From f40f783cb43ca11388ac557848980fcde5a1ac15 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Sep 2021 17:58:44 +0200
Subject: [PATCH 01/10] GPIO code update

Adds capability to define GPIO by label and by chip
for Linux systems
---
 .../fsfw_hal/common/gpio/gpioDefinitions.h    |  64 ++++++---
 .../fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp    | 127 ++++++++++++------
 hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h  |  11 +-
 hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp        |   2 +-
 4 files changed, 139 insertions(+), 65 deletions(-)

diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
index 710b2e2c..688d9c9b 100644
--- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
+++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
@@ -26,7 +26,8 @@ enum GpioOperation {
 
 enum GpioTypes {
     NONE,
-    GPIO_REGULAR,
+    GPIO_REGULAR_BY_CHIP,
+    GPIO_REGULAR_BY_LABEL,
     CALLBACK
 };
 
@@ -68,28 +69,57 @@ public:
     int initValue = 0;
 };
 
-class GpiodRegular: public GpioBase {
+class GpiodRegularBase: public GpioBase {
 public:
-    GpiodRegular() :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+            int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
+            lineNum(lineNum) {
     }
-    ;
-
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
-            chipname(chipname_), lineNum(lineNum_) {
-    }
-
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
-            chipname(chipname_), lineNum(lineNum_) {
-    }
-    std::string chipname;
     int lineNum = 0;
     struct gpiod_line* lineHandle = nullptr;
 };
 
+class GpiodRegularByChip: public GpiodRegularBase {
+public:
+    GpiodRegularByChip() :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    consumer_, direction_, initValue_, lineNum_),
+            chipname(chipname_){
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            chipname(chipname_) {
+    }
+
+    std::string chipname;
+};
+
+class GpiodRegularByLabel: public GpiodRegularBase {
+public:
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    direction_, initValue_, lineNum_),
+            label(label_) {
+    }
+
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            label(label_) {
+    }
+
+    std::string label;
+};
+
 class GpioCallback: public GpioBase {
 public:
     GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
index eef61e58..15c3d118 100644
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@@ -20,7 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
     ReturnValue_t result;
     if(gpioCookie == nullptr) {
-        sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
+        sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
         return RETURN_FAILED;
     }
 
@@ -45,16 +45,25 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     for(auto& gpioConfig: mapToAdd) {
-        switch(gpioConfig.second->gpioType) {
+        auto& gpioType = gpioConfig.second->gpioType;
+        switch(gpioType) {
         case(gpio::GpioTypes::NONE): {
             return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR): {
-            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
             if(regularGpio == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
-            configureRegularGpio(gpioConfig.first, regularGpio);
+            configureGpioByChip(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLabel(gpioConfig.first, *regularGpio);
             break;
         }
         case(gpio::GpioTypes::CALLBACK): {
@@ -70,41 +79,59 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
-    std::string chipname;
+ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
+        GpiodRegularByLabel &gpioByLabel) {
+    std::string& label = gpioByLabel.label;
+    struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
+                << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+
+    }
+    std::string failOutput = "label: " + label;
+    return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
+        GpiodRegularByChip &gpioByChip) {
+    std::string& chipname = gpioByChip.chipname;
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "chipname: " + chipname;
+    return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
+        struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
     unsigned int lineNum;
-    struct gpiod_chip *chip;
     gpio::Direction direction;
     std::string consumer;
     struct gpiod_line *lineHandle;
     int result = 0;
 
-    chipname = regularGpio->chipname;
-    chip = gpiod_chip_open_by_name(chipname.c_str());
-    if (!chip) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
-                << chipname << ". Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
-    }
-
-    lineNum = regularGpio->lineNum;
+    lineNum = regularGpio.lineNum;
     lineHandle = gpiod_chip_get_line(chip, lineNum);
     if (!lineHandle) {
-        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
-                ", chipname: " << chipname << std::endl;
-        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+                ", " << failOutput << std::endl;
+        sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
         gpiod_chip_close(chip);
         return RETURN_FAILED;
     }
 
-    direction = regularGpio->direction;
-    consumer = regularGpio->consumer;
+    direction = regularGpio.direction;
+    consumer = regularGpio.consumer;
     /* Configure direction and add a description to the GPIO */
     switch (direction) {
     case(gpio::OUT): {
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                regularGpio->initValue);
+                regularGpio.initValue);
         if (result < 0) {
             sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
                     " from GPIO instance with ID: " << gpioId << std::endl;
@@ -134,7 +161,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
      * Write line handle to GPIO configuration instance so it can later be used to set or
      * read states of GPIOs.
      */
-    regularGpio->lineHandle = lineHandle;
+    regularGpio.lineHandle = lineHandle;
     return RETURN_OK;
 }
 
