Merge branch 'develop' of https://egit.irs.uni-stuttgart.de/eive/eive_obsw into develop

README.md

@@ -141,7 +141,7 @@ The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debu
 1. Install the TCF agent plugin in Eclipse from the [releases](https://www.eclipse.org/tcf/downloads.php). Go to Help → Install New Software and use the download page, for example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
 
 2. Go to Window → Perspective → Open Perspective and open the **Target Explorer Perspective**. 
-   Here, the Q7S should show up if the local port forwarding was set up as explained previously.
+   Here, the Q7S should show up if the local port forwarding was set up as explained previously. Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
    
 3. A launch configuration was provided, but it might be necessary to adapt it for your own needs. Alternatively:
 
@@ -244,7 +244,7 @@ To launch application from Xilinx SDK setup port fowarding on the development ma
 (not on the flatsat!)
 
 ```sh
-ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
+ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
 ```
 
 This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.

bsp_hosted/fsfwconfig/OBSWVersion.h

@@ -3,8 +3,8 @@
 
 const char* const SW_NAME = "eive";
 
-#define SW_VERSION 0
+#define SW_VERSION 1
-#define SW_SUBVERSION 2
+#define SW_SUBVERSION 0
 #define SW_SUBSUBVERSION 0
 
 

bsp_q7s/InitMission.cpp

@@ -11,8 +11,7 @@
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
-#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
+#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
-
 #include <iostream>
 
 /* This is configured for linux without CR */

bsp_q7s/ObjectFactory.cpp

@@ -100,10 +100,10 @@ void ObjectFactory::produce(){
      * Setting PCDU devices to mode normal immediately after start up because PCDU is always
      * running.
      */
-    p60dockhandler->setModeNormal();
+    //p60dockhandler->setModeNormal();
-    pdu1handler->setModeNormal();
+    //pdu1handler->setModeNormal();
-    pdu2handler->setModeNormal();
+    //pdu2handler->setModeNormal();
-    acuhandler->setModeNormal();
+    //acuhandler->setModeNormal();
 #endif
     /* Temperature sensors */
     Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(

bsp_q7s/devices/HeaterHandler.cpp

@@ -201,8 +201,8 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
         heaterMapIter->second.active = false;
         heaterMapIter->second.waitMainSwitchOn = false;
         if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
-            actionHelper.finish(heaterMapIter->second.replyQueue, heaterMapIter->second.action,
+            actionHelper.finish(false, heaterMapIter->second.replyQueue,
-                    MAIN_SWITCH_SET_TIMEOUT );
+                    heaterMapIter->second.action, MAIN_SWITCH_SET_TIMEOUT );
         }
         return;
     }
@@ -229,9 +229,16 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
         /* There is no need to send action finish replies if the sender was the
          * HeaterHandler itself. */
         if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
-            actionHelper.finish(heaterMapIter->second.replyQueue,
+            if(result == RETURN_OK) {
+                actionHelper.finish(true, heaterMapIter->second.replyQueue,
                         heaterMapIter->second.action, result);
             }
+            else {
+                actionHelper.finish(false, heaterMapIter->second.replyQueue,
+                        heaterMapIter->second.action, result);
+            }
+
+        }
         heaterMapIter->second.active = false;
         heaterMapIter->second.waitMainSwitchOn = false;
     }
@@ -250,7 +257,7 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
         sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
                 << " main line switch" << std::endl;
         if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
-            actionHelper.finish(heaterMapIter->second.replyQueue,
+            actionHelper.finish(false, heaterMapIter->second.replyQueue,
                     heaterMapIter->second.action, mainSwitchState);
         }
         heaterMapIter->second.active = false;
@@ -282,9 +289,16 @@ void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
         triggerEvent(SWITCH_ALREADY_OFF, switchNr);
     }
     if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
-        actionHelper.finish(heaterMapIter->second.replyQueue,
+        /* Report back switch command reply if necessary */
+        if(result == HasReturnvaluesIF::RETURN_OK) {
+            actionHelper.finish(true, heaterMapIter->second.replyQueue,
                     heaterMapIter->second.action, result);
         }
+        else {
+            actionHelper.finish(false, heaterMapIter->second.replyQueue,
+                    heaterMapIter->second.action, result);
+        }
+    }
     heaterMapIter->second.active = false;
 }
 

bsp_q7s/devices/SolarArrayDeploymentHandler.cpp

@@ -108,7 +108,7 @@ void SolarArrayDeploymentHandler::performWaitOn8VActions() {
     } else {
         if (mainSwitchCountdown.hasTimedOut()) {
             triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
-            actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
+            actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
                     MAIN_SWITCH_TIMEOUT_FAILURE);
             stateMachine = WAIT_ON_DELOYMENT_COMMAND;
         }
@@ -125,7 +125,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
          * the deployment sequence. */
         stateMachine = WAIT_ON_DELOYMENT_COMMAND;
         triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
-        actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
+        actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
             SWITCHING_DEPL_SA2_FAILED);
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
     }
@@ -135,7 +135,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
                 " array deployment switch 2 high " << std::endl;
         stateMachine = WAIT_ON_DELOYMENT_COMMAND;
         triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
-        actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
+        actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
             SWITCHING_DEPL_SA2_FAILED);
         mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
     }
@@ -146,7 +146,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
 void SolarArrayDeploymentHandler::handleDeploymentFinish() {
     ReturnValue_t result = RETURN_OK;
     if (deploymentCountdown.hasTimedOut()) {
-        actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
+        actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
         result = gpioInterface->pullLow(deplSA1);
         if (result != RETURN_OK) {
             sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"

bsp_rpi/InitMission.cpp

@@ -3,8 +3,6 @@
 
 #include <fsfwconfig/objects/systemObjectList.h>
 #include <fsfwconfig/OBSWConfig.h>
-#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
-
 #include <mission/utility/InitMission.h>
 
 #include <fsfw/objectmanager/ObjectManagerIF.h>
@@ -14,6 +12,7 @@
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
+#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
 
 #include <iostream>
 
@@ -128,7 +127,7 @@ void initmission::initTasks() {
 
 #if RPI_TEST_ACS_BOARD == 1
     FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
-            "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+            "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
     result = pst::pollingSequenceAcsTest(acsTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;

bsp_rpi/ObjectFactory.cpp

@@ -1,23 +1,25 @@
 #include "ObjectFactory.h"
 #include <bsp_rpi/gpio/GPIORPi.h>
 
-#include <objects/systemObjectList.h>
+#include <fsfwconfig/objects/systemObjectList.h>
-#include <devices/addresses.h>
+#include <fsfwconfig/devices/addresses.h>
-#include <devices/gpioIds.h>
+#include <fsfwconfig/devices/gpioIds.h>
-#include <OBSWConfig.h>
+#include <fsfwconfig/OBSWConfig.h>
-#include <tmtc/apid.h>
+#include <fsfwconfig/tmtc/apid.h>
-#include <tmtc/pusIds.h>
+#include <fsfwconfig/tmtc/pusIds.h>
+#include <fsfwconfig/devices/spi.h>
 
 #include <linux/boardtest/LibgpiodTest.h>
 #include <linux/boardtest/SpiTestClass.h>
 #include <linux/gpio/GpioCookie.h>
 #include <linux/gpio/LinuxLibgpioIF.h>
-
 #include <linux/spi/SpiCookie.h>
+#include <linux/spi/SpiComIF.h>
 
