *foundId, size_t *foundLen) {
  *foundLen = len;
-  if (len == mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
+  if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
    *foundLen = len;
-    *foundId = mgmLis3::READ_CONFIG_AND_DATA;
+    *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
    // Check validity by checking config registers
    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;
-#else
-      sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
+      FSFW_LOGW("scanForReply: Invalid registers\n");
      return DeviceHandlerIF::INVALID_DATA;
    }
-    if (getMode() == _MODE_START_UP) {
+    if (mode == _MODE_START_UP) {
      commandExecuted = true;
    }

-  } else if (len == mgmLis3::TEMPERATURE_REPLY_LEN) {
+  } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
    *foundLen = len;
-    *foundId = mgmLis3::READ_TEMPERATURE;
-  } else if (len == mgmLis3::SETUP_REPLY_LEN) {
+    *foundId = MGMLIS3MDL::READ_TEMPERATURE;
+  } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
    *foundLen = len;
-    *foundId = mgmLis3::SETUP_MGM;
+    *foundId = MGMLIS3MDL::SETUP_MGM;
  } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
    *foundLen = len;
    *foundId = getPendingCommand();
-    if (*foundId == mgmLis3::IDENTIFY_DEVICE) {
-      if (start[1] != mgmLis3::DEVICE_ID) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!"
-                     << std::endl;
-#else
-        sif::printWarning(
-            "MGMHandlerLIS3MDL::scanForReply: "
-            "Device identification failed!\n");
-#endif
-#endif
+    if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
+      if (start[1] != MGMLIS3MDL::DEVICE_ID) {
+        FSFW_LOGW(
+            "scanForReply: Device identification failed, found ID {} not equal to expected {}\n",
+            start[1], MGMLIS3MDL::DEVICE_ID);
        return DeviceHandlerIF::INVALID_DATA;
      }

-      if (getMode() == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
        commandExecuted = true;
      }
    }
@ -218,94 +215,84 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,

  /* Data with SPI Interface always has this answer */
  if (start[0] == 0b11111111) {
-    return returnvalue::OK;
+    return RETURN_OK;
  } else {
    return DeviceHandlerIF::INVALID_DATA;
  }
 }
 ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
  switch (id) {
-    case mgmLis3::IDENTIFY_DEVICE: {
+    case MGMLIS3MDL::IDENTIFY_DEVICE: {
      break;
    }
-    case mgmLis3::SETUP_MGM: {
+    case MGMLIS3MDL::SETUP_MGM: {
      break;
    }
-    case mgmLis3::READ_CONFIG_AND_DATA: {
-      using namespace mgmLis3;
+    case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
      // TODO: Store configuration in new local datasets.
      float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));

      int16_t mgmMeasurementRawX =
-          packet[mgmLis3::X_HIGHBYTE_IDX] << 8 | packet[mgmLis3::X_LOWBYTE_IDX];
+          packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
      int16_t mgmMeasurementRawY =
-          packet[mgmLis3::Y_HIGHBYTE_IDX] << 8 | packet[mgmLis3::Y_LOWBYTE_IDX];
+          packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
      int16_t mgmMeasurementRawZ =
-          packet[mgmLis3::Z_HIGHBYTE_IDX] << 8 | packet[mgmLis3::Z_LOWBYTE_IDX];
+          packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];

      // Target value in microtesla
      float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
-                   mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
      float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
-                   mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
      float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
-                   mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;

      if (periodicPrintout) {
        if (debugDivider.checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                       " microtesla:"
-                    << std::endl;
-          sif::info << "X: " << mgmX << " 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("X: %f uT\n", mgmX);
-          sif::printInfo("Y: %f uT\n", mgmY);
-          sif::printInfo("Z: %f uT\n", mgmZ);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+          FSFW_LOGI(
+              "MGMHandlerLIS3: Magnetic field strength in"
+              " microtesla (uT):\nX {} | Y {} | Z {}\n",
+              mgmX, mgmY, mgmZ);
        }
      }

      PoolReadGuard readHelper(&dataset);
-      if (readHelper.getReadResult() == returnvalue::OK) {
-        if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
-            std::abs(mgmZ) > absLimitZ) {
-          dataset.fieldStrengths.setValid(false);
-        }
+      if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
        if (std::abs(mgmX) < absLimitX) {
-          dataset.fieldStrengths[0] = mgmX;
+          dataset.fieldStrengthX = mgmX;
+          dataset.fieldStrengthX.setValid(true);
+        } else {
+          dataset.fieldStrengthX.setValid(false);
        }

        if (std::abs(mgmY) < absLimitY) {
-          dataset.fieldStrengths[1] = mgmY;
+          dataset.fieldStrengthY = mgmY;
+          dataset.fieldStrengthY.setValid(true);
+        } else {
+          dataset.fieldStrengthY.setValid(false);
        }

        if (std::abs(mgmZ) < absLimitZ) {
-          dataset.fieldStrengths[2] = mgmZ;
+          dataset.fieldStrengthZ = mgmZ;
+          dataset.fieldStrengthZ.setValid(true);
+        } else {
+          dataset.fieldStrengthZ.setValid(false);
        }
-        dataset.fieldStrengths.setValid(true);
      }
      break;
    }

-    case mgmLis3::READ_TEMPERATURE: {
-      int16_t tempValueRaw = packet[2] << 8 | packet[1];
+    case MGMLIS3MDL::READ_TEMPERATURE: {
+      auto tempValueRaw = static_cast<int16_t>((packet[2] << 8) | packet[1]);
      float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
      if (periodicPrintout) {
        if (debugDivider.check()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
-#else
-          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
-#endif
+          FSFW_LOGI("MGMHandlerLIS3: Temperature: {} C\n", tempValue);
        }
      }

      ReturnValue_t result = dataset.read();
-      if (result == returnvalue::OK) {
+      if (result == HasReturnvaluesIF::RETURN_OK) {
        dataset.temperature = tempValue;
        dataset.commit();
      }
@ -316,26 +303,58 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
  }
-  return returnvalue::OK;
+  return RETURN_OK;
+}
+
+MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
+  bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
+  bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
+
+  if (fs0Set && fs1Set)
+    return MGMLIS3MDL::Sensitivies::GAUSS_16;
+  else if (!fs0Set && fs1Set)
+    return MGMLIS3MDL::Sensitivies::GAUSS_12;
+  else if (fs0Set && !fs1Set)
+    return MGMLIS3MDL::Sensitivies::GAUSS_8;
+  else
+    return MGMLIS3MDL::Sensitivies::GAUSS_4;
+}
+
+float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
+  switch (sens) {
+    case (MGMLIS3MDL::GAUSS_4): {
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+    }
+    case (MGMLIS3MDL::GAUSS_8): {
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
+    }
+    case (MGMLIS3MDL::GAUSS_12): {
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
+    }
+    case (MGMLIS3MDL::GAUSS_16): {
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
+    }
+    default: {
+      // Should never happen
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+    }
+  }
 }

 ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
                                                         size_t commandDataLen) {
-  if (commandData == nullptr) {
-    return INVALID_COMMAND_PARAMETER;
-  }
  triggerEvent(CHANGE_OF_SETUP_PARAMETER);
  uint32_t size = 2;
-  commandBuffer[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1);
+  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
  if (commandDataLen > 1) {
    return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
  }
-  switch (commandData[0]) {
-    case (mgmLis3::ON): {
+  switch (*commandData) {
+    case (MGMLIS3MDL::ON): {
      commandBuffer[1] = registers[0] | (1 << 7);
      break;
    }
-    case (mgmLis3::OFF): {
+    case (MGMLIS3MDL::OFF): {
      commandBuffer[1] = registers[0] & ~(1 << 7);
      break;
    }
@ -347,7 +366,7 @@ ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandD
  rawPacket = commandBuffer;
  rawPacketLen = size;

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
@ -358,23 +377,23 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
  }

  switch (commandData[0]) {
-    case mgmLis3::LOW:
-      registers[0] = (registers[0] & (~(1 << mgmLis3::OM1))) & (~(1 << mgmLis3::OM0));
-      registers[3] = (registers[3] & (~(1 << mgmLis3::OMZ1))) & (~(1 << mgmLis3::OMZ0));
+    case MGMLIS3MDL::LOW:
+      registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
+      registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
      break;
-    case mgmLis3::MEDIUM:
-      registers[0] = (registers[0] & (~(1 << mgmLis3::OM1))) | (1 << mgmLis3::OM0);
-      registers[3] = (registers[3] & (~(1 << mgmLis3::OMZ1))) | (1 << mgmLis3::OMZ0);
+    case MGMLIS3MDL::MEDIUM:
+      registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
+      registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
      break;

-    case mgmLis3::HIGH:
-      registers[0] = (registers[0] | (1 << mgmLis3::OM1)) & (~(1 << mgmLis3::OM0));
-      registers[3] = (registers[3] | (1 << mgmLis3::OMZ1)) & (~(1 << mgmLis3::OMZ0));
+    case MGMLIS3MDL::HIGH:
+      registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
+      registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
      break;

-    case mgmLis3::ULTRA:
-      registers[0] = (registers[0] | (1 << mgmLis3::OM1)) | (1 << mgmLis3::OM0);
-      registers[3] = (registers[3] | (1 << mgmLis3::OMZ1)) | (1 << mgmLis3::OMZ0);
+    case MGMLIS3MDL::ULTRA:
+      registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
+      registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
      break;
    default:
      break;
@ -384,27 +403,27 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
 }

 void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(mgmLis3::READ_CONFIG_AND_DATA, 1, &dataset);
-  insertInCommandAndReplyMap(mgmLis3::READ_TEMPERATURE, 1);
-  insertInCommandAndReplyMap(mgmLis3::SETUP_MGM, 1);
-  insertInCommandAndReplyMap(mgmLis3::IDENTIFY_DEVICE, 1);
-  insertInCommandAndReplyMap(mgmLis3::TEMP_SENSOR_ENABLE, 1);
-  insertInCommandAndReplyMap(mgmLis3::ACCURACY_OP_MODE_SET, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
+  insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
 }

 void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }

 ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
-  commandBuffer[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1, true);
+  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);

-  for (size_t i = 0; i < mgmLis3::NR_OF_CTRL_REGISTERS; i++) {
+  for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
    commandBuffer[i + 1] = registers[i];
  }
  rawPacket = commandBuffer;
-  rawPacketLen = mgmLis3::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
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
@ -417,10 +436,11 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE

 ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, &temperature);
-  poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
-  return returnvalue::OK;
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, 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) {
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
@ -1,8 +1,8 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_

-#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
-
+#include "devicedefinitions/MgmLIS3HandlerDefs.h"
+#include "events/subsystemIdRanges.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"

@ -67,7 +67,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
                                        LocalDataPoolManager &poolManager) override;

 private:
-  mgmLis3::MgmPrimaryDataset dataset;
+  MGMLIS3MDL::MgmPrimaryDataset dataset;
  // Length a single command SPI answer
  static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;

