fsfw

@@ -1 +1 @@
-Subproject commit 1ccfb74709ba0ce6d469eed3df1584dbcb444321
+Subproject commit a3d245f5a030c9450c516552283d26da2c799301

linux/gpio/LinuxLibgpioIF.h

@@ -40,8 +40,7 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId,
+	ReturnValue_t driveGpio(gpioId_t gpioId, unsigned int logiclevel);
-			unsigned int logiclevel);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether

linux/gpio/gpioDefinitions.h

@@ -11,6 +11,8 @@ enum Direction {
     IN = 0,
     OUT = 1
 };
+
+static constexpr gpioId_t NO_GPIO = -1;
 }
 
 /**

linux/i2c/I2cComIF.cpp

@@ -181,16 +181,30 @@ ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
         address_t i2cAddress, int* fileDescriptor) {
     *fileDescriptor = open(deviceFile.c_str(), O_RDWR);
     if (*fileDescriptor < 0) {
-        sif::error << "I2cComIF: Opening i2c device failed with error code "
+#if FSFW_VERBOSE_LEVEL >= 1
-                << errno << ". Error description: " << strerror(errno)
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                << std::endl;
+        sif::warning << "I2cComIF: Opening I2C device failed with error code " << errno << "." <<
+                std::endl;
+        sif::warning << "Error description: " << strerror(errno) << std::endl;
+#else
+        sif::printWarning("I2cComIF: Opening I2C device failed with error code %d.\n");
+        sif::printWarning("Error description: %s\n", strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
-        sif::error << "I2cComIF: Specifying target device failed with error "
+#if FSFW_VERBOSE_LEVEL >= 1
-                << "code " << errno << ". Error description "
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                << strerror(errno) << std::endl;
+        sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
+                << std::endl;
+        sif::warning << "Error description " << strerror(errno) << std::endl;
+#else
+        sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
+        sif::printWarning("Error description: %s\n", strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;

linux/i2c/I2cComIF.h

@@ -45,8 +45,8 @@ private:
 	I2cDeviceMapIter i2cDeviceMapIter;
 
 	/**
-	 * @brief	This function opens an i2c device and binds the opened file
+	 * @brief	This function opens an I2C device and binds the opened file
-	 * 			to a specific i2c address.
+	 * 			to a specific I2C address.
 	 * @param deviceFile	The name of the device file. E.g. i2c-0
 	 * @param i2cAddress	The address of the i2c slave device.
 	 * @param fileDescriptor	Pointer to device descriptor.

linux/spi/CMakeLists.txt

@@ -1,4 +1,6 @@
 target_sources(${TARGET_NAME} PUBLIC
+    SpiComIF.cpp
+    SpiCookie.cpp
 )
 
 