@@ -145,8 +172,14 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+    auto gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
     }
     else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -167,8 +200,14 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+    auto& gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::LOW);
     }
     else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -183,12 +222,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
 }
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
-        GpiodRegular* regularGpio, unsigned int logicLevel) {
-    if(regularGpio == nullptr) {
-        return GPIO_TYPE_FAILURE;
-    }
-
-    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
+        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
+    int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
     if (result < 0) {
         sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
                 " to logic level " << logicLevel << std::endl;
@@ -204,9 +239,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
         sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
         return UNKNOWN_GPIO_ID;
     }
-
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
-        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+    auto gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
@@ -225,13 +261,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     for(auto& gpioConfig: mapToAdd) {
         switch(gpioConfig.second->gpioType) {
-        case(gpio::GpioTypes::GPIO_REGULAR): {
-            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
+            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
             if(regularGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
             /* Check for conflicts and remove duplicates if necessary */
-            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+            result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
@@ -259,17 +296,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
 
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
-        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
+        GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
     /* Cross check with private map */
     gpioMapIter = gpioMap.find(gpioIdToCheck);
     if(gpioMapIter != gpioMap.end()) {
-        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
+        auto& gpioType = gpioMapIter->second->gpioType;
+        if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
+                gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
             sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
                     "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
             mapToAdd.erase(gpioIdToCheck);
             return HasReturnvaluesIF::RETURN_OK;
         }
-        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(ownRegularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
index 00e1bdfe..31e4a7e8 100644
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
@@ -6,6 +6,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 
 class GpioCookie;
+class GpiodRegularIF;
 
 /**
  * @brief	This class implements the GpioIF for a linux based system. The
@@ -47,9 +48,13 @@ 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, GpiodRegular* regularGpio, unsigned int logiclevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+	        gpio::Levels logicLevel);
 
-	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
+    ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
+            struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -62,7 +67,7 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
 	        GpioMap& mapToAdd);
     ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
             GpioMap& mapToAdd);
diff --git a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
index 6a71f291..e1c274c0 100644
--- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
+++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
@@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    GpiodRegular* config = new GpiodRegular();
+    auto config = new GpiodRegularByChip();
     /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
     will not need this */
     config->chipname = "gpiochip0";

From bfae25ff2dc68362c639ea8080e9b42e0c1d4add Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Sep 2021 18:06:04 +0200
Subject: [PATCH 02/10] Updates for SPI

1. Better names for functions
2. Reply size is set to 0
---
 hal/src/fsfw_hal/linux/spi/SpiComIF.cpp  | 34 +++++++++++++++---------
 hal/src/fsfw_hal/linux/spi/SpiComIF.h    |  1 +
 hal/src/fsfw_hal/linux/spi/SpiCookie.cpp |  2 +-
 hal/src/fsfw_hal/linux/spi/SpiCookie.h   |  6 ++---
 4 files changed, 26 insertions(+), 17 deletions(-)

diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
index 48bf7449..9c4e66ae 100644
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
@@ -15,11 +15,6 @@
 #include <cerrno>
 #include <cstring>
 
-/* Can be used for low-level debugging of the SPI bus */
-#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
-#define FSFW_HAL_LINUX_SPI_WIRETAPPING                  0
-#endif
-
 SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
         SystemObject(objectId), gpioComIF(gpioComIF) {
     if(gpioComIF == nullptr) {
@@ -146,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     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;
+        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),
@@ -193,7 +188,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
     setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
     spiCookie->assignWriteBuffer(sendData);
-    spiCookie->assignTransferSize(sendLen);
+    spiCookie->setTransferSize(sendLen);
 
     bool fullDuplex = spiCookie->isFullDuplex();
     gpioId_t gpioId = spiCookie->getChipSelectPin();
@@ -202,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     if(gpioId != gpio::NO_GPIO) {
         result = spiMutex->lockMutex(timeoutType, timeoutMs);
         if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+#else
+            sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+#endif
+#endif
+            return result;
+        }
+        ReturnValue_t result = gpioComIF->pullLow(gpioId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
+#else
+            sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
+#endif
 #endif
             return result;
         }
-        gpioComIF->pullLow(gpioId);
     }
 
     /* Execute transfer */
@@ -218,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
-#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
+#if FSFW_HAL_SPI_WIRETAPPING == 1
         performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
     }
@@ -335,6 +344,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 
     *buffer = rxBuf;
     *size = spiCookie->getCurrentTransferSize();
+    spiCookie->setTransferSize(0);
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -388,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
 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!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
     }
 
     retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
     }
 }
diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/hal/src/fsfw_hal/linux/spi/SpiComIF.h
index d43e2505..bcca7462 100644
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.h
@@ -1,6 +1,7 @@
 #ifndef LINUX_SPI_SPICOMIF_H_
 #define LINUX_SPI_SPICOMIF_H_
 
+#include "fsfw/FSFW.h"
 #include "spiDefinitions.h"
 #include "returnvalues/classIds.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
index 54d8aa16..f07954e9 100644
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
@@ -121,7 +121,7 @@ bool SpiCookie::isFullDuplex() const {
     return not this->halfDuplex;
 }
 