 #include <mission/core/GenericFactory.h>
 #include <mission/utility/TmFunnel.h>
 #include <mission/devices/MGMHandlerLIS3MDL.h>
+#include <mission/devices/MGMHandlerRM3100.h>
 
 #include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
@@ -26,7 +28,8 @@
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
 #include <fsfw/tasks/TaskFactory.h>
-#include <linux/spi/SpiComIF.h>
+#include <mission/devices/GyroL3GD20Handler.h>
+
 
 void Factory::setStaticFrameworkObjectIds() {
     PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -97,11 +100,24 @@ void ObjectFactory::produce(){
             "GYRO_2_L3G", gpio::Direction::OUT, 1);
     gpioIF->addGpios(gpioCookieAcsBoard);
 
-    SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
+    std::string spiDev = "/dev/spidev0.0";
-            gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
+    SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
-    auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
+            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+    auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
             objects::SPI_COM_IF, spiCookie);
-    mgmHandler->setStartUpImmediately();
+    mgmLis3Handler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
+            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+    auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
+            objects::SPI_COM_IF, spiCookie);
+    mgmRm3100Handler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
+    gyroL3gHandler->setStartUpImmediately();
 
 #endif /* RPI_TEST_ACS_BOARD == 1 */
 }

bsp_rpi/boardconfig/rpi_config.h

@@ -8,7 +8,7 @@
 
 /* Only one of those 2 should be enabled! */
 #define RPI_ADD_SPI_TEST                0
-#define RPI_TEST_ACS_BOARD              1
+#define RPI_TEST_ACS_BOARD              0
 
 /* Adapt these values accordingly */
 namespace gpio {

cmake/scripts/Host/create_cmake_release_cfg.sh

@@ -16,7 +16,7 @@ fi
 
 build_generator=""
 os_fsfw="host"
-build_dir="Debug-Release"
+build_dir="Release-Host"
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
 # Could be other OS but this works for now.

cmake/scripts/Linux/create_cmake_debug_cfg.sh

@@ -16,5 +16,10 @@ fi
 
 build_generator="Unix Makefiles"
 os_fsfw="linux"
+builddir="Debug-Linux"
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug"
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x

cmake/scripts/Linux/create_cmake_release_cfg.sh

@@ -16,5 +16,10 @@ fi
 
 build_generator="Unix Makefiles"
 os_fsfw="linux"
+builddir="Release-Linux"
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release"
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x

cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh

@@ -16,5 +16,10 @@ fi
 
 build_generator="Unix Makefiles"
 os_fsfw="linux"
+builddir="RelWithDeb-Linux"
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb"
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x

fsfw

@@ -1 +1 @@
-Subproject commit 92f249dc62cf02a5052fee4e9877bc89b2be1ab5
+Subproject commit 83d0db824289b28dbad81cce0c80276c4fc839c8

fsfwconfig/CMakeLists.txt

@@ -1,6 +1,6 @@
 target_sources(${TARGET_NAME} PRIVATE
 	ipc/MissionMessageTypes.cpp
-	pollingsequence/PollingSequenceFactory.cpp
+	pollingsequence/pollingSequenceFactory.cpp
 )
 
 target_include_directories(${TARGET_NAME} PUBLIC

fsfwconfig/OBSWConfig.h

@@ -26,6 +26,11 @@ debugging. */
 #define PDU2_DEBUG                                  0
 #define ACU_DEBUG                                   1
 
+/* Can be used to switch device to NORMAL mode immediately */
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+/* Can be used for low-level debugging of the SPI bus */
+#define FSFW_LINUX_SPI_WIRETAPPING                  0
+
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

fsfwconfig/devices/spi.h

@@ -0,0 +1,27 @@
+#ifndef FSFWCONFIG_DEVICES_SPI_H_
+#define FSFWCONFIG_DEVICES_SPI_H_
+
+#include <cstdint>
+#include <linux/spi/spiDefinitions.h>
+
+/**
+ * SPI configuration will be contained here to let the device handlers remain independent
+ * of SPI specific properties.
+ */
+namespace spi {
+
+/* Default values, changing them is not supported for now */
+static constexpr uint32_t DEFAULT_LIS3_SPEED = 3'900'000;
+static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
+
+static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
+static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
+
+static constexpr uint32_t DEFAULT_L3G_SPEED = 3'900'000;
+static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
+
+}
+
+
+
+#endif /* FSFWCONFIG_DEVICES_SPI_H_ */

fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -1,9 +1,11 @@
+#include "pollingSequenceFactory.h"
+
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfwconfig/objects/systemObjectList.h>
-#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
+
 
 ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
 {
@@ -109,6 +111,28 @@ ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
             DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Initialization of ACS Board PST failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;

fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -1,5 +1,6 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_
+
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 class FixedTimeslotTaskIF;

linux/boardtest/SpiTestClass.cpp

@@ -1,14 +1,18 @@
 #include "SpiTestClass.h"
 
 #include <fsfwconfig/devices/gpioIds.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
 
-#include <linux/spi/spidev.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fcntl.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
+
 #include <linux/gpio/gpioDefinitions.h>
 #include <linux/gpio/GpioCookie.h>
 #include <linux/utility/Utility.h>
+
+#include <linux/spi/spidev.h>
+#include <fcntl.h>
 #include <unistd.h>
 #include <sys/ioctl.h>
 #include <bitset>
@@ -19,7 +23,7 @@ SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objec
     if(gpioIF == nullptr) {
         sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
     }
-    testMode = TestModes::MGM_LIS3MDL;
+    testMode = TestModes::GYRO_L3GD20H;
     spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
     spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
 }
@@ -38,6 +42,7 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
         break;
     }
     case(TestModes::GYRO_L3GD20H): {
+        performL3gTest(gyro1L3gd20ChipSelect);
         break;
     }
     }
@@ -64,10 +69,10 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
     else {
         currentGpioId = gpioIds::MGM_3_RM3100_CS;
     }
-    uint32_t rm3100speed = 3'900'000;
+    uint32_t rm3100speed = 976'000;
     uint8_t rm3100revidReg = 0x36;
-    spi::SpiMode rm3100mode = spi::SpiMode::MODE_3;
+    spi::SpiModes rm3100mode = spi::SpiModes::MODE_3;
-    //spiTransferStruct.speed_hz = rm3100Speed;
+
 #ifdef RASPBERRY_PI
     std::string deviceName = "/dev/spidev0.0";
 #else
@@ -85,9 +90,67 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
     }
     setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
 