@ -75,7 +75,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
  // Single SPI command has 2 bytes, first for adress, second for content
  size_t singleComandSize = 2;
  // Has the size for all adresses of the lis3mdl + the continous write bit
-  uint8_t commandBuffer[mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1];
+  uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];

  float absLimitX = 100;
  float absLimitY = 100;
@ -86,7 +86,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
   * registers when we want to change something.
   * --> everytime we change set a register we have to save it
   */
-  uint8_t registers[mgmLis3::NR_OF_CTRL_REGISTERS];
+  uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];

  uint8_t statusRegister = 0;
  bool goToNormalMode = false;
@ -103,11 +103,38 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
  CommunicationStep communicationStep = CommunicationStep::DATA;
  bool commandExecuted = false;

-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
-  PoolEntry<float> temperature = PoolEntry<float>();
  /*------------------------------------------------------------------------*/
  /* Device specific commands and variables */
  /*------------------------------------------------------------------------*/
+  /**
+   * 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);
+
+  /**
+   * 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
+   */
+  uint8_t writeCommand(uint8_t command, bool continuousCom = false);
+
+  /**
+   * This Method gets the full scale for the measurement range
+   * e.g.: +- 4 gauss. See p.25 datasheet.
+   *  @return The ReturnValue does not contain the sign of the value
+   */
+  MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
+
+  /**
+   * The 16 bit value needs to be multiplied with a sensitivity factor
+   * which depends on the sensitivity configuration
+   *
+   * @param sens Configured sensitivity of the LIS3 device
+   * @return Multiplication factor to get the sensor value from raw data.
+   */
+  float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);

  /**
   * This Command detects the device ID
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@ -4,7 +4,7 @@
 #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
 #include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
                                   CookieIF *comCookie, uint32_t transitionDelay)
@ -63,37 +63,27 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
      return NOTHING_TO_SEND;
    }
    case (InternalState::CONFIGURE_CMM): {
-      *id = mgmRm3100::CONFIGURE_CMM;
+      *id = RM3100::CONFIGURE_CMM;
      break;
    }
    case (InternalState::READ_CMM): {
-      *id = mgmRm3100::READ_CMM;
+      *id = RM3100::READ_CMM;
      break;
    }
    case (InternalState::STATE_CONFIGURE_TMRC): {
-      commandBuffer[0] = mgmRm3100::TMRC_DEFAULT_VALUE;
+      commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
      commandLen = 1;
-      *id = mgmRm3100::CONFIGURE_TMRC;
+      *id = RM3100::CONFIGURE_TMRC;
      break;
    }
    case (InternalState::STATE_READ_TMRC): {
-      *id = mgmRm3100::READ_TMRC;
+      *id = RM3100::READ_TMRC;
      break;
    }
    default:
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
      // Might be a configuration error
-      sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                      "Unknown internal state"
-                   << std::endl;
-#else
-      sif::printWarning(
-          "MgmRM3100Handler::buildTransitionDeviceCommand: "
-          "Unknown internal state\n");
-#endif
-#endif
-      return returnvalue::OK;
+      FSFW_LOGW("buildTransitionDeviceCommand: Unknown internal state\n");
+      return HasReturnvaluesIF::RETURN_OK;
  }

  return buildCommandFromCommand(*id, commandBuffer, commandLen);
@ -103,42 +93,42 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
                                                        const uint8_t *commandData,
                                                        size_t commandDataLen) {
  switch (deviceCommand) {
-    case (mgmRm3100::CONFIGURE_CMM): {
-      commandBuffer[0] = mgmRm3100::CMM_REGISTER;
-      commandBuffer[1] = mgmRm3100::CMM_VALUE;
+    case (RM3100::CONFIGURE_CMM): {
+      commandBuffer[0] = RM3100::CMM_REGISTER;
+      commandBuffer[1] = RM3100::CMM_VALUE;
      rawPacket = commandBuffer;
      rawPacketLen = 2;
      break;
    }
-    case (mgmRm3100::READ_CMM): {
-      commandBuffer[0] = mgmRm3100::CMM_REGISTER | mgmRm3100::READ_MASK;
+    case (RM3100::READ_CMM): {
+      commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
      commandBuffer[1] = 0;
      rawPacket = commandBuffer;
      rawPacketLen = 2;
      break;
    }
-    case (mgmRm3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_TMRC): {
      return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
    }
-    case (mgmRm3100::READ_TMRC): {
-      commandBuffer[0] = mgmRm3100::TMRC_REGISTER | mgmRm3100::READ_MASK;
+    case (RM3100::READ_TMRC): {
+      commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
      commandBuffer[1] = 0;
      rawPacket = commandBuffer;
      rawPacketLen = 2;
      break;
    }
-    case (mgmRm3100::CONFIGURE_CYCLE_COUNT): {
+    case (RM3100::CONFIGURE_CYCLE_COUNT): {
      return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
    }
-    case (mgmRm3100::READ_CYCLE_COUNT): {
-      commandBuffer[0] = mgmRm3100::CYCLE_COUNT_START_REGISTER | mgmRm3100::READ_MASK;
+    case (RM3100::READ_CYCLE_COUNT): {
+      commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
      std::memset(commandBuffer + 1, 0, 6);
      rawPacket = commandBuffer;
      rawPacketLen = 7;
      break;
    }
-    case (mgmRm3100::READ_DATA): {
-      commandBuffer[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
+    case (RM3100::READ_DATA): {
+      commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
      std::memset(commandBuffer + 1, 0, 9);
      rawPacketLen = 10;
      break;
@ -146,11 +136,11 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-  *id = mgmRm3100::READ_DATA;
+  *id = RM3100::READ_DATA;
  return buildCommandFromCommand(*id, nullptr, 0);
 }

@ -159,22 +149,22 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
  // For SPI, ID will always be the one of the last sent command
  *foundId = this->getPendingCommand();
  *foundLen = len;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  switch (id) {
-    case (mgmRm3100::CONFIGURE_CMM):
-    case (mgmRm3100::CONFIGURE_CYCLE_COUNT):
-    case (mgmRm3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_CMM):
+    case (RM3100::CONFIGURE_CYCLE_COUNT):
+    case (RM3100::CONFIGURE_TMRC): {
      // We can only check whether write was successful with read operation
-      if (getMode() == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
        commandExecuted = true;
      }
      break;
    }
-    case (mgmRm3100::READ_CMM): {
+    case (RM3100::READ_CMM): {
      uint8_t cmmValue = packet[1];
      // We clear the seventh bit in any case
      // because this one is zero sometimes for some reason
@ -188,11 +178,11 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
      }
      break;
    }
-    case (mgmRm3100::READ_TMRC): {
+    case (RM3100::READ_TMRC): {
      if (packet[1] == tmrcRegValue) {
        commandExecuted = true;
        // Reading TMRC was commanded. Trigger event to inform ground
-        if (getMode() != _MODE_START_UP) {
+        if (mode != _MODE_START_UP) {
          triggerEvent(tmrcSet, tmrcRegValue, 0);
        }
      } else {
@ -202,7 +192,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
      }
      break;
    }
-    case (mgmRm3100::READ_CYCLE_COUNT): {
+    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];
@ -211,13 +201,13 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
      }
      // Reading TMRC was commanded. Trigger event to inform ground
-      if (getMode() != _MODE_START_UP) {
+      if (mode != _MODE_START_UP) {
        uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
        triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
      }
      break;
    }
-    case (mgmRm3100::READ_DATA): {
+    case (RM3100::READ_DATA): {
      result = handleDataReadout(packet);
      break;
    }
@ -244,21 +234,21 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
  }

-  commandBuffer[0] = mgmRm3100::CYCLE_COUNT_VALUE;
+  commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
  std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
  std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
  std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
  rawPacketLen = 7;
  rawPacket = commandBuffer;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
                                                   size_t commandDataLen) {
-  mgmRm3100::CycleCountCommand command(oneCycleValue);
+  RM3100::CycleCountCommand command(oneCycleValue);
  ReturnValue_t result =
      command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

@ -274,7 +264,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uin
  cycleCountRegValueX = command.cycleCountX;
  cycleCountRegValueY = command.cycleCountY;
  cycleCountRegValueZ = command.cycleCountZ;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
@ -284,34 +274,35 @@ ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t device
    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
  }

-  commandBuffer[0] = mgmRm3100::TMRC_REGISTER;
+  commandBuffer[0] = RM3100::TMRC_REGISTER;
  commandBuffer[1] = commandData[0];
  tmrcRegValue = commandData[0];
  rawPacketLen = 2;
  rawPacket = commandBuffer;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void MgmRM3100Handler::fillCommandAndReplyMap() {
-  insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CMM, 3);
-  insertInCommandAndReplyMap(mgmRm3100::READ_CMM, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
+  insertInCommandAndReplyMap(RM3100::READ_CMM, 3);

-  insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_TMRC, 3);
-  insertInCommandAndReplyMap(mgmRm3100::READ_TMRC, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
+  insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);

-  insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CYCLE_COUNT, 3);
-  insertInCommandAndReplyMap(mgmRm3100::READ_CYCLE_COUNT, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
+  insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);

-  insertInCommandAndReplyMap(mgmRm3100::READ_DATA, 3, &primaryDataset);
+  insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
 }

-void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
+void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }

 ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS, &mgmXYZ);
-  poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
-  return returnvalue::OK;
+  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_Z, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }

 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
@ -325,40 +316,31 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
  // trickery here to calculate the raw values first
  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 fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;

  // Now scale to physical value in microtesla
  float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-  float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
-  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;

  if (periodicPrintout) {
    if (debugDivider.checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                   " microtesla:"
-                << std::endl;
-      sif::info << "X: " << fieldStrengthX << " 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("X: %f uT\n", fieldStrengthX);
-      sif::printInfo("Y: %f uT\n", fieldStrengthY);
-      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
-#endif
+      FSFW_LOGI(
+          "MgmRM3100Handler: Magnetic field strength in"
+          " microtesla(uT)\nX {} | Y {} | Z {}\n",
+          fieldStrengthX, fieldStrengthY, fieldStrengthZ);
    }
  }

  // TODO: Sanity check on values?
  PoolReadGuard readGuard(&primaryDataset);
-  if (readGuard.getReadResult() == returnvalue::OK) {
-    primaryDataset.fieldStrengths[0] = fieldStrengthX;
-    primaryDataset.fieldStrengths[1] = fieldStrengthY;
-    primaryDataset.fieldStrengths[2] = fieldStrengthZ;
+  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+    primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengthZ = fieldStrengthZ;
    primaryDataset.setValidity(true, true);
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
@ -1,8 +1,7 @@
 #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_

-#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
-
+#include "devicedefinitions/MgmRM3100HandlerDefs.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"

@ -70,23 +69,22 @@ class MgmRM3100Handler : public DeviceHandlerBase {
  };
  InternalState internalState = InternalState::NONE;
  bool commandExecuted = false;
-  mgmRm3100::Rm3100PrimaryDataset primaryDataset;
+  RM3100::Rm3100PrimaryDataset primaryDataset;

  uint8_t commandBuffer[10];
  uint8_t commandBufferLen = 0;