-void SpiCookie::assignTransferSize(size_t transferSize) {
+void SpiCookie::setTransferSize(size_t transferSize) {
     spiTransferStruct.len = transferSize;
 }
 
diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.h b/hal/src/fsfw_hal/linux/spi/SpiCookie.h
index acf7c77c..844fd421 100644
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.h
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.h
@@ -103,10 +103,10 @@ public:
     void assignReadBuffer(uint8_t* rx);
     void assignWriteBuffer(const uint8_t* tx);
     /**
-     * Assign size for the next transfer.
+     * Set size for the next transfer. Set to 0 for no transfer
      * @param transferSize
      */
-    void assignTransferSize(size_t transferSize);
+    void setTransferSize(size_t transferSize);
     size_t getCurrentTransferSize() const;
 
     struct UncommonParameters {
@@ -158,8 +158,6 @@ private:
             std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
             spi::send_callback_function_t callback, void* args);
 
-    size_t currentTransferSize = 0;
-
     address_t spiAddress;
     gpioId_t chipSelectPin;
     std::string spiDevice;

From fc9b85d5db29079ec96031a160a98f5caab65a81 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Sep 2021 18:06:54 +0200
Subject: [PATCH 03/10] update FSFW.h.in

---
 src/fsfw/FSFW.h.in | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in
index f0eb9365..96460ae4 100644
--- a/src/fsfw/FSFW.h.in
+++ b/src/fsfw/FSFW.h.in
@@ -16,6 +16,11 @@
 #cmakedefine FSFW_ADD_MONITORING
 #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
 
+// Can be used for low-level debugging of the SPI bus
+#ifndef FSFW_HAL_SPI_WIRETAPPING
+#define FSFW_HAL_SPI_WIRETAPPING      0
+#endif
+
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
 #define FSFW_HAL_L3GD20_GYRO_DEBUG   0
 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */

From f2bc374f0ffd349c3c02552885433735eb632f92 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Sep 2021 18:12:59 +0200
Subject: [PATCH 04/10] Device handler updates

---
 .../fsfw_hal/devicehandlers/CMakeLists.txt    |   2 +
 .../devicehandlers/GyroL3GD20Handler.cpp      |  43 ++++-
 .../devicehandlers/GyroL3GD20Handler.h        |  21 ++-
 .../devicedefinitions/MgmLIS3HandlerDefs.h    | 178 ++++++++++++++++++
 .../devicedefinitions/MgmRM3100HandlerDefs.h  | 132 +++++++++++++
 5 files changed, 364 insertions(+), 12 deletions(-)
 create mode 100644 hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
 create mode 100644 hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

diff --git a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt b/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
index cf542d8d..94e67c72 100644
--- a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
+++ b/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
@@ -1,3 +1,5 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
     GyroL3GD20Handler.cpp
+    MgmRM3100Handler.cpp
+    MgmLIS3MDLHandler.cpp
 )
diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
index 4a492e5d..70ba49eb 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@@ -3,11 +3,11 @@
 #include "fsfw/datapool/PoolReadGuard.h"
 
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs):
+        CookieIF *comCookie, uint32_t transitionDelayMs):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) {
+        transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(5);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
@@ -215,11 +215,32 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
         PoolReadGuard readSet(&dataset);
         if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            dataset.angVelocX = angVelocX;
-            dataset.angVelocY = angVelocY;
-            dataset.angVelocZ = angVelocZ;
+            if(std::abs(angVelocX) < this->absLimitX) {
+                dataset.angVelocX = angVelocX;
+                dataset.angVelocX.setValid(true);
+            }
+            else {
+                dataset.angVelocX.setValid(false);
+            }
+
+            if(std::abs(angVelocY) < this->absLimitY) {
+                dataset.angVelocY = angVelocY;
+                dataset.angVelocY.setValid(true);
+            }
+            else {
+                dataset.angVelocY.setValid(false);
+            }
+
+            if(std::abs(angVelocZ) < this->absLimitZ) {
+                dataset.angVelocZ = angVelocZ;
+                dataset.angVelocZ.setValid(true);
+            }
+            else {
+                dataset.angVelocZ.setValid(false);
+            }
+
             dataset.temperature = temperature;
-            dataset.setValidity(true, true);
+            dataset.temperature.setValid(true);
         }
         break;
     }
@@ -234,7 +255,7 @@ uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
     return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
     this->goNormalModeImmediately = true;
 }
 
@@ -256,3 +277,9 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
 void GyroHandlerL3GD20H::modeChanged() {
     internalState = InternalState::NONE;
 }
+
+void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
+    this->absLimitX = limitX;
+    this->absLimitY = limitY;
+    this->absLimitZ = limitZ;
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
index bc1d9c1c..870f551d 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
@@ -19,13 +19,22 @@
 class GyroHandlerL3GD20H: public DeviceHandlerBase {
 public:
     GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000);
+            CookieIF* comCookie, uint32_t transitionDelayMs);
     virtual ~GyroHandlerL3GD20H();
 