-    uint8_t revId = readStmRegister(fileDescriptor, currentGpioId, rm3100revidReg, false);
+    uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
     sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) <<
             std::endl;
+
+    /* Write configuration to CMM register */
+    writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
+    uint8_t cmmRegister = readRm3100Register(fileDescriptor , currentGpioId, 0x01);
+    sif::info << "SpiTestClass::performRm3100Test: CMM register value: " <<
+            std::hex << "0x" << static_cast<int>(cmmRegister) << std::dec << std::endl;
+
+    /* Read the cycle count registers */
+    uint8_t cycleCountsRaw[6];
+    readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6);
+
+    uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1];
+    uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3];
+    uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5];
+
+    sif::info << "Cycle count X: " << cycleCountX << std::endl;
+    sif::info << "Cycle count Y: " << cycleCountY << std::endl;
+    sif::info << "Cycle count z: " << cycleCountZ << std::endl;
+
+    writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x95);
+    uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
+    sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " <<
+            std::hex << "0x" << static_cast<int>(tmrcReg) << std::dec << std::endl;
+
+    TaskFactory::delayTask(10);
+    uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
+    sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" <<
+            std::bitset<8>(statusReg) << std::endl;
+    /* This means that data is not ready */
+    if((statusReg & 0b1000'0000) == 0) {
+        sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
+        TaskFactory::delayTask(10);
+        uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
+        if((statusReg & 0b1000'0000) == 0) {
+            return;
+        }
+    }
+
+    uint32_t rm3100DefaultCycleCout = 0xC8;
+    /* Gain scales lineary with cycle count and is 38 for cycle count 100 */
+    float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0;
+    float scaleFactor = 1 / rm3100Gain;
+    uint8_t rawValues[9];
+    readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9);
+
+    /* The sensor generates 24 bit signed values */
+    int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8;
+    int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8;
+    int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8;
+
+    float fieldStrengthX = rawX * scaleFactor;
+    float fieldStrengthY = rawY * scaleFactor;
+    float fieldStrengthZ = rawZ * scaleFactor;
+
+    sif::info << "RM3100 measured field strenghts in microtesla:" << std::endl;
+    sif::info << "Field Strength X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
+    sif::info << "Field Strength Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
+    sif::info << "Field Strength Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
 }
 
 void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
@@ -108,7 +171,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
         currentGpioId = gpioIds::MGM_2_LIS3_CS;
     }
     uint32_t spiSpeed = 3'900'000;
-    spi::SpiMode spiMode = spi::SpiMode::MODE_3;
+    spi::SpiModes spiMode = spi::SpiModes::MODE_3;
 #ifdef RASPBERRY_PI
     std::string deviceName = "/dev/spidev0.0";
 #else
@@ -126,11 +189,108 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
     setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
 
     uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
-    sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I Regiter 0b" <<
+    sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
             std::bitset<8>(whoAmIRegVal) << std::endl;
+
 }
 
 
+void SpiTestClass::performL3gTest(uint8_t l3gId) {
+    /* Configure all SPI chip selects and pull them high */
+    acsInit();
+
+    l3gId = gyro2L3gd20ChipSelect;
+
+    /* Adapt accordingly */
+    if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro2L3gd20ChipSelect) {
+        sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
+    }
+    gpioId_t currentGpioId = 0;
+    uint8_t chipSelectPin = l3gId;
+    uint8_t whoAmIReg = 0b0000'1111;
+    uint8_t whoAmIRegExpectedVal = 0b1101'0111;
+
+    if(chipSelectPin == gyro1L3gd20ChipSelect) {
+        currentGpioId = gpioIds::GYRO_1_L3G_CS;
+    }
+    else {
+        currentGpioId = gpioIds::GYRO_2_L3G_CS;
+    }
+    uint32_t spiSpeed = 3'900'000;
+    spi::SpiModes spiMode = spi::SpiModes::MODE_3;
+#ifdef RASPBERRY_PI
+    std::string deviceName = "/dev/spidev0.0";
+#else
+    std::string deviceName = "placeholder";
+#endif
+    int fileDescriptor = 0;
+
+    utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
+            "SpiComIF::initializeInterface: ");
+    if(fileHelper.getOpenResult()) {
+        sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
+                << std::endl;
+        return;
+    }
+    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
+    sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
+            std::bitset<8>(whoAmIRegVal) << std::endl;
+    if(whoAmIRegVal != whoAmIRegExpectedVal) {
+        sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" <<
+                std::endl;
+    }
+
+    uint8_t ctrlReg1Addr = 0b0010'0000;
+    {
+        uint8_t commandRegs[5];
+        commandRegs[0] = 0b0000'1111;
+        commandRegs[1] = 0x0;
+        commandRegs[2] = 0x0;
+        /* Configure big endian data format */
+        commandRegs[3] = 0b0100'0000;
+        commandRegs[4] = 0x0;
+        writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs,
+                sizeof(commandRegs));
+        uint8_t readRegs[5];
+        readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs,
+                sizeof(readRegs));
+        for(uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
+            if(readRegs[idx] != commandRegs[0]) {
+                sif::warning << "SpiTestClass::performL3gTest: Read control register" <<
+                        static_cast<int>(idx + 1) << "not equal to configured value" << std::endl;
+            }
+        }
+    }
+
+    uint8_t readOutBuffer[14];
+    readMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readOutBuffer,
+            sizeof(readOutBuffer));
+
+    uint8_t statusReg = readOutBuffer[7];
+    sif::info << "SpiTestClass::performL3gTest: Status Register 0b" <<
+            std::bitset<8>(statusReg) << std::endl;
+
+    uint16_t l3gRange = 245;
+    float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX;
+    /* The sensor spits out little endian */
+    int16_t angVelocRawX = (readOutBuffer[8] << 8) | readOutBuffer[9];
+    int16_t angVelocRawY = (readOutBuffer[10] << 8) | readOutBuffer[11];
+    int16_t angVelocRawZ = (readOutBuffer[12] << 8) | readOutBuffer[13];
+
+    float angVelocX = scaleFactor * angVelocRawX;
+    float angVelocY = scaleFactor * angVelocRawY;
+    float angVelocZ = scaleFactor * angVelocRawZ;
+
+    sif::info << "Angular velocities for the L3GD20H in degrees per second:" << std::endl;
+    sif::info << "X: " << angVelocX << std::endl;
+    sif::info << "Y: " << angVelocY << std::endl;
+    sif::info << "Z: " << angVelocZ << std::endl;
+
+}
+
+
+
 void SpiTestClass::acsInit() {
     GpioCookie* gpioCookie = new GpioCookie();
     std::string rpiGpioName = "gpiochip0";
@@ -174,29 +334,9 @@ void SpiTestClass::acsInit() {
     }
 }
 
-void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
+void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
-        bool autoIncrement) {
+    int mode_test = SPI_MODE_3;
-    if(autoIncrement) {
+    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test);//reinterpret_cast<uint8_t*>(&mode));
-        reg |= STM_AUTO_INCR_MASK;
-    }
-    spiTransferStruct.len = 2;
-    sendBuffer[0] = reg;
-    sendBuffer[1] = value;
-
-    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
-        gpioIF->pullLow(chipSelect);
-    }
-    int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
-    if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::writeStmRegister: Write failed");
-    }
-    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
-        gpioIF->pullHigh(chipSelect);
-    }
-}
-
-void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
-    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
     if(retval != 0) {
         utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
     }
@@ -207,12 +347,114 @@ void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t spe
     }
 }
 