-  uint8_t cmmRegValue = mgmRm3100::CMM_VALUE;
-  uint8_t tmrcRegValue = mgmRm3100::TMRC_DEFAULT_VALUE;
-  uint16_t cycleCountRegValueX = mgmRm3100::CYCLE_COUNT_VALUE;
-  uint16_t cycleCountRegValueY = mgmRm3100::CYCLE_COUNT_VALUE;
-  uint16_t cycleCountRegValueZ = mgmRm3100::CYCLE_COUNT_VALUE;
-  float scaleFactorX = 1.0 / mgmRm3100::DEFAULT_GAIN;
-  float scaleFactorY = 1.0 / mgmRm3100::DEFAULT_GAIN;
-  float scaleFactorZ = 1.0 / mgmRm3100::DEFAULT_GAIN;
+  uint8_t cmmRegValue = RM3100::CMM_VALUE;
+  uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
+  uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
+  uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
+  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;
  uint32_t transitionDelay;
-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);

  ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
                                              const uint8_t *commandData, size_t commandDataLen);
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
@ -6,9 +6,7 @@

 #include <cstdint>

-namespace l3gd20h {
-
-float ctrlReg4ToSensitivity(uint8_t reg);
+namespace L3GD20H {

 /* Actual size is 15 but we round up a bit */
 static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -73,10 +71,8 @@ static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
 /* Register 5 */
 static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
 static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
-static constexpr uint8_t SET_OUT_SEL_1 = 1 << 1;
-static constexpr uint8_t SET_OUT_SEL_0 = 1 << 0;

-static constexpr uint8_t CTRL_REG_5_VAL = SET_OUT_SEL_1 | SET_OUT_SEL_0;
+static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;

 /* Possible range values in degrees per second (DPS). */
 static constexpr uint16_t RANGE_DPS_00 = 245;
@ -107,33 +103,31 @@ static constexpr DeviceCommandId_t READ_REGS = 0;
 static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
 static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;

-static constexpr DeviceCommandId_t REQUEST = 0x70;
-static constexpr DeviceCommandId_t REPLY = 0x77;
-
 static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;

 enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };

-}  // namespace l3gd20h
+}  // namespace L3GD20H

 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)) {
+      : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
    setAllVariablesReadOnly();
  }
-  /** Constructor  for the data creator */
-  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {}

  /* 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);
+  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_ */
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
@ -7,43 +7,13 @@

 #include <cstdint>

-namespace mgmLis3 {
+namespace MGMLIS3MDL {

 enum Set { ON, OFF };
 enum OpMode { LOW, MEDIUM, HIGH, ULTRA };

 enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };

-/**
- * 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);
-
-/**
- * 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
- */
-uint8_t writeCommand(uint8_t command, bool continuousCom = false);
-
-/**
- * This Method gets the full scale for the measurement range
- * e.g.: +- 4 gauss. See p.25 datasheet.
- *  @return The ReturnValue does not contain the sign of the value
- */
-mgmLis3::Sensitivies getSensitivity(uint8_t ctrlReg2);
-
-/**
- * The 16 bit value needs to be multiplied with a sensitivity factor
- * which depends on the sensitivity configuration
- *
- * @param sens Configured sensitivity of the LIS3 device
- * @return Multiplication factor to get the sensor value from raw data.
- */
-float getSensitivityFactor(mgmLis3::Sensitivies sens);
-
 /* Actually 15, we just round up a bit */
 static constexpr size_t MAX_BUFFER_SIZE = 16;

@ -169,7 +139,12 @@ 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 { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+  TEMPERATURE_CELCIUS
+};

 class MgmPrimaryDataset : public StaticLocalDataSet<4> {
 public:
@ -177,13 +152,12 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {

  MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}

-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, 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 mgmLis3
+}  // namespace MGMLIS3MDL

 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
@ -8,7 +8,7 @@

 #include <cstdint>

-namespace mgmRm3100 {
+namespace RM3100 {

 /* Actually 10, we round up a little bit */
 static constexpr size_t MAX_BUFFER_SIZE = 12;
@ -101,7 +101,11 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {

 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;

-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+};

 class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
 public:
@ -109,12 +113,12 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {

  Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}

-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  // Field strengths in micro Tesla.
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
 };

-}  // namespace mgmRm3100
+}  // namespace RM3100

 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */
--- a/hal/src/fsfw_hal/host/CMakeLists.txt
+++ b/hal/src/fsfw_hal/host/CMakeLists.txt
@ -0,0 +1 @@
+
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/CMakeLists.txt
@ -0,0 +1,25 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+    add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	UnixFileGuard.cpp
+	CommandExecutor.cpp
+	utility.cpp
+)
+
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
+	add_subdirectory(gpio)
+endif()
+	add_subdirectory(uart)
+	# Adding those does not really make sense on Apple systems which
+	# are generally host systems. It won't even compile as the headers
+	# are missing
+	if(NOT APPLE)
+		add_subdirectory(i2c)
+		add_subdirectory(spi)
+	endif()
+endif()
+
+add_subdirectory(uio)
--- a/hal/src/fsfw_hal/linux/CommandExecutor.cpp
+++ b/hal/src/fsfw_hal/linux/CommandExecutor.cpp
@ -17,13 +17,13 @@ ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool pri
    return COMMAND_PENDING;
  }

-  currentCmd = std::move(command);
+  currentCmd = command;
  this->blocking = blocking;
  this->printOutput = printOutput;
  if (state == States::IDLE) {
    state = States::COMMAND_LOADED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t CommandExecutor::execute() {
@ -32,12 +32,10 @@ ReturnValue_t CommandExecutor::execute() {
  } else if (state == States::PENDING) {
    return COMMAND_PENDING;
  }
-  // Reset data in read vector
-  std::memset(readVec.data(), 0, readVec.size());
  currentCmdFile = popen(currentCmd.c_str(), "r");
  if (currentCmdFile == nullptr) {
    lastError = errno;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  if (blocking) {
    ReturnValue_t result = executeBlocking();
@ -48,7 +46,7 @@ ReturnValue_t CommandExecutor::execute() {
    waiter.fd = currentFd;
  }
  state = States::PENDING;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t CommandExecutor::close() {
@ -58,30 +56,24 @@ ReturnValue_t CommandExecutor::close() {
      pclose(currentCmdFile);
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

-void CommandExecutor::printLastError(std::string funcName) const {
+void CommandExecutor::printLastError(const 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
+    FSFW_LOGW("{} | pclose failed with code {} | {}\n", funcName, lastError, strerror(lastError));
  }
 }

-void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
-                                    DynamicFIFO<uint16_t>* sizesFifo) {
-  this->ringBuffer = ringBuffer;
-  this->sizesFifo = sizesFifo;
+void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer_,
+                                    DynamicFIFO<uint16_t>* sizesFifo_) {
+  this->ringBuffer = ringBuffer_;
+  this->sizesFifo = sizesFifo_;
 }

 ReturnValue_t CommandExecutor::check(bool& replyReceived) {
  if (blocking) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }
  switch (state) {
    case (States::IDLE):
@ -96,7 +88,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
  int result = poll(&waiter, 1, 0);
  switch (result) {
    case (0): {
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
      break;
    }
    case (1): {
@ -104,23 +96,13 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
        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
+          FSFW_LOGWT("CommandExecutor::check: No bytes read after poll event\n");
          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
+            FSFW_LOGIT("{} | {}", currentCmd, readVec.data());
          }
          if (ringBuffer != nullptr) {
            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
@ -132,20 +114,11 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
          }
        } 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
+          FSFW_LOGW("check: Error {} | {}\n", errno, strerror(errno));
        }
      }
      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
+        FSFW_LOGW("check: Poll error\n");
        return COMMAND_ERROR;
      }
      if (waiter.revents & POLLHUP) {
@ -153,7 +126,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
        ReturnValue_t retval = EXECUTION_FINISHED;
        if (result != 0) {
          lastError = result;
-          retval = returnvalue::FAILED;
+          retval = HasReturnvaluesIF::RETURN_FAILED;
        }
        state = States::IDLE;
        currentCmdFile = nullptr;
@ -163,7 +136,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
      break;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void CommandExecutor::reset() {
@ -185,11 +158,7 @@ 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
+      FSFW_LOGI("{} | {}", currentCmd, output);
    }
    if (ringBuffer != nullptr) {
      ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
@ -203,9 +172,7 @@ ReturnValue_t CommandExecutor::executeBlocking() {
  int result = pclose(currentCmdFile);
  if (result != 0) {
    lastError = result;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
-
-const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }
--- a/hal/src/fsfw_hal/linux/CommandExecutor.h
+++ b/hal/src/fsfw_hal/linux/CommandExecutor.h
@ -7,7 +7,7 @@
 #include <vector>

 #include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 class SimpleRingBuffer;
 template <typename T>
@ -31,25 +31,27 @@ class CommandExecutor {
  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 = returnvalue::makeCode(CLASS_ID, 0);
+  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 = returnvalue::makeCode(CLASS_ID, 1);
+  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 = returnvalue::makeCode(CLASS_ID, 2);
+  static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
  //! [EXPORT] : [COMMENT] Command execution failed
-  static constexpr ReturnValue_t COMMAND_ERROR = returnvalue::makeCode(CLASS_ID, 3);
+  static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
  //! [EXPORT] : [COMMENT]
-  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING = returnvalue::makeCode(CLASS_ID, 4);
-  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = returnvalue::makeCode(CLASS_ID, 6);
+  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
   */
-  explicit CommandExecutor(size_t maxSize);
+  CommandExecutor(const size_t maxSize);

  /**
   * Load a new command which should be executed
@ -62,11 +64,11 @@ class CommandExecutor {
  /**
   * Execute the loaded command.
   * @return
-   *  - In blocking mode, it will return returnvalue::FAILED if
+   *  - 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 returnvalue::OK
+   *    the execution and then return RETURN_OK
   */
  ReturnValue_t execute();
  /**
@ -75,8 +77,8 @@ class CommandExecutor {
   * @return
   *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
   *    check again after this
-   *  - returnvalue::OK execution is pending, but no bytes have been read from the executing process
-   *  - returnvalue::FAILED if execution has failed, error value can be accessed using getLastError
+   *  - 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
@ -85,13 +87,13 @@ class CommandExecutor {
  /**
   * Abort the current command. Should normally not be necessary, check can be used to find
   * out whether command execution was successful
-   * @return returnvalue::OK
+   * @return RETURN_OK
   */
  ReturnValue_t close();

  States getCurrentState() const;
  int getLastError() const;
-  void printLastError(std::string funcName) const;
+  void printLastError(const std::string& funcName) const;

  /**
   * Assign a ring buffer and a FIFO which will be filled by the executor with the output
@ -107,8 +109,6 @@ class CommandExecutor {
   */
  void reset();

-  const std::vector<char>& getReadVector() const;
-
 private:
  std::string currentCmd;
  bool blocking = true;
--- a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp
+++ b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp
@ -0,0 +1,29 @@
+#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)
+    : fileDescriptor(fileDescriptor) {
+  if (fileDescriptor == nullptr) {
+    return;
+  }
+  *fileDescriptor = open(device.c_str(), flags);
+  if (*fileDescriptor < 0) {
+    FSFW_LOGW("{} | Opening device failed with error code {} | {}\n", diagnosticPrefix, errno,
+              strerror(errno));
+    openStatus = OPEN_FILE_FAILED;
+  }
+}
+
+UnixFileGuard::~UnixFileGuard() {
+  if (fileDescriptor != nullptr) {
+    close(*fileDescriptor);
+  }
+}
+
+ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
--- a/hal/src/fsfw_hal/linux/UnixFileGuard.h
+++ b/hal/src/fsfw_hal/linux/UnixFileGuard.h
@ -2,7 +2,7 @@
 #define LINUX_UTILITY_UNIXFILEGUARD_H_