+    /**
+     * Set the absolute limit for the values on the axis in degrees per second.
+     * The dataset values will be marked as invalid if that limit is exceeded
+     * @param xLimit
+     * @param yLimit
+     * @param zLimit
+     */
+    void setAbsoluteLimits(float limitX, float limitY, float limitZ);
+
     /**
      * @brief   Configure device handler to go to normal mode immediately
      */
-    void setGoNormalModeAtStartup();
+    void setToGoToNormalMode(bool enable);
 protected:
 
     /* DeviceHandlerBase overrides */
@@ -40,12 +49,12 @@ protected:
             size_t commandDataLen) override;
     ReturnValue_t scanForReply(const uint8_t *start, size_t len,
             DeviceCommandId_t *foundId, size_t *foundLen) override;
-    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
 
     void fillCommandAndReplyMap() override;
     void modeChanged() override;
-    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
     ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
             LocalDataPoolManager &poolManager) override;
 
@@ -54,6 +63,10 @@ private:
     uint32_t transitionDelayMs = 0;
     GyroPrimaryDataset dataset;
 
+    float absLimitX = L3GD20H::RANGE_DPS_00;
+    float absLimitY = L3GD20H::RANGE_DPS_00;
+    float absLimitZ = L3GD20H::RANGE_DPS_00;
+
     enum class InternalState {
         NONE,
         CONFIGURE,
diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
new file mode 100644
index 00000000..b6f3fd84
--- /dev/null
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
@@ -0,0 +1,178 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <cstdint>
+
+namespace MGMLIS3MDL {
+
+enum Set {
+    ON, OFF
+};
+enum OpMode {
+    LOW, MEDIUM, HIGH, ULTRA
+};
+
+enum Sensitivies: uint8_t {
+    GAUSS_4 = 4,
+    GAUSS_8 = 8,
+    GAUSS_12 = 12,
+    GAUSS_16 = 16
+};
+
+/* Actually 15, we just round up a bit */
+static constexpr size_t MAX_BUFFER_SIZE = 16;
+
+/* Field data register scaling */
+static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
+static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0;
+static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0;
+static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0;
+static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0;
+
+static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
+static const DeviceCommandId_t SETUP_MGM = 0x01;
+static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
+static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
+static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
+static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
+
+/* Number of all control registers */
+static const uint8_t NR_OF_CTRL_REGISTERS = 5;
+/* Number of registers in the MGM */
+static const uint8_t NR_OF_REGISTERS = 19;
+/* Total number of adresses for all registers */
+static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
+static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
+static const uint8_t TEMPERATURE_REPLY_LEN = 3;
+static const uint8_t SETUP_REPLY_LEN = 6;
+
+/*------------------------------------------------------------------------*/
+/* Register adresses */
+/*------------------------------------------------------------------------*/
+/* Register adress returns identifier of device with default 0b00111101 */
+static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
+static const uint8_t DEVICE_ID = 0b00111101;            // Identifier for Device
+
+/* Register adress to access register 1 */
+static const uint8_t CTRL_REG1 = 0b00100000;
+/* Register adress to access register 2 */
+static const uint8_t CTRL_REG2 = 0b00100001;
+/* Register adress to access register 3 */
+static const uint8_t CTRL_REG3 = 0b00100010;
+/* Register adress to access register 4 */
+static const uint8_t CTRL_REG4 = 0b00100011;
+/* Register adress to access register 5 */
+static const uint8_t CTRL_REG5 = 0b00100100;
+
+/* Register adress to access status register */
+static const uint8_t STATUS_REG_IDX = 8;
+static const uint8_t STATUS_REG = 0b00100111;
+
+/* Register adress to access low byte of x-axis */
+static const uint8_t X_LOWBYTE_IDX = 9;
+static const uint8_t X_LOWBYTE = 0b00101000;
+/* Register adress to access high byte of x-axis */
+static const uint8_t X_HIGHBYTE_IDX = 10;
+static const uint8_t X_HIGHBYTE = 0b00101001;
+/* Register adress to access low byte of y-axis */
+static const uint8_t Y_LOWBYTE_IDX = 11;
+static const uint8_t Y_LOWBYTE = 0b00101010;
+/* Register adress to access high byte of y-axis */
+static const uint8_t Y_HIGHBYTE_IDX = 12;
+static const uint8_t Y_HIGHBYTE = 0b00101011;
+/* Register adress to access low byte of z-axis */
+static const uint8_t Z_LOWBYTE_IDX = 13;
+static const uint8_t Z_LOWBYTE = 0b00101100;
+/* Register adress to access high byte of z-axis */
+static const uint8_t Z_HIGHBYTE_IDX = 14;
+static const uint8_t Z_HIGHBYTE = 0b00101101;
+
+/* Register adress to access low byte of temperature sensor */
+static const uint8_t TEMP_LOWBYTE = 0b00101110;
+/* Register adress to access high byte of temperature sensor */
+static const uint8_t TEMP_HIGHBYTE = 0b00101111;
+
+/*------------------------------------------------------------------------*/
+/* Initialize Setup Register set bits                                     */
+/*------------------------------------------------------------------------*/
+/* General transfer bits */
+// Read=1 / Write=0 Bit
+static const uint8_t RW_BIT = 7;
+// Continous Read/Write Bit, increment adress
+static const uint8_t MS_BIT = 6;
+
+/* CTRL_REG1 bits */
+static const uint8_t ST = 0;        // Self test enable bit, enabled = 1
+// Enable rates higher than 80 Hz enabled = 1
+static const uint8_t FAST_ODR = 1;
+static const uint8_t DO0 = 2;       // Output data rate bit 2
+static const uint8_t DO1 = 3;       // Output data rate bit 3
+static const uint8_t DO2 = 4;       // Output data rate bit 4
+static const uint8_t OM0 = 5;       // XY operating mode bit 5
+static const uint8_t OM1 = 6;       // XY operating mode bit 6
+static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1
+static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
+        (1 << DO0) | (1 << DO1) | (1 << DO2);
+