+void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) {
+    spiTransferStruct.len = 2;
+    sendBuffer[0] = reg;
+    sendBuffer[1] = value;
+
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullLow(chipSelect);
+    }
+    int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
+    if(retval < 0) {
+        utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
+    }
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullHigh(chipSelect);
+    }
+}
+
+void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
+        bool autoIncrement) {
+    if(autoIncrement) {
+        reg |= STM_AUTO_INCR_MASK;
+    }
+    writeRegister(fd, chipSelect, reg, value);
+}
+
+void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
+        uint8_t *values, size_t len) {
+    if(values == nullptr) {
+        return;
+    }
+
+    reg |= STM_AUTO_INCR_MASK;
+    /* Clear read mask */
+    reg &= ~STM_READ_MASK;
+    writeMultipleRegisters(fd, chipSelect, reg, values, len);
+
+}
+
+void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
+        uint8_t *values, size_t len) {
+    if(values == nullptr) {
+        return;
+    }
+
+    sendBuffer[0] = reg;
+    std::memcpy(sendBuffer.data() + 1, values, len);
+    spiTransferStruct.len = len + 1;
+
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullLow(chipSelect);
+    }
+    int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
+    if(retval < 0) {
+        utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
+    }
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullHigh(chipSelect);
+    }
+}
+
+uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg) {
+    return readStmRegister(fd, chipSelect, reg, false);
+}
+
+
+void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
+        size_t len) {
+    reg |= STM_AUTO_INCR_MASK;
+    readMultipleRegisters(fd, chipSelect, reg, reply, len);
+}
+
+void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
+        size_t len) {
+    if(reply == nullptr) {
+        return;
+    }
+
+    spiTransferStruct.len = len + 1;
+    sendBuffer[0] = reg | STM_READ_MASK;
+
+    for(uint8_t idx = 0; idx < len ; idx ++) {
+        sendBuffer[idx + 1] = 0;
+    }
+
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullLow(chipSelect);
+    }
+    int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
+    if(retval < 0) {
+        utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
+    }
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullHigh(chipSelect);
+    }
+    std::memcpy(reply, recvBuffer.data() + 1, len);
+}
+
 uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
         bool autoIncrement) {
     reg |= STM_READ_MASK;
     if(autoIncrement) {
         reg |= STM_AUTO_INCR_MASK;
     }
+    return readRegister(fd, chipSelect, reg);
+}
+
+
+uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
     spiTransferStruct.len = 2;
     sendBuffer[0] = reg;
     sendBuffer[1] = 0;
@@ -222,10 +464,11 @@ uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
     }
     int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
     if(retval < 0) {
-        utility::handleIoctlError("SpiTestClass::readStmRegiste: Read failed");
+        utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
     }
     if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
         gpioIF->pullHigh(chipSelect);
     }
     return recvBuffer[1];
 }
+

linux/boardtest/SpiTestClass.h

@@ -28,10 +28,11 @@ private:
 
     std::array<uint8_t, 128> recvBuffer;
     std::array<uint8_t, 128> sendBuffer;
-    struct spi_ioc_transfer spiTransferStruct;
+    struct spi_ioc_transfer spiTransferStruct = {};
 
     void performRm3100Test(uint8_t mgmId);
     void performLis3MdlTest(uint8_t lis3Id);
+    void performL3gTest(uint8_t l3gId);
 
     /* ACS board specific code which pulls all GPIOs high */
     void acsInit();
@@ -46,12 +47,26 @@ private:
     uint8_t mgm3Rm3100ChipSelect = 27;
 
     static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
+    static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
     static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
 
-    void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
+    void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
+
     void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
             bool autoIncrement);
+    void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
+            size_t len);
+    void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
+            size_t len);
+    void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
+
+    uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
     uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
+    uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
+    void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
+            size_t len);
+    void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
+            uint8_t* reply, size_t len);
 
 };
 

linux/spi/SpiComIF.cpp

@@ -1,10 +1,11 @@
 #include "SpiComIF.h"
+#include <OBSWConfig.h>
 
 #include <linux/utility/Utility.h>
 #include <linux/spi/SpiCookie.h>
 
 #include <fsfw/ipc/MutexFactory.h>
-#include <fsfw/ipc/MutexHelper.h>
+#include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
 
 #include <linux/spi/spidev.h>
@@ -78,7 +79,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     }
 
     size_t spiSpeed = 0;
-    spi::SpiMode spiMode = spi::SpiMode::MODE_0;
+    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
 
     SpiCookie::UncommonParameters params;
     spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
@@ -162,7 +163,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return OPENING_FILE_FAILED;
     }
-    spi::SpiMode spiMode = spi::SpiMode::MODE_0;
+    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
     uint32_t spiSpeed = 0;
     spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
     setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
@@ -173,7 +174,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     gpioId_t gpioId = spiCookie->getChipSelectPin();
 
     /* GPIO access is mutex protected */
-    MutexHelper(spiMutex, timeoutType, timeoutMs);
+    MutexGuard(spiMutex, timeoutType, timeoutMs);
 
     /* Pull SPI CS low. For now, no support for active high given  */
     if(gpioId != gpio::NO_GPIO) {
@@ -188,6 +189,18 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
+#if FSFW_LINUX_SPI_WIRETAPPING == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "Sent SPI data: " << std::endl;
+        size_t dataLen = spiCookie->getTransferStructHandle()->len;
+        uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
+        arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+        sif::info << "Received SPI data: " << std::endl;
+        dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
+        arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+#else
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
     }
     else {
         /* We write with a blocking half-duplex transfer here */
@@ -242,7 +255,7 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
     }
 
     gpioId_t gpioId = spiCookie->getChipSelectPin();
-    MutexHelper(spiMutex, timeoutType, timeoutMs);
+    MutexGuard(spiMutex, timeoutType, timeoutMs);
     if(gpioId != gpio::NO_GPIO) {
         gpioComIF->pullLow(gpioId);
     }
@@ -295,7 +308,7 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
+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("SpiTestClass::performRm3100Test: Setting SPI mode failed!");

linux/spi/SpiComIF.h

@@ -57,7 +57,7 @@ private:
 
 
     ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
-    void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
+    void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
 };
 
 #endif /* LINUX_SPI_SPICOMIF_H_ */

linux/spi/SpiCookie.cpp

@@ -1,17 +1,17 @@
 #include "SpiCookie.h"
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-        const size_t maxSize, spi::SpiMode spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
+        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
         chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
         spiSpeed(spiSpeed) {
 }
 
 SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
-        spi::SpiMode spiMode, uint32_t spiSpeed):
+        spi::SpiModes spiMode, uint32_t spiSpeed):
         SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
 }
 
-void SpiCookie::getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
+void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
         UncommonParameters* parameters) const {
     spiMode = this->spiMode;
     spiSpeed = this->spiSpeed;
@@ -97,3 +97,11 @@ void SpiCookie::assignTransferSize(size_t transferSize) {
 size_t SpiCookie::getCurrentTransferSize() const {
     return spiTransferStruct.len;
 }
+
+void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
+    this->spiSpeed = newSpeed;
+}
+
+void SpiCookie::setSpiMode(spi::SpiModes newMode) {
+    this->spiMode = newMode;
+}

linux/spi/SpiCookie.h

@@ -19,19 +19,25 @@ public:
      * @param maxSize
      */
     SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-            const size_t maxReplySize, spi::SpiMode spiMode, uint32_t spiSpeed);
+            const size_t maxReplySize, spi::SpiModes spiMode, uint32_t spiSpeed);
 
     /**
      * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
      * slave select or if CS logic is performed with decoders.
      */
     SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
-            spi::SpiMode spiMode, uint32_t spiSpeed);
+            spi::SpiModes spiMode, uint32_t spiSpeed);
 
     address_t getSpiAddress() const;
     std::string getSpiDevice() const;
     gpioId_t getChipSelectPin() const;
     size_t getMaxBufferSize() const;
+
+    /** Enables changing SPI speed at run-time */
+    void setSpiSpeed(uint32_t newSpeed);
+    /** Enables changing the SPI mode at run-time */
+    void setSpiMode(spi::SpiModes newMode);
+
     /**
      * True if SPI transfers should be performed in full duplex mode
      * @return
@@ -81,7 +87,7 @@ public:
     void setCsHigh(bool enable);
     void setBitsPerWord(uint8_t bitsPerWord);
 