 #include <fcntl.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <unistd.h>

 #include <string>
@ -15,15 +15,7 @@ class UnixFileGuard {

  static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;

-  /**
-   * Open a device and assign the given file descriptor variable
-   * @param device [in] Device name.
-   * @param fileDescriptor [in/out] Will be assigned by file guard and re-used to
-   *    close the guard.
-   * @param flags
-   * @param diagnosticPrefix
-   */
-  UnixFileGuard(const std::string& device, int& fileDescriptor, int flags,
+  UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                std::string diagnosticPrefix = "");

  virtual ~UnixFileGuard();
@ -31,8 +23,8 @@ class UnixFileGuard {
  ReturnValue_t getOpenResult() const;

 private:
-  int& fdRef;
-  ReturnValue_t openStatus = returnvalue::OK;
+  int* fileDescriptor = nullptr;
+  ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };

 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */
--- a/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
@ -0,0 +1,16 @@
+# 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)
+
+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()
+
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@ -23,30 +23,30 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  GpioMap mapToAdd = gpioCookie->getGpioMap();

  /* Check whether this ID already exists in the map and remove duplicates */
  result = checkForConflicts(mapToAdd);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
    return result;
  }

  result = configureGpios(mapToAdd);
-  if (result != returnvalue::OK) {
-    return returnvalue::FAILED;
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
  }

  /* Register new GPIOs in gpioMap */
  gpioMap.insert(mapToAdd.begin(), mapToAdd.end());

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = RETURN_OK;
  for (auto& gpioConfig : mapToAdd) {
    auto& gpioType = gpioConfig.second->gpioType;
    switch (gpioType) {
@ -86,7 +86,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
                               gpioCallback->initValue, gpioCallback->callbackArgs);
      }
    }
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
      return GPIO_INIT_FAILED;
    }
  }
@ -102,7 +102,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "label: " + label;
  return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
@ -116,7 +116,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                 << ". Gpio ID: " << gpioId << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "chipname: " + chipname;
  return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
@ -132,7 +132,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
      gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
  if (result != LINE_FOUND) {
    parseFindeLineResult(result, lineName);
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  gpioByLineName.lineNum = static_cast<int>(lineOffset);
@ -143,7 +143,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                 << ". <Gpio ID: " << gpioId << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "line name: " + lineName;
  return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
@ -168,7 +168,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
    sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
 #endif
    gpiod_chip_close(chip);
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  direction = regularGpio.direction;
@ -202,7 +202,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
            lineNum, gpioId);
 #endif
        gpiod_line_release(lineHandle);
-        return returnvalue::FAILED;
+        return RETURN_FAILED;
      }
  }
  /**
@ -210,11 +210,11 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   * read states of GPIOs.
   */
  regularGpio.lineHandle = lineHandle;
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
@ -238,13 +238,13 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
  return GPIO_TYPE_FAILURE;
 }

 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
@ -270,7 +270,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
  return GPIO_TYPE_FAILURE;
 }
@ -291,11 +291,11 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
    return DRIVE_GPIO_FAILURE;
  }

-  return returnvalue::OK;
+  return RETURN_OK;
 }

-ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
-  auto gpioMapIter = gpioMap.find(gpioId);
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
+  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
@ -313,10 +313,7 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState)
    if (regularGpio == nullptr) {
      return GPIO_TYPE_FAILURE;
    }
-    gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
-    if (gpioState == gpio::Levels::FAILED) {
-      return GPIO_GET_VALUE_FAILED;
-    }
+    *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
  } else {
    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
    if (gpioCallback->callback == nullptr) {
@ -324,14 +321,14 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState)
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
-  ReturnValue_t status = returnvalue::OK;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  for (auto& gpioConfig : mapToAdd) {
    switch (gpioConfig.second->gpioType) {
      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
@ -343,7 +340,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
        }
        // Check for conflicts and remove duplicates if necessary
        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
          status = result;
        }
        break;
@ -355,7 +352,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
        }
        // Check for conflicts and remove duplicates if necessary
        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
          status = result;
        }
        break;
@ -377,7 +374,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
                                                    gpio::GpioTypes expectedType,
                                                    GpioMap& mapToAdd) {
  // Cross check with private map
-  auto gpioMapIter = gpioMap.find(gpioIdToCheck);
+  gpioMapIter = gpioMap.find(gpioIdToCheck);
  if (gpioMapIter != gpioMap.end()) {
    auto& gpioType = gpioMapIter->second->gpioType;
    bool eraseDuplicateDifferentType = false;
@ -429,7 +426,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
    mapToAdd.erase(gpioIdToCheck);
    return GPIO_DUPLICATE_DETECTED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
@ -19,14 +19,18 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
 public:
  static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;

-  static constexpr ReturnValue_t UNKNOWN_GPIO_ID = returnvalue::makeCode(gpioRetvalId, 1);
-  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE = returnvalue::makeCode(gpioRetvalId, 2);
-  static constexpr ReturnValue_t GPIO_TYPE_FAILURE = returnvalue::makeCode(gpioRetvalId, 3);
-  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE = returnvalue::makeCode(gpioRetvalId, 4);
-  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED = returnvalue::makeCode(gpioRetvalId, 5);
-  static constexpr ReturnValue_t GPIO_INIT_FAILED = returnvalue::makeCode(gpioRetvalId, 6);
-  // Will be returned if getting the line value failed. Error type will be set to errno in this case
-  static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED = returnvalue::makeCode(gpioRetvalId, 7);
+  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 GPIO_INIT_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);

  LinuxLibgpioIF(object_id_t objectId);
  virtual ~LinuxLibgpioIF();
@ -34,7 +38,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
  ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
  ReturnValue_t pullHigh(gpioId_t gpioId) override;
  ReturnValue_t pullLow(gpioId_t gpioId) override;
-  ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;

 private:
  static const size_t MAX_CHIPNAME_LENGTH = 11;
@ -44,6 +48,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {

  // Holds the information and configuration of all used GPIOs
  GpioUnorderedMap gpioMap;
+  GpioUnorderedMapIter gpioMapIter;

  /**
   * @brief	This functions drives line of a GPIO specified by the GPIO ID.
@ -66,7 +71,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
   *
   * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
   *
-   * @return	returnvalue::OK if successful, otherwise returnvalue::FAILED
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
   */
  ReturnValue_t checkForConflicts(GpioMap& mapToAdd);

--- a/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    I2cComIF.cpp
+    I2cCookie.cpp
+)
+
+
+
+
--- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
+++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
@ -0,0 +1,189 @@
+#include "I2cComIF.h"
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+#include "fsfw/globalfunctions/arrayprinter.h"
+#endif
+
+#include <errno.h>
+#include <fcntl.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <cstring>
+
+I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
+
+I2cComIF::~I2cComIF() {}
+
+ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
+  address_t i2cAddress;
+  std::string deviceFile;
+
+  if (cookie == nullptr) {
+    FSFW_LOGE("{}", "initializeInterface: Invalid cookie\n");
+    return NULLPOINTER;
+  }
+  auto* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  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) {
+      FSFW_LOGW("initializeInterface: Failed to insert device with address {} to I2C device map\n",
+                i2cAddress);
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  FSFW_LOGE("initializeInterface: Device with address {} already in use\n", i2cAddress);
+  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) {
+    FSFW_LOGW("{}", "sendMessage: Send Data is nullptr\n");
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  if (sendLen == 0) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  auto* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+    FSFW_LOGWT("{}", "sendMessage: Invalid I2C Cookie\n");
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    FSFW_LOGWT("{}", "sendMessage: I2C address of cookie not registered in I2C device map\n");
+    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)) {
+    FSFW_LOGE("sendMessage: Failed to send data to I2C device with error code {} | {}\n", errno,
+              strerror(errno));
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(sendData, sendLen);
+#endif
+  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;
+  }
+
+  auto* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+    FSFW_LOGWT("{}", "requestReceiveMessage: Invalid I2C Cookie\n");
+    i2cDeviceMapIter->second.replyLen = 0;
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    FSFW_LOGW("requestReceiveMessage: I2C address {} of Cookie not registered in i2cDeviceMap",
+              i2cAddress);
+    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();
+
+  ssize_t readLen = read(fd, replyBuffer, requestLen);
+  if (readLen != static_cast<int>(requestLen)) {
+    FSFW_LOGWT(
+        "requestReceiveMessage: Reading from I2C device failed with error code "
+        "{} | {}\nRead only {} from {} bytes\n",
+        errno, strerror(errno), readLen, requestLen);
+    i2cDeviceMapIter->second.replyLen = 0;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(replyBuffer, requestLen);
+#endif
+
+  i2cDeviceMapIter->second.replyLen = requestLen;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  auto* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+    FSFW_LOGW("{}", "readReceivedMessage: Invalid I2C Cookie\n");
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    FSFW_LOGE("readReceivedMessage: I2C address {} of cookie not found in I2C device map\n",
+              i2cAddress);
+    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) {
+    FSFW_LOGWT("openDevice: Specifying target device failed with error code {} | {}\n", errno,
+               strerror(errno));
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
--- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.h
+++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.h
@ -36,10 +36,12 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
  };

  using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
+  using I2cDeviceMapIter = I2cDeviceMap::iterator;

  /* In this map all i2c devices will be registered with their address and
   * the appropriate file descriptor will be stored */
  I2cDeviceMap i2cDeviceMap;
+  I2cDeviceMapIter i2cDeviceMapIter;

  /**
   * @brief	This function opens an I2C device and binds the opened file
@ -47,10 +49,9 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
   * @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.
-   * @return	returnvalue::OK if successful, otherwise returnvalue::FAILED.
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
   */
-  ReturnValue_t openI2cSlave(const std::string &deviceFile, address_t i2cAddress,
-                             int &fileDescriptor);
+  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
 };

 #endif /* LINUX_I2C_I2COMIF_H_ */
--- a/hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
+++ b/hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
@ -1,12 +1,12 @@
 #include "fsfw_hal/linux/i2c/I2cCookie.h"

 I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
-    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(std::move(deviceFile_)) {}
+    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}

 address_t I2cCookie::getAddress() const { return i2cAddress; }

 size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }

-const std::string& I2cCookie::getDeviceFile() const { return deviceFile; }
+std::string I2cCookie::getDeviceFile() const { return deviceFile; }

 I2cCookie::~I2cCookie() {}
--- a/hal/src/fsfw_hal/linux/i2c/I2cCookie.h
+++ b/hal/src/fsfw_hal/linux/i2c/I2cCookie.h
@ -25,9 +25,7 @@ class I2cCookie : public CookieIF {

  address_t getAddress() const;
  size_t getMaxReplyLen() const;
-  const std::string& getDeviceFile() const;
-
-  uint8_t errorCounter = 0;
+  std::string getDeviceFile() const;

 private:
  address_t i2cAddress = 0;
--- a/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GpioRPi.cpp
+)
--- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
+++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
@ -9,7 +9,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
                                        std::string consumer, gpio::Direction direction,
                                        gpio::Levels initValue) {
  if (cookie == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  auto config = new GpiodRegularByChip();
@ -30,9 +30,9 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
    sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  config->lineNum = bcmPin;
  cookie->addGpio(gpioId, config);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
--- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.h
+++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.h
@ -1,7 +1,7 @@
 #ifndef BSP_RPI_GPIO_GPIORPI_H_
 #define BSP_RPI_GPIO_GPIORPI_H_