+/* CTRL_REG2 bits */
+//reset configuration registers and user registers
+static const uint8_t SOFT_RST = 2;
+static const uint8_t REBOOT = 3;    //reboot memory content
+static const uint8_t FSO = 5;       //full-scale selection bit 5
+static const uint8_t FS1 = 6;       //full-scale selection bit 6
+static const uint8_t CTRL_REG2_DEFAULT = 0;
+
+/* CTRL_REG3 bits */
+static const uint8_t MD0 = 0;       //Operating mode bit 0
+static const uint8_t MD1 = 1;       //Operating mode bit 1
+//SPI serial interface mode selection enabled = 3-wire-mode
+static const uint8_t SIM = 2;
+static const uint8_t LP = 5;        //low-power mode
+static const uint8_t CTRL_REG3_DEFAULT = 0;
+
+/* CTRL_REG4 bits */
+//big/little endian data selection enabled = MSb at lower adress
+static const uint8_t BLE = 1;
+static const uint8_t OMZ0 = 2;      //Z operating mode bit 2
+static const uint8_t OMZ1 = 3;      //Z operating mode bit 3
+static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
+
+/* CTRL_REG5 bits */
+static const uint8_t BDU = 6;       //Block data update
+static const uint8_t FAST_READ = 7; //Fast read enabled = 1
+static const uint8_t CTRL_REG5_DEFAULT = 0;
+
+static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
+
+enum MgmPoolIds: lp_id_t {
+    FIELD_STRENGTH_X,
+    FIELD_STRENGTH_Y,
+    FIELD_STRENGTH_Z,
+    TEMPERATURE_CELCIUS
+};
+
+class MgmPrimaryDataset: public StaticLocalDataSet<5> {
+public:
+    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
+
+    MgmPrimaryDataset(object_id_t mgmId):
+        StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
+
+    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_X, this);
+    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Y, this);
+    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Z, this);
+    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
+            TEMPERATURE_CELCIUS, this);
+};
+
+}
+
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */
diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
new file mode 100644
index 00000000..08f80dd9
--- /dev/null
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
@@ -0,0 +1,132 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/serialize/SerialLinkedListAdapter.h>
+#include <cstdint>
+
+namespace RM3100 {
+
+/* Actually 10, we round up a little bit */
+static constexpr size_t MAX_BUFFER_SIZE = 12;
+
+static constexpr uint8_t READ_MASK = 0x80;
+
+/*----------------------------------------------------------------------------*/
+/* CMM Register */
+/*----------------------------------------------------------------------------*/
+static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
+static constexpr uint8_t SET_CMM_CMY = 1 << 5;
+static constexpr uint8_t SET_CMM_CMX = 1 << 4;
+static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
+static constexpr uint8_t SET_CMM_START = 1;
+static constexpr uint8_t CMM_REGISTER = 0x01;
+
+static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
+		SET_CMM_DRDM | SET_CMM_START;
+
+/*----------------------------------------------------------------------------*/
+/* Cycle count register */
+/*----------------------------------------------------------------------------*/
+// Default value (200)
+static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
+
+static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
+		100 * 38;
+static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
+
+/*----------------------------------------------------------------------------*/
+/* TMRC register */
+/*----------------------------------------------------------------------------*/
+static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
+static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
+static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
+
+static constexpr uint8_t TMRC_REGISTER = 0x0B;
+static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
+
+static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
+static constexpr uint8_t BIST_REGISTER = 0x33;
+static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
+static constexpr uint8_t STATUS_REGISTER = 0x34;
+static constexpr uint8_t REVID_REGISTER = 0x36;
+
+// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
+static constexpr uint16_t RANGE = 800;
+
+static constexpr DeviceCommandId_t READ_DATA = 0;
+
+static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
+static constexpr DeviceCommandId_t READ_CMM = 2;
+
+static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
+static constexpr DeviceCommandId_t READ_TMRC = 4;
+
+static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
+static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
+
+class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
+public:
+	CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
+		setLinks(oneCycleCount);
+	}
+
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override {
+		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
+				size, streamEndianness);
+		if(oneCycleCount) {
+			cycleCountY = cycleCountX;
+			cycleCountZ = cycleCountX;
+		}
+		return result;
+	}
+
+	SerializeElement<uint16_t> cycleCountX;
+	SerializeElement<uint16_t> cycleCountY;
+	SerializeElement<uint16_t> cycleCountZ;
+
+private:
+	void setLinks(bool oneCycleCount) {
+		setStart(&cycleCountX);
+		if(not oneCycleCount) {
+			cycleCountX.setNext(&cycleCountY);
+			cycleCountY.setNext(&cycleCountZ);
+		}
+	}
+
+	bool oneCycleCount;
+};
+
+static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
+
+enum MgmPoolIds: lp_id_t {
+    FIELD_STRENGTH_X,
+    FIELD_STRENGTH_Y,
+    FIELD_STRENGTH_Z,
+};
+
+class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+public:
+	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
+        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
+
+	Rm3100PrimaryDataset(object_id_t mgmId):
+        StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
+
+	// Field strengths in micro Tesla.
+    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_X, this);
+    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Y, this);
+    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Z, this);
+};
+
+}
+
+
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