linux/spi/SpiComIF.cpp

@@ -0,0 +1,303 @@
+#include "SpiComIF.h"
+#include "spiDefinitions.h"
+
+#include <linux/spi/SpiCookie.h>
+#include <linux/utility/errorhandling.h>
+
+#include <fsfw/ipc/MutexFactory.h>
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <linux/spi/spidev.h>
+#include <errno.h>
+#include <fsfw/ipc/MutexHelper.h>
+#include <cstring>
+
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId),
+        gpioComIF(gpioComIF) {
+    if(gpioComIF == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
+#else
+        sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    }
+
+    spiMutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    address_t spiAddress = spiCookie->getSpiAddress();
+
+    auto iter = spiDeviceMap.find(spiAddress);
+    if(iter == spiDeviceMap.end()) {
+        size_t bufferSize = spiCookie->getMaxBufferSize();
+        SpiInstance spiInstance = {std::vector<uint8_t>(bufferSize)};
+        auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
+        if (not statusPair.second) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+                    spiAddress << "to SPI device map" << std::endl;
+#else
+            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        /* Now we emplaced the read buffer in the map, we still need to assign that location
+        to the SPI driver transfer struct */
+        spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
+    }
+    else {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
+#else
+        sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullHigh(gpioId);
+    }
+
+    size_t spiSpeed = 0;
+    spi::SpiMode spiMode = spi::SpiMode::MODE_0;
+
+    SpiCookie::UncommonParameters params;
+    spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
+
+    int fileDescriptor = 0;
+    ReturnValue_t result = openDevice(spiCookie->getSpiDevice(), &fileDescriptor);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, spiSpeed);
+    if(retval != 0) {
+        utility::handleIoctlError("SpiComIF::initializeInterface: Setting SPI mode failed!");
+    }
+
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, spiSpeed);
+    if(retval != 0) {
+        utility::handleIoctlError("SpiComIF::initializeInterface: Setting SPI speed failed!");
+    }
+
+    /* These flags are rather uncommon */
+    if(params.threeWireSpi or params.noCs or params.csHigh) {
+        uint32_t currentMode = 0;
+        retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
+        }
+
+        if(params.threeWireSpi) {
+            currentMode |= SPI_3WIRE;
+        }
+        if(params.noCs) {
+            /* Some drivers like the Raspberry Pi ignore this flag in any case */
+            currentMode |= SPI_NO_CS;
+        }
+        if(params.csHigh) {
+            currentMode |= SPI_CS_HIGH;
+        }
+        /* Write adapted mode */
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, currentMode);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
+        }
+    }
+    if(params.lsbFirst) {
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, true);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
+        }
+    }
+    if(params.bitsPerWord != 8) {
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, params.bitsPerWord);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initializeInterface: "
+                    "Could not write bits per word!");
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    if(sendLen > spiCookie->getMaxBufferSize()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
+                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
+#else
+        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
+                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
+                static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return DeviceCommunicationIF::TOO_MUCH_DATA;
+    }
+
+    spiCookie->assignWriteBuffer(sendData);
+    spiCookie->assignTransferSize(sendLen);
+    int fileDescriptor = 0;
+    std::string device = spiCookie->getSpiDevice();
+    ReturnValue_t result = openDevice(device, &fileDescriptor);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    bool fullDuplex = spiCookie->isFullDuplex();
+    int retval = 0;
+
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+    MutexHelper(spiMutex, timeoutType, timeoutMs);
+    if(gpioId != gpio::NO_GPIO) {
+        /* For now, no support for active high given */
+        gpioComIF->pullLow(gpioId);
+    }
+
+    if(fullDuplex) {
+        /* Initiate a full duplex SPI transfer. */
+        retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+            /* TODO: Better returnvalue */
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+    else {
+        /* We write with a blocking transfer here */
+        if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
+            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
+                    std::endl;
+            /* TODO: Better returnvalue */
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullHigh(gpioId);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    bool fullDuplex = spiCookie->isFullDuplex();
+    if(fullDuplex) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    std::string device = spiCookie->getSpiDevice();
+    int fileDescriptor = 0;
+    ReturnValue_t result = openDevice(device, &fileDescriptor);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    uint8_t* rxBuf = nullptr;
+    size_t readSize = spiCookie->getCurrentTransferSize();
+    result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+    MutexHelper(spiMutex, timeoutType, timeoutMs);
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullLow(gpioId);
+    }
+
+    if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
+        sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
+        if(gpioId != gpio::NO_GPIO) {
+            gpioComIF->pullHigh(gpioId);
+        }
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    uint8_t* rxBuf = nullptr;
+    ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    *buffer = rxBuf;
+    *size = spiCookie->getCurrentTransferSize();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::openDevice(std::string deviceFile, int *fileDescriptor, bool nonBlocking) {
+    if(fileDescriptor == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    int flags = O_RDWR;
+    if(nonBlocking) {
+        flags |= O_NONBLOCK;
+    }
+    *fileDescriptor = open(deviceFile.c_str(), flags);
+    if (*fileDescriptor < 0) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "SpiComIF: Opening SPI device failed with error code " << errno << "." <<
+                std::endl;
+        sif::warning << "Error description: " << strerror(errno) << std::endl;
+#else
+        sif::printError("SpiComIF: Opening SPI device failed with error code %d.\n");
+        sif::printWarning("Error description: %s\n", strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
+    if(buffer == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    auto iter = spiDeviceMap.find(spiAddress);
+    if(iter == spiDeviceMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    *buffer = iter->second.replyBuffer.data();
+    return HasReturnvaluesIF::RETURN_OK;
+}