-    void getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
+    void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
             UncommonParameters* parameters = nullptr) const;
 
     /**
@@ -100,7 +106,7 @@ private:
     std::string spiDevice;
 
     const size_t maxSize;
-    spi::SpiMode spiMode;
+    spi::SpiModes spiMode;
     uint32_t spiSpeed;
     bool halfDuplex = false;
 

linux/spi/spiDefinitions.h

@@ -1,9 +1,11 @@
 #ifndef LINUX_SPI_SPIDEFINITONS_H_
 #define LINUX_SPI_SPIDEFINITONS_H_
 
+#include <cstdint>
+
 namespace spi {
 
-enum SpiMode {
+enum SpiModes: uint8_t {
     MODE_0,
     MODE_1,
     MODE_2,

misc/eclipse/.cproject

@@ -19,7 +19,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
 							<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1289649483" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 							</tool>
@@ -70,7 +70,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.754560869" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.2125491129" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Release}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1840576359" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Release-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1840576359" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
 							<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1445228447" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1571446155" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 							</tool>
@@ -233,7 +233,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@@ -310,7 +310,7 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1620157986" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1227132942" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.864731133" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build ." autoBuildTarget="all" buildPath="${workspace_loc:/eive_obsw/Debug-RPi}" cleanBuildTarget="clean" command="cmake" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.944427471" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.319232842" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.44504375" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
@@ -322,6 +322,7 @@
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.864441147" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
+									<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
 							</tool>
@@ -332,6 +333,7 @@
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1683468766" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
+									<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
 							</tool>
@@ -459,7 +461,7 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.2081670577" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.636531967" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.1186120086" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/fsfw_example/Release}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Release-RPi}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.1419530222" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.700547918" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.789142005" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
@@ -471,6 +473,7 @@
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1796598598" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
+									<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.2081570054" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
 							</tool>
@@ -481,6 +484,7 @@
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1881223360" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
+									<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1551006500" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
 							</tool>

misc/eclipse/Host/eive-linux-host-debug-cmake.launch

@@ -18,7 +18,7 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/eive_obsw"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug-Linux/eive_obsw"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>

misc/eclipse/Host/eive-mingw-release-cmake.launch

@@ -18,7 +18,7 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/eive_obsw"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug-Release/eive_obsw.exe"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249"/>

misc/eclipse/make/Host/eive-linux-host-debug.launch

@@ -1,33 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
-    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/linux/devel/eiveobsw-host.elf"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/eive_obsw"/>
-    </listAttribute>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
-        <listEntry value="4"/>
-    </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
-    <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
-</launchConfiguration>

misc/eclipse/make/Host/eive-linux-host-release-cmake.launch

@@ -1,33 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
-    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Release/eive_obsw"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075"/>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/eive_obsw"/>
-    </listAttribute>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
-        <listEntry value="4"/>
-    </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
-    <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
-</launchConfiguration>

misc/eclipse/make/Host/eive-linux-host-release.launch

@@ -1,33 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
-    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/linux/devel/eiveobsw-host.elf"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075"/>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/eive_obsw"/>
-    </listAttribute>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
-        <listEntry value="4"/>
-    </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
-    <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
-</launchConfiguration>

misc/eclipse/make/Host/eive-mingw-debug.launch

@@ -1,33 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
-    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/host/devel/eiveobsw-host.exe"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/eive_obsw"/>
-    </listAttribute>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
-        <listEntry value="4"/>
-    </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
-    <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
-</launchConfiguration>

misc/eclipse/make/Host/eive-mingw-release.launch

@@ -1,33 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
-    <listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
-    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/host/devel/eiveobsw-host.exe"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249"/>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/eive_obsw"/>
-    </listAttribute>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
-        <listEntry value="4"/>
-    </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
-    <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
-</launchConfiguration>

mission/devices/GyroL3GD20Handler.cpp

@@ -1,38 +1,55 @@
-#include <mission/devices/GyroL3GD20Handler.h>
+#include "GyroL3GD20Handler.h"
-#include <fsfw/datapool/PoolReadHelper.h>
+#include <OBSWConfig.h>
 
-GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
+#include <fsfw/datapool/PoolReadGuard.h>
+
+GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
 		CookieIF *comCookie):
 		DeviceHandlerBase(objectId, deviceCommunication, comCookie),
 		dataset(this) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    debugDivider = new PeriodicOperationDivider(5);
+#endif
 }
 
-GyroHandler::~GyroHandler() {}
+GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
-void GyroHandler::doStartUp() {
+void GyroHandlerL3GD20H::doStartUp() {
-	if(internalState == InternalState::STATE_NONE) {
+	if(internalState == InternalState::NONE) {
-		internalState = InternalState::STATE_CONFIGURE;
+		internalState = InternalState::CONFIGURE;
 	}
 
-	if(internalState == InternalState::STATE_CONFIGURE) {
+	if(internalState == InternalState::CONFIGURE) {
 		if(commandExecuted) {
-			internalState = InternalState::STATE_NORMAL;
+			internalState = InternalState::CHECK_REGS;
+			commandExecuted = false;
+		}
+	}
+
+	if(internalState == InternalState::CHECK_REGS) {
+	    if(commandExecuted) {
+	        internalState = InternalState::NORMAL;
+#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
+            setMode(MODE_NORMAL);
+#else
+            setMode(_MODE_TO_ON);
+#endif
 	        commandExecuted = false;
 	    }
 	}
 }
 
-void GyroHandler::doShutDown() {
+void GyroHandlerL3GD20H::doShutDown() {
 	setMode(_MODE_POWER_DOWN);
 }
 
-ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
 	switch(internalState) {
-	case(InternalState::STATE_NONE):
+	case(InternalState::NONE):
-	case(InternalState::STATE_NORMAL): {
+	case(InternalState::NORMAL): {
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-	case(InternalState::STATE_CONFIGURE): {
+	case(InternalState::CONFIGURE): {
 		*id = L3GD20H::CONFIGURE_CTRL_REGS;
 		uint8_t command [5];
 		command[0] = L3GD20H::CTRL_REG_1_VAL;
@@ -41,10 +58,13 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
 		command[3] = L3GD20H::CTRL_REG_4_VAL;
 		command[4] = L3GD20H::CTRL_REG_5_VAL;
 		return buildCommandFromCommand(*id, command, 5);
-		break;
+	}
+	case(InternalState::CHECK_REGS): {
+	    *id = L3GD20H::READ_REGS;
+	    return buildCommandFromCommand(*id, nullptr, 0);
 	}
 	default:
-		// might be a configuration error.
+		/* Might be a configuration error. */
 		sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
 				<< "internal state!" << std::endl;
 		return HasReturnvaluesIF::RETURN_OK;
@@ -52,12 +72,12 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
 	*id = L3GD20H::READ_REGS;
 	return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t GyroHandler::buildCommandFromCommand(
+ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
 		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
 		size_t commandDataLen) {
 	switch(deviceCommand) {
@@ -120,24 +140,25 @@ ReturnValue_t GyroHandler::buildCommandFromCommand(
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len,
+ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
 		DeviceCommandId_t *foundId, size_t *foundLen) {
-	// SPI, ID will always be the one of the last sent command.
+	/* For SPI, the ID will always be the one of the last sent command. */
 	*foundId = this->getPendingCommand();
 	*foundLen = this->rawPacketLen;
 