-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "../../common/gpio/gpioDefinitions.h"

--- a/hal/src/fsfw_hal/linux/spi/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/spi/CMakeLists.txt
@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    SpiComIF.cpp
+    SpiCookie.cpp
+)
+
+
+
+
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
@ -0,0 +1,348 @@
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+
+#include <fcntl.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>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#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) {
+    FSFW_LOGET("{}", "SpiComIF::SpiComIF: GPIO communication interface invalid\n");
+  }
+
+  spiMutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
+  int retval = 0;
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  address_t spiAddress = spiCookie->getSpiAddress();
+
+  auto iter = spiDeviceMap.find(spiAddress);
+  if (iter == spiDeviceMap.end()) {
+    size_t bufferSize = spiCookie->getMaxBufferSize();
+    SpiInstance spiInstance(bufferSize);
+    auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
+    if (not statusPair.second) {
+      FSFW_LOGWT(
+          "SpiComIF::initializeInterface: Failed to insert device with address {} to SPI device "
+          "map\n",
+          spiAddress);
+      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 {
+    FSFW_LOGWT("{}", "initializeInterface: SPI address already exists\n");
+    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!");
+    }
+
+    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) {
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
+    }
+  }
+  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) {
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  if (sendLen > spiCookie->getMaxBufferSize()) {
+    FSFW_LOGW(
+        "sendMessage: Too much data sent, send length {} larger than maximum buffer length {}\n",
+        spiCookie->getMaxBufferSize(), sendLen);
+    return DeviceCommunicationIF::TOO_MUCH_DATA;
+  }
+
+  if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
+    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);
+    }
+  }
+  return result;
+}
+
+ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
+                                                    size_t sendLen) {
+  address_t spiAddress = spiCookie->getSpiAddress();
+  auto iter = spiDeviceMap.find(spiAddress);
+  if (iter != spiDeviceMap.end()) {
+    spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
+  }
+
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int retval = 0;
+  /* Prepare transfer */
+  int fileDescriptor = 0;
+  std::string device = spiCookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return OPENING_FILE_FAILED;
+  }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  spiCookie->assignWriteBuffer(sendData);
+  spiCookie->setTransferSize(sendLen);
+
+  bool fullDuplex = spiCookie->isFullDuplex();
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
+
+  /* Pull SPI CS low. For now, no support for active high given  */
+  if (gpioId != gpio::NO_GPIO) {
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
+    if (result != RETURN_OK) {
+      FSFW_LOGET("{}", "sendMessage: Failed to lock mutex\n");
+      return result;
+    }
+    result = gpioComIF->pullLow(gpioId);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      FSFW_LOGW("{}", "sendMessage: Pulling low CS pin failed\n");
+      return result;
+    }
+  }
+
+  /* Execute transfer */
+  if (fullDuplex) {
+    /* Initiate a full duplex SPI transfer. */
+    retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
+    if (retval < 0) {
+      utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+      result = FULL_DUPLEX_TRANSFER_FAILED;
+    }
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+    performSpiWiretapping(spiCookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+  } else {
+    /* We write with a blocking half-duplex transfer here */
+    if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
+      FSFW_LOGET("{}", "sendMessage: Half-Duplex write operation failed\n");
+      result = HALF_DUPLEX_TRANSFER_FAILED;
+    }
+  }
+
+  if (gpioId != gpio::NO_GPIO) {
+    gpioComIF->pullHigh(gpioId);
+    result = spiMutex->unlockMutex();
+    if (result != RETURN_OK) {
+      FSFW_LOGWT("{}", "sendMessage: Failed to unlock mutex\n");
+      return result;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
+
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  auto* 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;
+  std::string device = spiCookie->getSpiDevice();
+  int fileDescriptor = 0;
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return OPENING_FILE_FAILED;
+  }
+
+  uint8_t* rxBuf = nullptr;
+  size_t readSize = spiCookie->getCurrentTransferSize();
+  result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
+  if (gpioId != gpio::NO_GPIO) {
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
+    if (result != RETURN_OK) {
+      FSFW_LOGW("{}", "getSendSuccess: Failed to lock mutex\n");
+      return result;
+    }
+    gpioComIF->pullLow(gpioId);
+  }
+
+  if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
+    FSFW_LOGW("{}", "sendMessage: Half-Duplex read operation failed\n");
+    result = HALF_DUPLEX_TRANSFER_FAILED;
+  }
+
+  if (gpioId != gpio::NO_GPIO) {
+    gpioComIF->pullHigh(gpioId);
+    result = spiMutex->unlockMutex();
+    if (result != RETURN_OK) {
+      FSFW_LOGW("{}", "getSendSuccess: Failed to unlock mutex\n");
+      return result;
+    }
+  }
+
+  return result;
+}
+
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  uint8_t* rxBuf = nullptr;
+  ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  *buffer = rxBuf;
+  *size = spiCookie->getCurrentTransferSize();
+  spiCookie->setTransferSize(0);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
+  if (timeoutType != nullptr) {
+    *timeoutType = this->timeoutType;
+  }
+  if (timeoutMs != nullptr) {
+    *timeoutMs = this->timeoutMs;
+  }
+  return spiMutex;
+}
+
+void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
+  if (spiCookie == nullptr) {
+    return;
+  }
+  size_t dataLen = spiCookie->getTransferStructHandle()->len;
+  auto* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
+  sif::info("Sent SPI data:\n");
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  sif::info("Received SPI data:\n");
+  dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+}
+
+ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
+  if (buffer == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  auto iter = spiDeviceMap.find(spiAddress);
+  if (iter == spiDeviceMap.end()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  *buffer = iter->second.replyBuffer.data();
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+GpioIF* SpiComIF::getGpioInterface() { 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));
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
+  }
+
+  retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
+  }
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
+  clockUpdateTransfer.len = 0;
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
+}
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h
@ -22,7 +22,17 @@ class SpiCookie;
 */
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 public:
-  SpiComIF(object_id_t objectId, std::string devname, GpioIF& gpioComIF);
+  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
+  static constexpr ReturnValue_t OPENING_FILE_FAILED =
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+  /* Full duplex (ioctl) transfer failure */
+  static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+  /* Half duplex (read/write) transfer failure */
+  static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+
+  SpiComIF(object_id_t objectId, GpioIF* gpioComIF);

  ReturnValue_t initializeInterface(CookieIF* cookie) override;
  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -34,8 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   * @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.
   */
-  MutexIF* getCsMutex();
-  void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
+  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
@ -48,22 +57,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
                                            size_t sendLen);

-  GpioIF& getGpioInterface();
+  GpioIF* getGpioInterface();
  void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
-  void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
-
-  /**
-   * This updates the SPI clock default polarity. Only setting the mode does not update
-   * the line state, which can be an issue on mode switches because the clock line will
-   * switch the state after the chip select is pulled low.
-   *
-   * It is recommended to call this function after #setSpiSpeedAndMode and after locking the
-   * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
-   * @param spiFd
-   */
-  void updateLinePolarity(int spiFd);
-
-  const std::string& getSpiDev() const;
  void performSpiWiretapping(SpiCookie* spiCookie);

  ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
@ -74,13 +69,11 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
    std::vector<uint8_t> replyBuffer;
  };

-  GpioIF& gpioComIF;
-  std::string dev = "";
-  /**
-   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
-   * pulled high
-   */
-  MutexIF* csMutex = nullptr;
+  GpioIF* gpioComIF = nullptr;
+
+  MutexIF* spiMutex = nullptr;
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 20;
  spi_ioc_transfer clockUpdateTransfer = {};

  using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
@ -1,25 +1,26 @@
 #include "SpiCookie.h"

-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {}
+
+SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
                     spi::SpiModes spiMode, uint32_t spiSpeed)
-    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                nullptr, nullptr) {}
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}

-SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
-                     uint32_t spiSpeed)
-    : SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
-
-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
-                     spi::SpiModes spiMode, uint32_t spiSpeed,
-                     spi::send_callback_function_t callback, void* args)
-    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                callback, args) {}
-
-SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+SpiCookie::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)
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                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, spi::send_callback_function_t callback, void* args)
    : spiAddress(spiAddress),
      chipSelectPin(chipSelect),
+      spiDevice(spiDev),
      comIfMode(comIfMode),
      maxSize(maxSize),
      spiMode(spiMode),
@ -49,6 +50,8 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; }

 address_t SpiCookie::getSpiAddress() const { return spiAddress; }

+std::string SpiCookie::getSpiDevice() const { return spiDevice; }
+
 void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }

 void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
@ -104,17 +107,3 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
  *callback = this->sendCallback;
  *args = this->callbackArgs;
 }
-
-void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
-
-bool SpiCookie::getCsLockManual() const { return manualCsLock; }
-
-void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
-  csTimeoutType = this->csTimeoutType;
-  csTimeout = this->csTimeout;
-}
-
-void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
-  this->csTimeoutType = csTimeoutType;
-  this->csTimeout = csTimeout;
-}
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.h
@ -2,8 +2,6 @@
 #define LINUX_SPI_SPICOOKIE_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/ipc/MutexIF.h>
-#include <fsfw/timemanager/clockDefinitions.h>
 #include <linux/spi/spidev.h>

 #include "../../common/gpio/gpioDefinitions.h"
@ -22,8 +20,6 @@
 */
 class SpiCookie : public CookieIF {
 public:
-  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
-
  /**
   * 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
@ -33,22 +29,23 @@ class SpiCookie : public CookieIF {
   * @param spiDev
   * @param maxSize
   */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, 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, const size_t maxReplySize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  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, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
+  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);

  /**
   * Get the callback function
@ -58,6 +55,7 @@ class SpiCookie : public CookieIF {
  void getCallback(spi::send_callback_function_t* callback, void** args);

  address_t getSpiAddress() const;
+  std::string getSpiDevice() const;
  gpioId_t getChipSelectPin() const;
  size_t getMaxBufferSize() const;

@ -141,42 +139,9 @@ class SpiCookie : public CookieIF {
   */
  void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);

-  void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
-  void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
-
-  void setCsLockManual(bool enable);
-  bool getCsLockManual() const;
-
  spi_ioc_transfer* getTransferStructHandle();

 private:
-  address_t spiAddress;
-  gpioId_t chipSelectPin;
-
-  spi::SpiComIfModes comIfMode;
-
-  // Required for regular mode
-  const size_t maxSize;
-  spi::SpiModes spiMode;
-  /**
-   * If this is set to true, the SPI ComIF will not perform any mutex locking for the
-   * CS mechanism. The user is responsible to locking and unlocking the mutex for the
-   * whole duration of the transfers.
-   */
-  bool manualCsLock = false;
-  uint32_t spiSpeed;
-  bool halfDuplex = false;
-
-  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
-  dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
-
-  // Required for callback mode
-  spi::send_callback_function_t sendCallback = nullptr;
-  void* callbackArgs = nullptr;
-
-  struct spi_ioc_transfer spiTransferStruct = {};
-  UncommonParameters uncommonParameters;
-
  /**
   * Internal constructor which initializes every field
   * @param spiAddress
@ -189,8 +154,27 @@ class SpiCookie : public CookieIF {
   * @param args
   */
  SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
            spi::send_callback_function_t callback, void* args);
+
+  address_t spiAddress;
+  gpioId_t chipSelectPin;
+  std::string spiDevice;
+
+  spi::SpiComIfModes comIfMode;
+
+  // Required for regular mode
+  const size_t maxSize;
+  spi::SpiModes spiMode;
+  uint32_t spiSpeed;
+  bool halfDuplex = false;
+
+  // Required for callback mode
+  spi::send_callback_function_t sendCallback = nullptr;
+  void* callbackArgs = nullptr;
+
+  struct spi_ioc_transfer spiTransferStruct = {};
+  UncommonParameters uncommonParameters;
 };