linux/spi/SpiComIF.h

@@ -0,0 +1,61 @@
+#ifndef LINUX_SPI_SPICOMIF_H_
+#define LINUX_SPI_SPICOMIF_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <linux/gpio/GpioIF.h>
+
+#include <vector>
+#include <unordered_map>
+
+/**
+ * @brief   Encapsulates access to linux SPI driver for FSFW objects
+ * @details
+ * Right now, only full-duplex SPI is supported.
+ * @author  R. Mueller
+ */
+class SpiComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+    SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
+
+    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+            size_t sendLen) override;
+    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+            size_t requestLen) override;
+    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+            size_t *size) override;
+private:
+
+    struct SpiInstance {
+        std::vector<uint8_t> replyBuffer;
+    };
+
+    GpioIF* gpioComIF = nullptr;
+
+    MutexIF* spiMutex = nullptr;
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    uint32_t timeoutMs = 20;
+
+    using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
+    using SpiDeviceMapIter = SpiDeviceMap::iterator;
+
+    SpiDeviceMap spiDeviceMap;
+
+    /**
+     * @brief   This function opens an SPI device and binds the opened file
+     *          to a specific SPI address.
+     * @param deviceFile    The name of the device file. E.g. spi-0
+     * @param i2cAddress    The address of the SPI slave device.
+     * @param fileDescriptor    Pointer to device descriptor.
+     * @return  RETURN_OK if successful, otherwise RETURN_FAILED.
+     */
+    ReturnValue_t openDevice(std::string deviceFile, int* fileDescriptor, bool nonBlocking = false);
+
+    ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
+};
+
+
+
+#endif /* LINUX_SPI_SPICOMIF_H_ */

linux/spi/SpiCookie.cpp

@@ -0,0 +1,99 @@
+#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),
+        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):
+        SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
+}
+
+void SpiCookie::getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
+        UncommonParameters* parameters) const {
+    spiMode = this->spiMode;
+    spiSpeed = this->spiSpeed;
+
+    if(parameters != nullptr) {
+        parameters->threeWireSpi = uncommonParameters.threeWireSpi;
+        parameters->lsbFirst = uncommonParameters.lsbFirst;
+        parameters->noCs = uncommonParameters.noCs;
+        parameters->bitsPerWord = uncommonParameters.bitsPerWord;
+        parameters->csHigh = uncommonParameters.csHigh;
+    }
+}
+
+gpioId_t SpiCookie::getChipSelectPin() const {
+    return chipSelectPin;
+}
+
+size_t SpiCookie::getMaxBufferSize() const {
+    return maxSize;
+}
+
+address_t SpiCookie::getSpiAddress() const {
+    return spiAddress;
+}
+
+std::string SpiCookie::getSpiDevice() const {
+    return spiDevice;
+}
+
+void SpiCookie::setThreeWireSpi(bool enable) {
+    uncommonParameters.threeWireSpi = enable;
+}
+
+void SpiCookie::setLsbFirst(bool enable) {
+    uncommonParameters.lsbFirst = enable;
+}
+
+void SpiCookie::setNoCs(bool enable) {
+    uncommonParameters.noCs = enable;
+}
+
+void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
+    uncommonParameters.bitsPerWord = bitsPerWord;
+}
+
+void SpiCookie::setCsHigh(bool enable) {
+    uncommonParameters.csHigh = enable;
+}
+
+void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
+    spiTransferStruct.cs_change = deselectCs;
+    spiTransferStruct.delay_usecs = delayUsecs;
+}
+
+void SpiCookie::assignReadBuffer(uint8_t* rx) {
+    if(rx != nullptr) {
+        spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
+    }
+}
+
+void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
+    if(tx != nullptr) {
+        spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
+    }
+}
+
+spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
+    return &spiTransferStruct;
+}
+
+void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
+    this->halfDuplex = halfDuplex;
+}
+
+bool SpiCookie::isFullDuplex() const {
+    return not this->halfDuplex;
+}
+
+void SpiCookie::assignTransferSize(size_t transferSize) {
+    spiTransferStruct.len = transferSize;
+}
+
+size_t SpiCookie::getCurrentTransferSize() const {
+    return spiTransferStruct.len;
+}