-	// Data with SPI Interface has always this answer
+	/* Data with SPI Interface has always this answer */
 	if (start[0] == 0b11111111) {
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	return DeviceHandlerIF::INVALID_DATA;
 }
 
-ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
+ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 		const uint8_t *packet) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 	switch(id) {
 	case(L3GD20H::CONFIGURE_CTRL_REGS): {
+	    commandExecuted = true;
 		break;
 	}
 	case(L3GD20H::READ_CTRL_REGS): {
@@ -147,18 +168,23 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
 			commandExecuted = true;
 		}
 		else {
-			// Attempt reconfiguration.
+			/* Attempt reconfiguration. */
-			internalState = InternalState::STATE_CONFIGURE;
+			internalState = InternalState::CONFIGURE;
 			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
 		}
 		break;
 	}
-	case(L3GD20H::READ_START): {
+	case(L3GD20H::READ_REGS): {
 		if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
 				packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
 				packet[5] != ctrlReg5Value) {
 			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
 		}
+		else {
+		    if(internalState == InternalState::CHECK_REGS) {
+		        commandExecuted = true;
+		    }
+		}
 
 		statusReg = packet[L3GD20H::STATUS_IDX];
 
@@ -171,8 +197,25 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
 
 		int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
 		float temperature = 25.0 + temperaturOffset;
+#if OBSW_VERBOSE_LEVEL >= 1
+        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 in degrees per second:" <<
+                    std::endl;
+            sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
+            sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
+            sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
+#else
+            sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
+            sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
+            sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
+            sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
+#endif
+        }
+#endif
 
-		PoolReadHelper readSet(&dataset);
+		PoolReadGuard readSet(&dataset);
 		if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 			dataset.angVelocX = angVelocX;
 			dataset.angVelocY = angVelocY;
@@ -189,11 +232,11 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
 }
 
 
-uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
-	return 5000;
+	return 10000;
 }
 
-ReturnValue_t GyroHandler::initializeLocalDataPool(
+ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
 		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
 	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
 			new PoolEntry<float>({0.0}));
@@ -206,12 +249,12 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void GyroHandler::fillCommandAndReplyMap() {
+void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
 	insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
 	insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
 	insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
 }
 
-void GyroHandler::modeChanged() {
+void GyroHandlerL3GD20H::modeChanged() {
-	internalState = InternalState::STATE_NONE;
+	internalState = InternalState::NONE;
 }

mission/devices/GyroL3GD20Handler.h

@@ -1,8 +1,12 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include "devicedefinitions/GyroL3GD20Definitions.h"
+#include <OBSWConfig.h>
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+
 
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
@@ -10,12 +14,14 @@
  * @details
  * Advanced documentation:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
+ *
+ * Data is read big endian with the smallest possible range of 245 degrees per second.
  */
-class GyroHandler: public DeviceHandlerBase {
+class GyroHandlerL3GD20H: public DeviceHandlerBase {
 public:
-	GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
+	GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
 	        CookieIF* comCookie);
-	virtual ~GyroHandler();
+	virtual ~GyroHandlerL3GD20H();
 
 protected:
 
@@ -41,14 +47,15 @@ protected:
 			LocalDataPoolManager &poolManager) override;
 
 private:
-	L3GD20H::GyroPrimaryDataset dataset;
+	GyroPrimaryDataset dataset;
 
 	enum class InternalState {
-	    STATE_NONE,
+	    NONE,
-		STATE_CONFIGURE,
+		CONFIGURE,
-		STATE_NORMAL
+		CHECK_REGS,
+		NORMAL
 	};
-	InternalState internalState = InternalState::STATE_NONE;
+	InternalState internalState = InternalState::NONE;
 	bool commandExecuted = false;
 
 	uint8_t statusReg = 0;
@@ -62,6 +69,10 @@ private:
 	uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
 
 	float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
+
+#if OBSW_VERBOSE_LEVEL >= 1
+    PeriodicOperationDivider* debugDivider = nullptr;
+#endif
 };
 
 

mission/devices/MGMHandlerLIS3MDL.cpp

@@ -1,13 +1,13 @@
-#include <fsfw/datapool/PoolReadHelper.h>
 #include "MGMHandlerLIS3MDL.h"
 
+#include <fsfw/datapool/PoolReadGuard.h>
 
 MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
         object_id_t deviceCommunication, CookieIF* comCookie):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         dataset(this) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    debugDivider = new PeriodicOperationDivider(10);
+    debugDivider = new PeriodicOperationDivider(5);
 #endif
     /* Set to default values right away. */
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
@@ -44,8 +44,11 @@ void MGMHandlerLIS3MDL::doStartUp() {
         /* Set up cached registers which will be used to configure the MGM. */
         if(commandExecuted) {
             commandExecuted = false;
-            /* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */
+#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
+            setMode(MODE_NORMAL);
+#else
             setMode(_MODE_TO_ON);
+#endif
         }
         break;
     }
@@ -299,7 +302,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
 #endif
         }
 #endif
-        PoolReadHelper readHelper(&dataset);
+        PoolReadGuard readHelper(&dataset);
         if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
             dataset.fieldStrengthX = mgmX;
             dataset.fieldStrengthY = mgmY;
@@ -459,7 +462,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 }
 
 uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 30000;
+    return 10000;
 }
 
 void MGMHandlerLIS3MDL::modeChanged(void) {

mission/devices/MGMHandlerRM3100.cpp

@@ -1,5 +1,7 @@
+#include <fsfw/datapool/PoolReadGuard.h>
 #include "MGMHandlerRM3100.h"
 
+#include <fsfw/globalfunctions/bitutility.h>
 #include <fsfw/devicehandlers/DeviceHandlerMessage.h>
 #include <fsfw/objectmanager/SystemObjectIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -10,33 +12,47 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         primaryDataset(this) {
 #if OBSW_VERBOSE_LEVEL >= 1
-	debugDivider = new PeriodicOperationDivider(10);
+    debugDivider = new PeriodicOperationDivider(5);
 #endif
 }
 