From a6bd7c0d6ea035c5acb38139ed9bac78228ab1ac Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Sep 2021 18:13:51 +0200
Subject: [PATCH 05/10] added missing defines for debug output

---
 src/fsfw/FSFW.h.in | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in
index f0eb9365..f124e647 100644
--- a/src/fsfw/FSFW.h.in
+++ b/src/fsfw/FSFW.h.in
@@ -17,7 +17,15 @@
 #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
 
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
-#define FSFW_HAL_L3GD20_GYRO_DEBUG   0
+#define FSFW_HAL_L3GD20_GYRO_DEBUG          0
 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
 
+#ifndef FSFW_HAL_RM3100_MGM_DEBUG
+#define FSFW_HAL_RM3100_MGM_DEBUG           0
+#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
+
+#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
+#define FSFW_HAL_LIS3MDL_MGM_DEBUG          0
+#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
+
 #endif /* FSFW_FSFW_H_ */

From f6b03dee6ab7755df53d415fe75802a30fd2c435 Mon Sep 17 00:00:00 2001
From: Jakob Meier <meier-jakob@gmx.de>
Date: Fri, 24 Sep 2021 12:11:12 +0200
Subject: [PATCH 06/10] removed unused variable switchId from GyroL3GD20Handler
 class

---
 hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
index 870f551d..e73d2fbb 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
@@ -59,7 +59,6 @@ protected:
             LocalDataPoolManager &poolManager) override;
 
 private:
-    uint8_t switchId = 0;
     uint32_t transitionDelayMs = 0;
     GyroPrimaryDataset dataset;
 

From a37b6184fcddf7792aaa5b70b5882a6d838a65ab Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sat, 25 Sep 2021 16:40:22 +0200
Subject: [PATCH 07/10] fix dataset sizes

---
 .../devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h       | 2 +-
 .../devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
index b6f3fd84..9d65aae2 100644
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
@@ -154,7 +154,7 @@ enum MgmPoolIds: lp_id_t {
     TEMPERATURE_CELCIUS
 };
 
-class MgmPrimaryDataset: public StaticLocalDataSet<5> {
+class MgmPrimaryDataset: public StaticLocalDataSet<4> {
 public:
     MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
         StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
index 08f80dd9..0ee2c7f6 100644
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
@@ -108,7 +108,7 @@ enum MgmPoolIds: lp_id_t {
     FIELD_STRENGTH_Z,
 };
 
-class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
 public:
 	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
         StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}

From a84e60a37a6fef4147837bd6732d74722d4708c1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sun, 26 Sep 2021 22:22:55 +0200
Subject: [PATCH 08/10] Added missing devicehandlers