linux/spi/SpiCookie.h

@@ -0,0 +1,113 @@
+#ifndef LINUX_SPI_SPICOOKIE_H_
+#define LINUX_SPI_SPICOOKIE_H_
+
+#include "spiDefinitions.h"
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <linux/gpio/gpioDefinitions.h>
+#include <linux/spi/spidev.h>
+
+class SpiCookie: public CookieIF {
+public:
+
+    /**
+     * Each SPI device will have a corresponding cookie. The cookie is used by the communication
+     * interface and contains device specific information like the largest expected size to be
+     * sent and received and the GPIO pin used to toggle the SPI slave select pin.
+     * @param spiAddress
+     * @param chipSelect    Chip select. gpio::NO_GPIO can be used for hardware slave selects.
+     * @param spiDev
+     * @param maxSize
+     */
+    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+            const size_t maxReplySize, spi::SpiMode 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);
+
+    address_t getSpiAddress() const;
+    std::string getSpiDevice() const;
+    gpioId_t getChipSelectPin() const;
+    size_t getMaxBufferSize() const;
+    /**
+     * True if SPI transfers should be performed in full duplex mode
+     * @return
+     */
+    bool isFullDuplex() const;
+
+    /**
+     * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
+     * ressembling common SPI hardware implementation with shift registers, where read and writes
+     * happen simultaneosly.
+     * @param fullDuplex
+     */
+    void setFullOrHalfDuplex(bool halfDuplex);
+
+    /**
+     * This needs to be called to specify where the SPI driver writes to or reads from.
+     * @param readLocation
+     * @param writeLocation
+     */
+    void assignReadBuffer(uint8_t* rx);
+    void assignWriteBuffer(const uint8_t* tx);
+    /**
+     * Assign size for the next transfer.
+     * @param transferSize
+     */
+    void assignTransferSize(size_t transferSize);
+    size_t getCurrentTransferSize() const;
+
+    struct UncommonParameters {
+        uint8_t bitsPerWord = 8;
+        bool noCs = false;
+        bool csHigh = false;
+        bool threeWireSpi = false;
+        /* MSB first is more common */
+        bool lsbFirst = false;
+    };
+
+    /**
+     * Can be used to explicitely disable hardware chip select.
+     * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
+     * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
+     * @param enable
+     */
+    void setNoCs(bool enable);
+    void setThreeWireSpi(bool enable);
+    void setLsbFirst(bool enable);
+    void setCsHigh(bool enable);
+    void setBitsPerWord(uint8_t bitsPerWord);
+
+    void getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
+            UncommonParameters* parameters = nullptr) const;
+
+    /**
+     * See spidev.h cs_change and delay_usecs
+     * @param deselectCs
+     * @param delayUsecs
+     */
+    void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
+
+    spi_ioc_transfer* getTransferStructHandle();
+private:
+    size_t currentTransferSize = 0;
+
+    address_t spiAddress;
+    gpioId_t chipSelectPin;
+    std::string spiDevice;
+
+    const size_t maxSize;
+    spi::SpiMode spiMode;
+    uint32_t spiSpeed;
+    bool halfDuplex = false;
+
+    struct spi_ioc_transfer spiTransferStruct;
+    UncommonParameters uncommonParameters;
+};
+
+
+
+#endif /* LINUX_SPI_SPICOOKIE_H_ */

linux/spi/spiDefinitions.h

@@ -0,0 +1,15 @@
+#ifndef LINUX_SPI_SPIDEFINITONS_H_
+#define LINUX_SPI_SPIDEFINITONS_H_
+
+namespace spi {
+
+enum SpiMode {
+    MODE_0,
+    MODE_1,
+    MODE_2,
+    MODE_3
+};
+
+}
+
+#endif /* LINUX_SPI_SPIDEFINITONS_H_ */

linux/utility/errorhandling.h

@@ -0,0 +1,30 @@
+#ifndef LINUX_UTILITY_ERRORHANDLING_H_
+#define LINUX_UTILITY_ERRORHANDLING_H_
+
+#include <cerrno>
+#include <cstring>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+namespace utility {
+
+void handleIoctlError(const char* const customPrintout) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(customPrintout != nullptr) {
+        sif::warning << customPrintout << std::endl;
+    }
+    sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
+            std::endl;
+#else
+    if(customPrintout != nullptr) {
+        sif::printWarning("%s\n", customPrintout);
+    }
+    sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+
+}
+
+}
+
+#endif /* LINUX_UTILITY_ERRORHANDLING_H_ */