 #endif /* LINUX_SPI_SPICOOKIE_H_ */
--- a/hal/src/fsfw_hal/linux/spi/spiDefinitions.h
+++ b/hal/src/fsfw_hal/linux/spi/spiDefinitions.h
@ -7,7 +7,7 @@

 #include "../../common/gpio/gpioDefinitions.h"
 #include "../../common/spi/spiCommon.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 class SpiCookie;
 class SpiComIF;
--- a/hal/src/fsfw_hal/linux/uart/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/uart/CMakeLists.txt
@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UartComIF.cpp
+	UartCookie.cpp
+)
--- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
@ -0,0 +1,531 @@
+#include "UartComIF.h"
+
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+
+#include <cerrno>
+#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;
+
+  if (cookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+    FSFW_LOGE("{}", "initializeInterface: Invalid UART Cookie\n");
+    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();
+    UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
+    auto status = uartDeviceMap.emplace(deviceFile, uartElements);
+    if (!status.second) {
+      FSFW_LOGW("initializeInterface: Failed to insert device {} to UART device map\n", deviceFile);
+      return RETURN_FAILED;
+    }
+  } else {
+    FSFW_LOGW("initializeInterface: UART device {} already in use\n", deviceFile);
+    return RETURN_FAILED;
+  }
+
+  return RETURN_OK;
+}
+
+int UartComIF::configureUartPort(UartCookie* uartCookie) {
+  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);
+
+  if (fd < 0) {
+    FSFW_LOGW("configureUartPort: Failed to open UART {} with error code {} | {}\n", deviceFile,
+              errno, strerror(errno));
+    return fd;
+  }
+
+  /* Read in existing settings */
+  if (tcgetattr(fd, &options) != 0) {
+    FSFW_LOGW("configureUartPort: Error {} from tcgetattr: {}\n", errno, strerror(errno));
+    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) {
+    FSFW_LOGW("configureUartPort: Failed to set options with error {} | {}\n", errno,
+              strerror(errno));
+    return fd;
+  }
+  return fd;
+}
+
+void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
+  /* Clear parity bit */
+  options->c_cflag &= ~PARENB;
+  switch (uartCookie->getParity()) {
+    case Parity::EVEN:
+      options->c_cflag |= PARENB;
+      options->c_cflag &= ~PARODD;
+      break;
+    case Parity::ODD:
+      options->c_cflag |= PARENB;
+      options->c_cflag |= PARODD;
+      break;
+    default:
+      break;
+  }
+}
+
+void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
+  /* Clear stop field. Sets stop bit to one bit */
+  options->c_cflag &= ~CSTOPB;
+  switch (uartCookie->getStopBits()) {
+    case StopBits::TWO_STOP_BITS:
+      options->c_cflag |= CSTOPB;
+      break;
+    default:
+      break;
+  }
+}
+
+void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
+  /* Clear size bits */
+  options->c_cflag &= ~CSIZE;
+  switch (uartCookie->getBitsPerWord()) {
+    case BitsPerWord::BITS_5:
+      options->c_cflag |= CS5;
+      break;
+    case BitsPerWord::BITS_6:
+      options->c_cflag |= CS6;
+      break;
+    case BitsPerWord::BITS_7:
+      options->c_cflag |= CS7;
+      break;
+    case BitsPerWord::BITS_8:
+      options->c_cflag |= CS8;
+      break;
+    default:
+      FSFW_LOGW("setDatasizeOptions: Invalid size {} specified\n",
+                static_cast<unsigned int>(uartCookie->getBitsPerWord()));
+      break;
+  }
+}
+
+void UartComIF::setFixedOptions(struct termios* options) {
+  /* Disable RTS/CTS hardware flow control */
+  options->c_cflag &= ~CRTSCTS;
+  /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
+  options->c_cflag |= CREAD | CLOCAL;
+  /* Disable echo */
+  options->c_lflag &= ~ECHO;
+  /* Disable erasure */
+  options->c_lflag &= ~ECHOE;
+  /* Disable new-line echo */
+  options->c_lflag &= ~ECHONL;
+  /* Disable interpretation of INTR, QUIT and SUSP */
+  options->c_lflag &= ~ISIG;
+  /* Turn off s/w flow ctrl */
+  options->c_iflag &= ~(IXON | IXOFF | IXANY);
+  /* Disable any special handling of received bytes */
+  options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
+  /* Prevent special interpretation of output bytes (e.g. newline chars) */
+  options->c_oflag &= ~OPOST;
+  /* Prevent conversion of newline to carriage return/line feed */
+  options->c_oflag &= ~ONLCR;
+}
+
+void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
+  switch (uartCookie->getBaudrate()) {
+    case UartBaudRate::RATE_50:
+      cfsetispeed(options, B50);
+      cfsetospeed(options, B50);
+      break;
+    case UartBaudRate::RATE_75:
+      cfsetispeed(options, B75);
+      cfsetospeed(options, B75);
+      break;
+    case UartBaudRate::RATE_110:
+      cfsetispeed(options, B110);
+      cfsetospeed(options, B110);
+      break;
+    case UartBaudRate::RATE_134:
+      cfsetispeed(options, B134);
+      cfsetospeed(options, B134);
+      break;
+    case UartBaudRate::RATE_150:
+      cfsetispeed(options, B150);
+      cfsetospeed(options, B150);
+      break;
+    case UartBaudRate::RATE_200:
+      cfsetispeed(options, B200);
+      cfsetospeed(options, B200);
+      break;
+    case UartBaudRate::RATE_300:
+      cfsetispeed(options, B300);
+      cfsetospeed(options, B300);
+      break;
+    case UartBaudRate::RATE_600:
+      cfsetispeed(options, B600);
+      cfsetospeed(options, B600);
+      break;
+    case UartBaudRate::RATE_1200:
+      cfsetispeed(options, B1200);
+      cfsetospeed(options, B1200);
+      break;
+    case UartBaudRate::RATE_1800:
+      cfsetispeed(options, B1800);
+      cfsetospeed(options, B1800);
+      break;
+    case UartBaudRate::RATE_2400:
+      cfsetispeed(options, B2400);
+      cfsetospeed(options, B2400);
+      break;
+    case UartBaudRate::RATE_4800:
+      cfsetispeed(options, B4800);
+      cfsetospeed(options, B4800);
+      break;
+    case UartBaudRate::RATE_9600:
+      cfsetispeed(options, B9600);
+      cfsetospeed(options, B9600);
+      break;
+    case UartBaudRate::RATE_19200:
+      cfsetispeed(options, B19200);
+      cfsetospeed(options, B19200);
+      break;
+    case UartBaudRate::RATE_38400:
+      cfsetispeed(options, B38400);
+      cfsetospeed(options, B38400);
+      break;
+    case UartBaudRate::RATE_57600:
+      cfsetispeed(options, B57600);
+      cfsetospeed(options, B57600);
+      break;
+    case UartBaudRate::RATE_115200:
+      cfsetispeed(options, B115200);
+      cfsetospeed(options, B115200);
+      break;
+    case UartBaudRate::RATE_230400:
+      cfsetispeed(options, B230400);
+      cfsetospeed(options, B230400);
+      break;
+#ifndef __APPLE__
+    case UartBaudRate::RATE_460800:
+      cfsetispeed(options, B460800);
+      cfsetospeed(options, B460800);
+      break;
+    case UartBaudRate::RATE_500000:
+      cfsetispeed(options, B500000);
+      cfsetospeed(options, B500000);
+      break;
+    case UartBaudRate::RATE_576000:
+      cfsetispeed(options, B576000);
+      cfsetospeed(options, B576000);
+      break;
+    case UartBaudRate::RATE_921600:
+      cfsetispeed(options, B921600);
+      cfsetospeed(options, B921600);
+      break;
+    case UartBaudRate::RATE_1000000:
+      cfsetispeed(options, B1000000);
+      cfsetospeed(options, B1000000);
+      break;
+    case UartBaudRate::RATE_1152000:
+      cfsetispeed(options, B1152000);
+      cfsetospeed(options, B1152000);
+      break;
+    case UartBaudRate::RATE_1500000:
+      cfsetispeed(options, B1500000);
+      cfsetospeed(options, B1500000);
+      break;
+    case UartBaudRate::RATE_2000000:
+      cfsetispeed(options, B2000000);
+      cfsetospeed(options, B2000000);
+      break;
+    case UartBaudRate::RATE_2500000:
+      cfsetispeed(options, B2500000);
+      cfsetospeed(options, B2500000);
+      break;
+    case UartBaudRate::RATE_3000000:
+      cfsetispeed(options, B3000000);
+      cfsetospeed(options, B3000000);
+      break;
+    case UartBaudRate::RATE_3500000:
+      cfsetispeed(options, B3500000);
+      cfsetospeed(options, B3500000);
+      break;
+    case UartBaudRate::RATE_4000000:
+      cfsetispeed(options, B4000000);
+      cfsetospeed(options, B4000000);
+      break;
+#endif  // ! __APPLE__
+    default:
+      FSFW_LOGW("{}", "UartComIF::configureBaudrate: Baudrate not supported\n");
+      break;
+  }
+}
+
+ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+  int fd = 0;
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+
+  if (sendLen == 0) {
+    return RETURN_OK;
+  }
+
+  if (sendData == nullptr) {
+    FSFW_LOGWT("{}", "sendMessage: Send data is nullptr");
+    return RETURN_FAILED;
+  }
+
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+    FSFW_LOGWT("{}", "sendMessage: Invalid UART Cookie\n");
+    return NULLPOINTER;
+  }
+
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
+    FSFW_LOGWT("{}", "sendMessage: Device file {} not in UART map\n", deviceFile);
+    return RETURN_FAILED;
+  }
+
+  fd = uartDeviceMapIter->second.fileDescriptor;
+
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+    FSFW_LOGE("sendMessage: Failed to send data with error code {} | {}", errno, strerror(errno));
+    return RETURN_FAILED;
+  }
+
+  return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
+
+ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+    FSFW_LOGWT("{}", "requestReceiveMessage: Invalid UART Cookie\n");
+    return NULLPOINTER;
+  }
+
+  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()) {
+    FSFW_LOGW("requestReceiveMessage: Device file {} not in UART map\n", deviceFile);
+    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) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  uint8_t maxReadCycles = uartCookie.getReadCycles();
+  uint8_t currentReadCycles = 0;
+  ssize_t bytesRead = 0;
+  size_t currentBytesRead = 0;
+  size_t maxReplySize = uartCookie.getMaxReplyLen();
+  int fd = iter->second.fileDescriptor;
+  auto bufferPtr = iter->second.replyBuffer.data();
+  iter->second.replyLen = 0;
+  do {
+    size_t allowedReadSize = 0;
+    if (currentBytesRead >= maxReplySize) {
+      // 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.
+      FSFW_LOGWT("{}", "requestReceiveMessage: Next read would cause overflow\n");
+      result = UART_RX_BUFFER_TOO_SMALL;
+      break;
+    } else {
+      allowedReadSize = maxReplySize - currentBytesRead;
+    }
+
+    bytesRead = read(fd, bufferPtr, allowedReadSize);
+    if (bytesRead < 0) {
+      // EAGAIN: No data available in non-blocking mode
+      if (errno != EAGAIN) {
+        FSFW_LOGWT("handleCanonicalRead: read failed with code {} | {}\n", errno, strerror(errno));
+        return RETURN_FAILED;
+      }
+
+    } else if (bytesRead > 0) {
+      iter->second.replyLen += bytesRead;
+      bufferPtr += bytesRead;
+      currentBytesRead += bytesRead;
+    }
+    currentReadCycles++;
+  } while (bytesRead > 0 and currentReadCycles < maxReadCycles);
+  return result;
+}
+
+ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                                size_t requestLen) {
+  int fd = iter->second.fileDescriptor;
+  auto bufferPtr = iter->second.replyBuffer.data();
+  // Size check to prevent buffer overflow
+  if (requestLen > uartCookie.getMaxReplyLen()) {
+    FSFW_LOGW("{}", "requestReceiveMessage: Next read would cause overflow\n");
+    return UART_RX_BUFFER_TOO_SMALL;
+  }
+  ssize_t bytesRead = read(fd, bufferPtr, requestLen);
+  if (bytesRead < 0) {
+    return RETURN_FAILED;
+  } else if (bytesRead != static_cast<int>(requestLen)) {
+    if (uartCookie.isReplySizeFixed()) {
+      FSFW_LOGWT("UartComIF::requestReceiveMessage: Only read {} of {} bytes\n", bytesRead,
+                 requestLen);
+      return RETURN_FAILED;
+    }
+  }
+  iter->second.replyLen = bytesRead;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+    FSFW_LOGWT("{}", "readReceivedMessage: Invalid uart cookie");
+    return NULLPOINTER;
+  }
+
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
+    FSFW_LOGW("UartComIF::readReceivedMessage: Device file {} not in UART map\n", deviceFile);
+    return RETURN_FAILED;
+  }
+
+  *buffer = uartDeviceMapIter->second.replyBuffer.data();
+  *size = uartDeviceMapIter->second.replyLen;
+
+  /* Length is reset to 0 to prevent reading the same data twice */
+  uartDeviceMapIter->second.replyLen = 0;
+
+  return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+    FSFW_LOGWT("{}", "flushUartRxBuffer: Invalid UART cookie\n");
+    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::flushUartTxBuffer(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+    FSFW_LOGWT("{}", "flushUartTxBuffer: Invalid uart cookie\n");
+    return NULLPOINTER;
+  }
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
+    int fd = uartDeviceMapIter->second.fileDescriptor;
+    tcflush(fd, TCOFLUSH);
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+  auto* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+    FSFW_LOGWT("{}", "flushUartTxAndRxBuf: Invalid UART cookie\n");
+    return NULLPOINTER;
+  }
+  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;
+  }
+}
--- a/hal/src/fsfw_hal/linux/uart/UartComIF.h
+++ b/hal/src/fsfw_hal/linux/uart/UartComIF.h
@ -3,12 +3,12 @@