 MGMHandlerRM3100::~MGMHandlerRM3100() {}
 
 void MGMHandlerRM3100::doStartUp() {
-	if(internalState == InternalState::STATE_NONE) {
+    switch(internalState) {
-		internalState = InternalState::STATE_CONFIGURE_CMM;
+    case(InternalState::NONE): {
+        internalState = InternalState::CONFIGURE_CMM;
+        break;
     }
-
+    case(InternalState::CONFIGURE_CMM): {
-	if(internalState == InternalState::STATE_CONFIGURE_CMM) {
+        internalState = InternalState::READ_CMM;
-		internalState = InternalState::STATE_READ_CMM;
+        break;
     }
-	else if(internalState == InternalState::STATE_READ_CMM) {
+    case(InternalState::READ_CMM): {
         if(commandExecuted) {
             internalState = InternalState::STATE_CONFIGURE_TMRC;
         }
+        break;
     }
-
+    case(InternalState::STATE_CONFIGURE_TMRC): {
-	if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
+        if(commandExecuted) {
             internalState = InternalState::STATE_READ_TMRC;
         }
-	else if(internalState == InternalState::STATE_READ_TMRC) {
+        break;
+    }
+    case(InternalState::STATE_READ_TMRC): {
         if(commandExecuted) {
-			internalState = InternalState::STATE_NORMAL;
+            internalState = InternalState::NORMAL;
+#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
+            setMode(MODE_NORMAL);
+#else
             setMode(_MODE_TO_ON);
+#endif
+        }
+        break;
+    }
+    default: {
+        break;
     }
     }
 }
@@ -48,15 +64,15 @@ void MGMHandlerRM3100::doShutDown() {
 ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
         DeviceCommandId_t *id) {
     switch(internalState) {
-	case(InternalState::STATE_NONE):
+    case(InternalState::NONE):
-	case(InternalState::STATE_NORMAL): {
+    case(InternalState::NORMAL): {
         return HasReturnvaluesIF::RETURN_OK;
     }
-	case(InternalState::STATE_CONFIGURE_CMM): {
+    case(InternalState::CONFIGURE_CMM): {
         *id = RM3100::CONFIGURE_CMM;
         break;
     }
-	case(InternalState::STATE_READ_CMM): {
+    case(InternalState::READ_CMM): {
         *id = RM3100::READ_CMM;
         break;
     }
@@ -69,9 +85,9 @@ ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
         break;
     }
     default:
-		// might be a configuration error.
+        /* Might be a configuration error. */
-		sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
+        sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
-				<< "internal state!" << std::endl;
+                std::endl;
         return HasReturnvaluesIF::RETURN_OK;
     }
 
@@ -112,8 +128,7 @@ ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
                 commandDataLen);
     }
     case(RM3100::READ_CYCLE_COUNT): {
-		commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
+        commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
-				RM3100::READ_MASK;
         std::memset(commandBuffer + 1, 0, 6);
         rawPacket = commandBuffer;
         rawPacketLen = 7;
@@ -141,15 +156,10 @@ ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
         size_t len, DeviceCommandId_t *foundId,
         size_t *foundLen) {
 
-	// SPI, ID will always be the one of the last sent command.
+    /* For SPI, ID will always be the one of the last sent command. */
     *foundId = this->getPendingCommand();
-	*foundLen = this->rawPacketLen;
+    *foundLen = len;
-
+    return HasReturnvaluesIF::RETURN_OK;
-	// Data with SPI Interface has always this answer
-	if (start[0] == 0b11111111) {
-		return RETURN_OK;
-	}
-	return DeviceHandlerIF::INVALID_DATA;
 }
 
 ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
@@ -159,16 +169,23 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
     case(RM3100::CONFIGURE_CMM):
     case(RM3100::CONFIGURE_CYCLE_COUNT):
     case(RM3100::CONFIGURE_TMRC): {
-		// We can only check whether write was sucessful with read operation.
+        /* We can only check whether write was successful with read operation. */
+        if(mode == _MODE_START_UP) {
+            commandExecuted = true;
+        }
         break;
     }
     case(RM3100::READ_CMM): {
-		if(packet[1] == cmmRegValue) {
+        uint8_t cmmValue = packet[1];
+        /* We clear the seventh bit in any case
+         * because this one is zero sometimes for some reason */
+        bitutil::bitClear(&cmmValue, 6);
+        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
             commandExecuted = true;
         }
         else {
-			// Attempt reconfiguration.
+            /* Attempt reconfiguration. */
-			internalState = InternalState::STATE_CONFIGURE_CMM;
+            internalState = InternalState::CONFIGURE_CMM;
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
         break;
@@ -176,13 +193,13 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
     case(RM3100::READ_TMRC): {
         if(packet[1] == tmrcRegValue) {
             commandExecuted = true;
-			// Reading TMRC was commanded. Trigger event to inform ground.
+            /* Reading TMRC was commanded. Trigger event to inform ground. */
             if(mode != _MODE_START_UP) {
                 triggerEvent(tmrcSet, tmrcRegValue, 0);
             }
         }
         else {
-			// Attempt reconfiguration.
+            /* Attempt reconfiguration. */
             internalState = InternalState::STATE_CONFIGURE_TMRC;
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
@@ -192,14 +209,13 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
         uint16_t cycleCountX = packet[1] << 8 | packet[2];
         uint16_t cycleCountY = packet[3] << 8 | packet[4];
         uint16_t cycleCountZ = packet[5] << 8 | packet[6];
-		if(cycleCountX != cycleCountRegValueX or
+        if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
-				cycleCountY != cycleCountRegValueY or
                 cycleCountZ != cycleCountRegValueZ) {
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
-		// Reading TMRC was commanded. Trigger event to inform ground.
+        /* Reading TMRC was commanded. Trigger event to inform ground. */
         if(mode != _MODE_START_UP) {
-			uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
+            uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
             triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
         }
         break;
@@ -215,9 +231,8 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
     return result;
 }
 
-ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
+ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+        const uint8_t *commandData, size_t commandDataLen) {
-		size_t commandDataLen) {
     if(commandData == nullptr) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
     }
@@ -251,14 +266,12 @@ ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
         return result;
     }
 
-	// Data sheet p.30
+    /* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */
-	// "while noise limits the useful upper range to ~400 cycle counts."
     if(command.cycleCountX > 450 ) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
     }
 
-	if(not oneCycleValue and
+    if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
-			(command.cycleCountY > 450 or command.cycleCountZ > 450)) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
     }
 
@@ -300,52 +313,51 @@ void MGMHandlerRM3100::fillCommandAndReplyMap() {
 }
 
 void MGMHandlerRM3100::modeChanged(void) {
-	internalState = InternalState::STATE_NONE;
+    internalState = InternalState::NONE;
 }
 
 ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
         localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-	localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
-			new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-			new PoolEntry<float>({0.0}));
-	localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z,
-			new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
-	return 5000;
+    return 10000;
 }
 
 ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
-	// analyze data here.
+    /* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
-	// Field strengths in micro Tesla
+     * trickery here to calculate the raw values first */
-	int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
+    int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
-			* scaleFactorX;
+    int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-	int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
+    int32_t fieldStrengthRawZ  = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
-			* scaleFactorY;
+
-	int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
+    /* Now scale to physical value in microtesla */
-			* scaleFactorZ;
+    float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
+    float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+    float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
 #if OBSW_VERBOSE_LEVEL >= 1
     if(debugDivider->checkAndIncrement()) {
-		sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+        sif::info << "MGMHandlerRM3100: Magnetic field strength in"
                 " microtesla:" << std::endl;
-		// Set terminal to utf-8 if there is an issue with micro printout.
+        /* Set terminal to utf-8 if there is an issue with micro printout. */
         sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
         sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
         sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
     }
 #endif
 