These devicehandlers were missing from the last PR
---
 .../devicehandlers/MgmLIS3MDLHandler.cpp      | 518 ++++++++++++++++++
 .../devicehandlers/MgmLIS3MDLHandler.h        | 186 +++++++
 .../devicehandlers/MgmRM3100Handler.cpp       | 363 ++++++++++++
 .../devicehandlers/MgmRM3100Handler.h         | 111 ++++
 4 files changed, 1178 insertions(+)
 create mode 100644 hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
 create mode 100644 hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
 create mode 100644 hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
 create mode 100644 hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
new file mode 100644
index 00000000..891d6fdc
--- /dev/null
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -0,0 +1,518 @@
+#include "MgmLIS3MDLHandler.h"
+
+#include "fsfw/datapool/PoolReadGuard.h"
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#endif
+
+MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
+        CookieIF* comCookie, uint32_t transitionDelay):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+        dataset(this), transitionDelay(transitionDelay) {
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    debugDivider = new PeriodicOperationDivider(3);
+#endif
+    // Set to default values right away
+    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
+    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
+
+}
+
+MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
+}
+
+
+void MgmLIS3MDLHandler::doStartUp() {
+    switch (internalState) {
+    case(InternalState::STATE_NONE): {
+        internalState = InternalState::STATE_FIRST_CONTACT;
+        break;
+    }
+    case(InternalState::STATE_FIRST_CONTACT): {
+        /* Will be set by checking device ID (WHO AM I register) */
+        if(commandExecuted) {
+            commandExecuted = false;
+            internalState = InternalState::STATE_SETUP;
+        }
+        break;
+    }
+    case(InternalState::STATE_SETUP): {
+        internalState = InternalState::STATE_CHECK_REGISTERS;
+        break;
+    }
+    case(InternalState::STATE_CHECK_REGISTERS): {
+        /* Set up cached registers which will be used to configure the MGM. */
+        if(commandExecuted) {
+            commandExecuted = false;
+            if(goToNormalMode) {
+                setMode(MODE_NORMAL);
+            }
+            else {
+                setMode(_MODE_TO_ON);
+            }
+        }
+        break;
+    }
+    default:
+        break;
+    }
+
+}
+
+void MgmLIS3MDLHandler::doShutDown() {
+    setMode(_MODE_POWER_DOWN);
+}
+
+ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
+        DeviceCommandId_t *id) {
+    switch (internalState) {
+    case(InternalState::STATE_NONE):
+    case(InternalState::STATE_NORMAL): {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(InternalState::STATE_FIRST_CONTACT): {
+        *id = MGMLIS3MDL::IDENTIFY_DEVICE;
+        break;
+    }
+    case(InternalState::STATE_SETUP): {
+        *id = MGMLIS3MDL::SETUP_MGM;
+        break;
+    }
+    case(InternalState::STATE_CHECK_REGISTERS): {
+        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+        break;
+    }
+    default: {
+        /* might be a configuration error. */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+                std::endl;
+#else
+        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    }
+    return buildCommandFromCommand(*id, NULL, 0);
+}
+
+uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
+    command |= (1 << MGMLIS3MDL::RW_BIT);
+    if (continuousCom == true) {
+        command |= (1 << MGMLIS3MDL::MS_BIT);
+    }
+    return command;
+}
+
+uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
+    command &= ~(1 << MGMLIS3MDL::RW_BIT);
+    if (continuousCom == true) {
+        command |= (1 << MGMLIS3MDL::MS_BIT);
+    }
+    return command;
+}
+
+void MgmLIS3MDLHandler::setupMgm() {
+
+    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
+    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
+
+    prepareCtrlRegisterWrite();
+}
+
+ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
+        DeviceCommandId_t *id) {
+    // Data/config register will be read in an alternating manner.
+    if(communicationStep == CommunicationStep::DATA) {
+        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+        communicationStep = CommunicationStep::TEMPERATURE;
+        return buildCommandFromCommand(*id, NULL, 0);
+    }
+    else {
+        *id = MGMLIS3MDL::READ_TEMPERATURE;
+        communicationStep = CommunicationStep::DATA;
+        return buildCommandFromCommand(*id, NULL, 0);
+    }
+
+}
+
+ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
+        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+        size_t commandDataLen) {
+    switch(deviceCommand) {
+    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
+        std::memset(commandBuffer, 0, sizeof(commandBuffer));
+        commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
+
+        rawPacket = commandBuffer;
+        rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
+        return RETURN_OK;
+    }
+    case(MGMLIS3MDL::READ_TEMPERATURE): {
+        std::memset(commandBuffer, 0, 3);
+        commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
+
+        rawPacket = commandBuffer;
+        rawPacketLen = 3;
+        return RETURN_OK;
+    }
+    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
+        return identifyDevice();
+    }
+    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
+        return enableTemperatureSensor(commandData, commandDataLen);
+    }
+    case(MGMLIS3MDL::SETUP_MGM): {
+        setupMgm();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
+        return setOperatingMode(commandData, commandDataLen);
+    }
+    default:
+        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
+    uint32_t size = 2;
+    commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
+    commandBuffer[1] = 0x00;
+
+    rawPacket = commandBuffer;
+    rawPacketLen = size;
+
+    return RETURN_OK;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
+        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
+    *foundLen = len;
+    if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
+        *foundLen = len;