 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw_hal/linux/serial/SerialCookie.h>
-#include <fsfw_hal/linux/serial/helper.h>

 #include <unordered_map>
 #include <vector>

+#include "UartCookie.h"
+
 /**
 * @brief 	This is the communication interface to access serial ports on linux based operating
 *          systems.
@ -18,17 +18,20 @@
 *
 * @author 	J. Meier
 */
-class SerialComIF : public DeviceCommunicationIF, public SystemObject {
+class UartComIF : public DeviceCommunicationIF, public SystemObject {
 public:
  static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;

-  static constexpr ReturnValue_t UART_READ_FAILURE = returnvalue::makeCode(uartRetvalId, 1);
-  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
-  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
+  static constexpr ReturnValue_t UART_READ_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
+  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
+  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);

-  SerialComIF(object_id_t objectId);
+  UartComIF(object_id_t objectId);

-  virtual ~SerialComIF();
+  virtual ~UartComIF();

  ReturnValue_t initializeInterface(CookieIF* cookie) override;
  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -62,6 +65,7 @@ class SerialComIF : public DeviceCommunicationIF, public SystemObject {
  };

  using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
+  using UartDeviceMapIter = UartDeviceMap::iterator;

  /**
   * The uart devie map stores informations of initialized uart ports.
@ -75,9 +79,20 @@ class SerialComIF : public DeviceCommunicationIF, public SystemObject {
   *                      uart device file, baudrate, parity, stopbits etc.
   * @return  The file descriptor of the configured uart.
   */
-  int configureUartPort(SerialCookie* uartCookie);
+  int configureUartPort(UartCookie* uartCookie);

-  void setStopBitOptions(struct termios* options, SerialCookie* 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.
+   *
+   */
+  static 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.
@ -87,11 +102,19 @@ class SerialComIF : public DeviceCommunicationIF, public SystemObject {
  /**
   * @brief   With this function the datasize settings are added to the termios options struct.
   */
-  void setDatasizeOptions(struct termios* options, SerialCookie* uartCookie);
+  void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);

-  ReturnValue_t handleCanonicalRead(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
+  /**
+   * @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(SerialCookie& uartCookie, UartDeviceMap::iterator& iter,
+  ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
                                       size_t requestLen);
 };

--- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
@ -0,0 +1,51 @@
+#include "UartCookie.h"
+
+#include <fsfw/serviceinterface.h>
+
+UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+                       UartBaudRate baudrate, size_t maxReplyLen)
+    : handlerId(handlerId),
+      deviceFile(deviceFile),
+      uartMode(uartMode),
+      baudrate(baudrate),
+      maxReplyLen(maxReplyLen) {}
+
+UartCookie::~UartCookie() {}
+
+UartBaudRate UartCookie::getBaudrate() const { return baudrate; }
+
+size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
+
+std::string UartCookie::getDeviceFile() const { return deviceFile; }
+
+void UartCookie::setParityOdd() { parity = Parity::ODD; }
+
+void UartCookie::setParityEven() { parity = Parity::EVEN; }
+
+Parity UartCookie::getParity() const { return parity; }
+
+void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
+
+BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; }
+
+StopBits UartCookie::getStopBits() const { return stopBits; }
+
+void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
+
+void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
+
+UartModes UartCookie::getUartMode() const { return uartMode; }
+
+void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
+
+void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
+
+uint8_t UartCookie::getReadCycles() const { return readCycles; }
+
+bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
+
+object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
+
+void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
+
+bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
--- a/hal/src/fsfw_hal/linux/uart/UartCookie.h
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.h
@ -3,10 +3,50 @@

 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/objectmanager/SystemObjectIF.h>
-#include <fsfw_hal/linux/serial/helper.h>

 #include <string>

+enum class Parity { NONE, EVEN, ODD };
+
+enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
+
+enum class UartModes { CANONICAL, NON_CANONICAL };
+
+enum class BitsPerWord : unsigned int { BITS_5 = 5, BITS_6 = 6, BITS_7 = 7, BITS_8 = 8 };
+
+enum class UartBaudRate {
+  RATE_50,
+  RATE_75,
+  RATE_110,
+  RATE_134,
+  RATE_150,
+  RATE_200,
+  RATE_300,
+  RATE_600,
+  RATE_1200,
+  RATE_1800,
+  RATE_2400,
+  RATE_4800,
+  RATE_9600,
+  RATE_19200,
+  RATE_38400,
+  RATE_57600,
+  RATE_115200,
+  RATE_230400,
+  RATE_460800,
+  RATE_500000,
+  RATE_576000,
+  RATE_921600,
+  RATE_1000000,
+  RATE_1152000,
+  RATE_1500000,
+  RATE_2000000,
+  RATE_2500000,
+  RATE_3000000,
+  RATE_3500000,
+  RATE_4000000
+};
+
 /**
 * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
 *          The constructor only requests for common options like the baudrate. Other options can
@ -14,7 +54,7 @@
 *
 * @author 	J. Meier
 */
-class SerialCookie : public CookieIF {
+class UartCookie : public CookieIF {
 public:
  /**
   * @brief	Constructor for the uart cookie.
@ -29,10 +69,10 @@ class SerialCookie : public CookieIF {
   *                        8 databits (number of bits transfered with one uart frame)
   *                        One stop bit
   */
-  SerialCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
-               size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+             UartBaudRate baudrate, size_t maxReplyLen);

-  virtual ~SerialCookie();
+  virtual ~UartCookie();

  UartBaudRate getBaudrate() const;
  size_t getMaxReplyLen() const;
--- a/hal/src/fsfw_hal/linux/uio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/uio/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)
--- a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.cpp
@ -1,7 +1,6 @@
 #include "UioMapper.h"

 #include <fcntl.h>
-#include <sys/stat.h>
 #include <unistd.h>

 #include <filesystem>
@ -14,38 +13,22 @@ 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) : mapNum(mapNum) {
-  struct stat buf;
-  lstat(uioFile.c_str(), &buf);
-  if (S_ISLNK(buf.st_mode)) {
-    char* res = realpath(uioFile.c_str(), nullptr);
-    if (res) {
-      this->uioFile = res;
-      free(res);
-    } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "Could not resolve real path of UIO file " << uioFile << std::endl;
-#endif
-    }
-  } else {
-    this->uioFile = std::move(uioFile);
-  }
-}
+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 = returnvalue::OK;
-  int fd = open(uioFile.c_str(), O_RDWR | O_SYNC);
+  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 << "UioMapper::getMappedAdress: Invalid UIO device file " << uioFile << std::endl;
+    sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  size_t size = 0;
  result = getMapSize(&size);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  *address = static_cast<uint32_t*>(
@ -56,9 +39,9 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
    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 returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t UioMapper::getMapSize(size_t* size) {
@ -71,7 +54,7 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  char hexstring[SIZE_HEX_STRING] = "";
  int items = fscanf(fp, "%s", hexstring);
@ -83,7 +66,7 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
               << namestream.str() << std::endl;
 #endif
    fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  uint32_t sizeTmp = 0;
  items = sscanf(hexstring, "%x", &sizeTmp);
@ -96,8 +79,8 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
               << "size of map" << mapNum << " to integer" << std::endl;
 #endif
    fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  fclose(fp);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
--- a/hal/src/fsfw_hal/linux/uio/UioMapper.h
+++ b/hal/src/fsfw_hal/linux/uio/UioMapper.h
@ -5,7 +5,7 @@