-	ReturnValue_t result = primaryDataset.read();
+    /* TODO: Sanity check on values */
-	if(result == HasReturnvaluesIF::RETURN_OK) {
+    PoolReadGuard readGuard(&primaryDataset);
+    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         primaryDataset.fieldStrengthX = fieldStrengthX;
         primaryDataset.fieldStrengthY = fieldStrengthY;
         primaryDataset.fieldStrengthZ = fieldStrengthZ;
         primaryDataset.setValidity(true, true);
-		result = primaryDataset.commit();
     }
-	return result;
+    return RETURN_OK;
 }

mission/devices/MGMHandlerRM3100.h

@@ -61,18 +61,18 @@ protected:
 private:
 
 	enum class InternalState {
-	    STATE_NONE,
+	    NONE,
-		STATE_CONFIGURE_CMM,
+		CONFIGURE_CMM,
-		STATE_READ_CMM,
+		READ_CMM,
 		// The cycle count states are propably not going to be used because
 		// the default cycle count will be used.
 		STATE_CONFIGURE_CYCLE_COUNT,
 		STATE_READ_CYCLE_COUNT,
 		STATE_CONFIGURE_TMRC,
 		STATE_READ_TMRC,
-		STATE_NORMAL
+		NORMAL
 	};
-	InternalState internalState = InternalState::STATE_NONE;
+	InternalState internalState = InternalState::NONE;
 	bool commandExecuted = false;
 	RM3100::Rm3100PrimaryDataset primaryDataset;
 

mission/devices/PCDUHandler.cpp

@@ -49,7 +49,7 @@ ReturnValue_t PCDUHandler::initialize() {
         sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl;
         return RETURN_FAILED;
     }
-    result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages(
+    result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
             PDU2::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
     if (result != RETURN_OK) {
         sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
@@ -63,7 +63,7 @@ ReturnValue_t PCDUHandler::initialize() {
         sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl;
         return RETURN_FAILED;
     }
-    result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages(
+    result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
             PDU1::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
     if (result != RETURN_OK) {
         sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "

mission/devices/devicedefinitions/GyroL3GD20Definitions.h

@@ -1,11 +1,15 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
 
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <cstdint>
 
 namespace L3GD20H {
 
+/* Actual size is 15 but we round up a bit */
+static constexpr size_t MAX_BUFFER_SIZE = 16;
+
 static constexpr uint8_t READ_MASK = 0b1000'0000;
 
 static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
@@ -22,7 +26,7 @@ static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
 static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
 static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
 
-// Register 1
+/* Register 1 */
 static constexpr uint8_t SET_DR_1 = 1 << 7;
 static constexpr uint8_t SET_DR_0 = 1 << 6;
 static constexpr uint8_t SET_BW_1 = 1 << 5;
@@ -35,7 +39,7 @@ static constexpr uint8_t SET_Y_ENABLE = 1;
 static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
 		SET_Y_ENABLE | SET_X_ENABLE;
 
-// Register 2
+/* Register 2 */
 static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
 static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
 static constexpr uint8_t SET_HPM_1 = 1 << 5;
@@ -47,10 +51,10 @@ static constexpr uint8_t SET_HPCF_0 = 1;
 
 static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
 
-// Register 3
+/* Register 3 */
 static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
 
-// Register 4
+/* Register 4 */
 static constexpr uint8_t SET_BNU = 1 << 7;
 static constexpr uint8_t SET_BLE = 1 << 6;
 static constexpr uint8_t SET_FS_1 = 1 << 5;
@@ -60,15 +64,16 @@ static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
 static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
 static constexpr uint8_t SET_SPI_IF_SELECT = 1;
 
-static constexpr uint8_t CTRL_REG_4_VAL = 0b0000'0000;
+/* Enable big endian data format */
+static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
 
-// Register 5
+/* Register 5 */
 static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
 static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
 
 static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
 
-// In degrees per second (DPS) for now.
+/* Possible range values in degrees per second (DPS). */
 static constexpr uint16_t RANGE_DPS_00 = 245;
 static constexpr uint16_t RANGE_DPS_01 = 500;
 static constexpr uint16_t RANGE_DPS_11 = 2000;
@@ -76,16 +81,16 @@ static constexpr uint16_t RANGE_DPS_11 = 2000;
 static constexpr uint8_t READ_START = CTRL_REG_1;
 static constexpr size_t READ_LEN = 14;
 
-// Indexing
+/* Indexing */
 static constexpr uint8_t REFERENCE_IDX = 6;
 static constexpr uint8_t TEMPERATURE_IDX = 7;
 static constexpr uint8_t STATUS_IDX = 8;
-static constexpr uint8_t OUT_X_L = 9;
+static constexpr uint8_t OUT_X_H = 9;
-static constexpr uint8_t OUT_X_H = 10;
+static constexpr uint8_t OUT_X_L = 10;
-static constexpr uint8_t OUT_Y_L = 11;
+static constexpr uint8_t OUT_Y_H = 11;
-static constexpr uint8_t OUT_Y_H = 12;
+static constexpr uint8_t OUT_Y_L = 12;
-static constexpr uint8_t OUT_Z_L = 13;
+static constexpr uint8_t OUT_Z_H = 13;
-static constexpr uint8_t OUT_Z_H = 14;
+static constexpr uint8_t OUT_Z_L = 14;
 
 /*------------------------------------------------------------------------*/
 /* Device Handler specific */
@@ -103,27 +108,33 @@ enum GyroPoolIds: lp_id_t {
 	TEMPERATURE
 };
 
-class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
-public:
-	GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-        StaticLocalDataSet(hkOwner, GYRO_DATASET_ID) {}
-
-	GyroPrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, GYRO_DATASET_ID)) {}
-
-	// Angular velocities in degrees per second (DPS)
-    lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
-    		ANG_VELOC_X, this);
-    lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
-    		ANG_VELOC_Y, this);
-    lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
-    		ANG_VELOC_Z, this);
-    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-    		TEMPERATURE, this);
-};
-
 }
 
+class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+public:
+
+    /** Constructor  for data users like controllers */
+    GyroPrimaryDataset(object_id_t mgmId):
+        StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
+        setAllVariablesReadOnly();
+    }
+
+    /* Angular velocities in degrees per second (DPS) */
+    lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
+            L3GD20H::ANG_VELOC_X, this);
+    lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
+            L3GD20H::ANG_VELOC_Y, this);
+    lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
+            L3GD20H::ANG_VELOC_Z, this);
+    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
+            L3GD20H::TEMPERATURE, this);
+private:
+
+    friend class GyroHandlerL3GD20H;
+    /** Constructor  for the data creator */
+    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+            StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
+};
 
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h

@@ -15,6 +15,9 @@ enum opMode {
     LOW, MEDIUM, HIGH, ULTRA
 };
 
+/* Actually 15, we just round up a bit */
+static constexpr size_t MAX_BUFFER_SIZE = 16;
+
 static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
 
 static const DeviceCommandId_t SETUP_MGM = 0x00;

mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h

@@ -9,6 +9,9 @@
 
 namespace RM3100 {
 
+/* Actually 10, we round up a little bit */
+static constexpr size_t MAX_BUFFER_SIZE = 12;
+
 static constexpr uint8_t READ_MASK = 0b1000'0000;
 
 /*----------------------------------------------------------------------------*/

test/testtasks/TestTask.cpp

@@ -68,7 +68,7 @@ gps_rx_data[] = ""
 
 ReturnValue_t TestTask::performOneShotAction() {
 #if OBSW_ADD_TEST_CODE == 1
-    performLwgpsTest();
+    //performLwgpsTest();
 #endif
     return HasReturnvaluesIF::RETURN_OK;
 }

thirdparty/lwgps

@@ -1 +1 @@
-Subproject commit d276f9722d1311b552e7c99ee5b03a68487a0fc5
+Subproject commit 3dbfe390a6784ebc723d3907062cf883c8cf85cd

tmtc

@@ -1 +1 @@
-Subproject commit d1899ef1816aa7531b142f87d8b9ea91ef4011fd
+Subproject commit 5f1803b66393210ded8c5d88fbc28cd8130cef91