 #include <string>

-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 /**
 * @brief   Class to help opening uio device files and mapping the physical addresses into the user
--- a/hal/src/fsfw_hal/linux/utility.cpp
+++ b/hal/src/fsfw_hal/linux/utility.cpp
@ -0,0 +1,13 @@
+#include "fsfw_hal/linux/utility.h"
+
+#include <cerrno>
+#include <cstring>
+
+#include "fsfw/serviceinterface.h"
+
+void utility::handleIoctlError(const char* const customPrintout) {
+  if (customPrintout != nullptr) {
+    FSFW_LOGW(customPrintout);
+  }
+  FSFW_LOGW("Error code {} | {}\n", errno, strerror(errno));
+}
--- a/hal/src/fsfw_hal/linux/utility.h
+++ b/hal/src/fsfw_hal/linux/utility.h
--- a/hal/src/fsfw_hal/stm32h7/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/CMakeLists.txt
@ -2,4 +2,6 @@ add_subdirectory(spi)
 add_subdirectory(gpio)
 add_subdirectory(devicetest)

-target_sources(${LIB_FSFW_NAME} PRIVATE dma.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    dma.cpp
+)
--- a/hal/src/fsfw_hal/stm32h7/definitions.h
+++ b/hal/src/fsfw_hal/stm32h7/definitions.h
--- a/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20H.cpp
+)
--- a/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
+++ b/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
@ -84,7 +84,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
  spiHandle->Init.Mode = SPI_MODE_MASTER;
  if (HAL_SPI_Init(spiHandle) != HAL_OK) {
    sif::printWarning("Error initializing SPI\n");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  delete mspCfg;
@ -106,11 +106,11 @@ ReturnValue_t GyroL3GD20H::initialize() {
      return handlePollingTransferInit();
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::performOperation() {
@ -125,10 +125,10 @@ ReturnValue_t GyroL3GD20H::performOperation() {
      return handleInterruptSensorRead();
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
@ -162,10 +162,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("Transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -194,10 +194,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -228,13 +228,13 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
@ -259,13 +259,13 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
@ -298,14 +298,14 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -323,14 +323,14 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -353,17 +353,17 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
@ -380,17 +380,17 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
@ -416,7 +416,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -438,7 +438,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -465,10 +465,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
@ -489,10 +489,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
--- a/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
+++ b/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
@ -6,14 +6,10 @@

 #include "../spi/mspInit.h"
 #include "../spi/spiDefinitions.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"

-#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
-#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
-#endif
-
 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };

 class GyroL3GD20H {
--- a/hal/src/fsfw_hal/stm32h7/dma.cpp
+++ b/hal/src/fsfw_hal/stm32h7/dma.cpp
--- a/hal/src/fsfw_hal/stm32h7/dma.h
+++ b/hal/src/fsfw_hal/stm32h7/dma.h
--- a/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    gpio.cpp
+)
--- a/hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
+++ b/hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
--- a/hal/src/fsfw_hal/stm32h7/gpio/gpio.h
+++ b/hal/src/fsfw_hal/stm32h7/gpio/gpio.h
--- a/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+)
--- a/hal/src/fsfw_hal/stm32h7/interrupts.h
+++ b/hal/src/fsfw_hal/stm32h7/interrupts.h
--- a/hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
@ -0,0 +1,9 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    spiCore.cpp
+    spiDefinitions.cpp
+    spiInterrupts.cpp
+    mspInit.cpp
+    SpiCookie.cpp
+    SpiComIF.cpp
+    stm32h743zi.cpp
+)
--- a/hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
@ -35,7 +35,7 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
  spi::setDmaHandles(txHandle, rxHandle);
 }

-ReturnValue_t SpiComIF::initialize() { return returnvalue::OK; }
+ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }

 ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
@ -55,7 +55,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    spi::getDmaHandles(&txHandle, &rxHandle);
    if (txHandle == nullptr or rxHandle == nullptr) {
      sif::printError("SpiComIF::initialize: DMA handles not set!\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
  // This semaphore ensures thread-safety for a given bus
@ -79,7 +79,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
  auto gpioPin = spiCookie->getChipSelectGpioPin();
@ -98,7 +98,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 #endif
  } else {
    printCfgError("SPI Bus Index");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  auto mspCfg = spiCookie->getMspCfg();
@ -107,21 +107,21 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
    if (typedCfg == nullptr) {
      printCfgError("Polling MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    spi::setSpiPollingMspFunctions(typedCfg);
  } else if (transferMode == spi::TransferModes::INTERRUPT) {
    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
    if (typedCfg == nullptr) {
      printCfgError("IRQ MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    spi::setSpiIrqMspFunctions(typedCfg);
  } else if (transferMode == spi::TransferModes::DMA) {
    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
    if (typedCfg == nullptr) {
      printCfgError("DMA MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    // Check DMA handles
    DMA_HandleTypeDef *txHandle = nullptr;
@ -129,7 +129,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    spi::getDmaHandles(&txHandle, &rxHandle);
    if (txHandle == nullptr or rxHandle == nullptr) {
      printCfgError("DMA Handle");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    spi::setSpiDmaMspFunctions(typedCfg);
  }
@ -145,12 +145,12 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {

  if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
    sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  // The MSP configuration struct is not required anymore
  spiCookie->deleteMspCfg();

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
@ -163,7 +163,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s

  auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
  if (iter == spiDeviceMap.end()) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  iter->second.currentTransferLen = sendLen;

@ -176,7 +176,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
    case (spi::TransferStates::FAILURE):
    case (spi::TransferStates::SUCCESS):
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@ -194,13 +194,13 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
                                    sendData, sendLen);
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }

 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@ -212,7 +212,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
    case (spi::TransferStates::SUCCESS): {
      auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
      if (iter == spiDeviceMap.end()) {
-        return returnvalue::FAILED;
+        return HasReturnvaluesIF::RETURN_FAILED;
      }
      *buffer = iter->second.replyBuffer.data();
      *size = iter->second.currentTransferLen;
@ -228,18 +228,18 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 #endif
 #endif
      spiCookie->setTransferState(spi::TransferStates::IDLE);
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (spi::TransferStates::WAIT):
    case (spi::TransferStates::IDLE): {
      break;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
@ -252,7 +252,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
  auto gpioPort = spiCookie.getChipSelectGpioPort();
  auto gpioPin = spiCookie.getChipSelectGpioPin();
  auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
-  if (returnval != returnvalue::OK) {
+  if (returnval != HasReturnvaluesIF::RETURN_OK) {
    return returnval;
  }
  spiCookie.setTransferState(spi::TransferStates::WAIT);
@ -282,7 +282,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
 #endif
 #endif
      spiCookie.setTransferState(spi::TransferStates::FAILURE);
-      return spi::TIMEOUT;
+      return spi::HAL_TIMEOUT_RETVAL;
    }
    case (HAL_ERROR):
    default: {
@ -296,10 +296,10 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
 #endif
 #endif
      spiCookie.setTransferState(spi::TransferStates::FAILURE);
-      return spi::GENERIC_ERROR;
+      return spi::HAL_ERROR_RETVAL;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
@ -318,7 +318,7 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
                                               SpiCookie &spiCookie, const uint8_t *sendData,
                                               size_t sendLen) {
  ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  // yet another HAL driver which is not const-correct..
@ -357,16 +357,16 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
  sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
  switch (status) {
    case (HAL_BUSY): {
-      return spi::BUSY;
+      return spi::HAL_BUSY_RETVAL;
    }
    case (HAL_ERROR): {
-      return spi::GENERIC_ERROR;
+      return spi::HAL_ERROR_RETVAL;
    }
    case (HAL_TIMEOUT): {
-      return spi::TIMEOUT;
+      return spi::HAL_TIMEOUT_RETVAL;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
 }
@ -379,7 +379,7 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef

  // Take the semaphore which will be released by a callback when the transfer is complete
  ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    // Configuration error
    sif::printWarning(
        "SpiComIF::handleInterruptSendOperation: Semaphore "
@ -399,7 +399,7 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef
    HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
                      GPIO_PIN_RESET);
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
@ -445,7 +445,7 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
 #elif defined FSFW_OSAL_RTEMS
  ReturnValue_t result = comIF->spiSemaphore->release();
 #endif
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    // Configuration error
    printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
  }
--- a/hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h
+++ b/hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h
--- a/hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
--- a/hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h
+++ b/hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h
--- a/hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp
--- a/hal/src/fsfw_hal/stm32h7/spi/mspInit.h
+++ b/hal/src/fsfw_hal/stm32h7/spi/mspInit.h
--- a/hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp
--- a/hal/src/fsfw_hal/stm32h7/spi/spiCore.h
+++ b/hal/src/fsfw_hal/stm32h7/spi/spiCore.h
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Robin Müller	16f8262a79	starting a bit with event manage replacements	2022-05-18 11:35:17 +02:00
Robin Müller	1a41d37f20	Merge branch 'mueller/tc-packet-pus-improvement' into mueller/refactor-logging-with-fmt	2022-05-18 10:52:50 +02:00
Robin Müller	a3b9937f32	freertos and dll replacements	2022-05-18 10:51:38 +02:00
Robin Müller	b11ae1c11d	Merge remote-tracking branch 'upstream/development' into mueller/refactor-logging-with-fmt	2022-05-16 14:59:58 +02:00
Robin Müller	aea4e5d42c	resolve merge conflict	2022-05-16 14:47:15 +02:00
Robin Müller	8d966de735	Merge remote-tracking branch 'upstream/development' into mueller/refactor-logging-with-fmt	2022-05-16 14:41:19 +02:00
Robin Müller	842f1b22af	Merge branch 'development' into mueller/refactor-logging-with-fmt	2022-05-13 13:21:17 +02:00
Robin Müller	cb9c1806ef	Merge remote-tracking branch 'origin/development' into mueller/refactor-logging-with-fmt	2022-05-13 13:17:05 +02:00
Robin Müller	cdc431ebc5	Merge remote-tracking branch 'origin/development' into mueller/refactor-logging-with-fmt	2022-05-12 19:05:52 +02:00
Robin Müller	7ab617accb	rudimentary clion support	2022-05-12 18:59:39 +02:00
Robin Müller	e2d3158506	remove v prefix from fmt version	2022-05-12 17:40:34 +02:00
Robin Müller	23c6145971	Merge remote-tracking branch 'origin/development' into mueller/refactor-logging-with-fmt	2022-05-12 17:38:01 +02:00
Robin Müller	eafbab9c65	Merge remote-tracking branch 'origin/mueller/add-lto-support' into mueller/refactor-logging-with-fmt	2022-05-10 10:15:05 +02:00
Robin Müller	16bbc0f597	Merge remote-tracking branch 'origin/development' into mueller/refactor-logging-with-fmt	2022-05-10 10:10:56 +02:00
Robin Müller	8d85da66f2	remove double added source files	2022-05-09 02:20:19 +02:00
Robin Müller	fb1d775b52	fmt is publicly linked now, enable lto by default	2022-05-09 02:02:13 +02:00
Robin Müller	e8a5f1e095	some format fixes	2022-05-09 01:28:26 +02:00
Robin Müller	f518bc53db	moved old loggers to archive	2022-05-09 01:14:23 +02:00
Robin Müller	b45b6b3758	replace FLOG with LOG variants	2022-05-09 00:25:48 +02:00
Robin Müller	83a2882f9d	it compiles again	2022-05-09 00:09:13 +02:00
Robin Müller	1b34b90ae0	init changing all printout types	2022-05-08 21:45:51 +02:00
Robin Müller	77055a1579	first working version with fmt lib	2022-05-08 18:19:44 +02:00