+        *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+        // Check validity by checking config registers
+        if (start[1] != registers[0] or start[2] != registers[1] or
+                start[3] != registers[2] or start[4] != registers[3] or
+                start[5] != registers[4]) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
+#else
+            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
+#endif
+#endif
+            return DeviceHandlerIF::INVALID_DATA;
+        }
+        if(mode == _MODE_START_UP) {
+            commandExecuted = true;
+        }
+
+    }
+    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
+        *foundLen = len;
+        *foundId = MGMLIS3MDL::READ_TEMPERATURE;
+    }
+    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
+        *foundLen = len;
+        *foundId = MGMLIS3MDL::SETUP_MGM;
+    }
+    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
+        *foundLen = len;
+        *foundId = getPendingCommand();
+        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
+            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
+                        "Device identification failed!" << std::endl;
+#else
+                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
+                        "Device identification failed!\n");
+#endif
+#endif
+                return DeviceHandlerIF::INVALID_DATA;
+            }
+
+            if(mode == _MODE_START_UP) {
+                commandExecuted = true;
+            }
+        }
+    }
+    else {
+        return DeviceHandlerIF::INVALID_DATA;
+    }
+
+    /* Data with SPI Interface always has this answer */
+    if (start[0] == 0b11111111) {
+        return RETURN_OK;
+    }
+    else {
+        return DeviceHandlerIF::INVALID_DATA;
+    }
+
+}
+ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
+        const uint8_t *packet) {
+
+    switch (id) {
+    case MGMLIS3MDL::IDENTIFY_DEVICE: {
+        break;
+    }
+    case MGMLIS3MDL::SETUP_MGM: {
+        break;
+    }
+    case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
+        // TODO: Store configuration in new local datasets.
+        float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
+
+        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
+        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
+        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
+
+        /* Target value in microtesla */
+        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+        if(debugDivider->checkAndIncrement()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+                    " microtesla:" << std::endl;
+            sif::info << "X: " << mgmX << " uT" << std::endl;
+            sif::info << "Y: " << mgmY << " uT" << std::endl;
+            sif::info << "Z: " << mgmZ << " uT" << std::endl;
+#else
+            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+            sif::printInfo("X: %f uT\n", mgmX);
+            sif::printInfo("Y: %f uT\n", mgmY);
+            sif::printInfo("Z: %f uT\n", mgmZ);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+        }
+#endif /* OBSW_VERBOSE_LEVEL >= 1 */
+        PoolReadGuard readHelper(&dataset);
+        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+            if(std::abs(mgmX) < absLimitX) {
+                dataset.fieldStrengthX = mgmX;
+                dataset.fieldStrengthX.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthX.setValid(false);
+            }
+
+            if(std::abs(mgmY) < absLimitY) {
+                dataset.fieldStrengthY = mgmY;
+                dataset.fieldStrengthY.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthY.setValid(false);
+            }
+
+            if(std::abs(mgmZ) < absLimitZ) {
+                dataset.fieldStrengthZ = mgmZ;
+                dataset.fieldStrengthZ.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthZ.setValid(false);
+            }
+        }
+        break;
+    }
+
+    case MGMLIS3MDL::READ_TEMPERATURE: {
+        int16_t tempValueRaw = packet[2] << 8 | packet[1];
+        float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
+    #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+        if(debugDivider->check()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
+                    std::endl;
+#else
+            sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+#endif
+        }
+#endif
+        ReturnValue_t result = dataset.read();
+        if(result == HasReturnvaluesIF::RETURN_OK) {
+            dataset.temperature = tempValue;
+            dataset.commit();
+        }
+        break;
+    }
+
+    default: {
+        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+    }
+
+    }
+    return RETURN_OK;
+}
+
+MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
+    bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
+    bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
+
+    if (fs0Set && fs1Set)
+        return MGMLIS3MDL::Sensitivies::GAUSS_16;
+    else if (!fs0Set && fs1Set)
+        return MGMLIS3MDL::Sensitivies::GAUSS_12;
+    else if (fs0Set && !fs1Set)
+        return MGMLIS3MDL::Sensitivies::GAUSS_8;
+    else
+        return MGMLIS3MDL::Sensitivies::GAUSS_4;
+}
+
+float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
+    switch(sens) {
+    case(MGMLIS3MDL::GAUSS_4): {
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+    }
+    case(MGMLIS3MDL::GAUSS_8): {
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
+    }
+    case(MGMLIS3MDL::GAUSS_12): {
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
+    }
+    case(MGMLIS3MDL::GAUSS_16): {
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
+    }
+    default: {
+        // Should never happen
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+    }
+    }
+}
+
+
+ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
+        const uint8_t *commandData, size_t commandDataLen) {
+    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
+    uint32_t size = 2;
+    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
+    if (commandDataLen > 1) {
+        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
+    }
+    switch (*commandData) {
+    case (MGMLIS3MDL::ON): {
+        commandBuffer[1] = registers[0] | (1 << 7);
+        break;
+    }
+    case (MGMLIS3MDL::OFF): {
+        commandBuffer[1] = registers[0] & ~(1 << 7);
+        break;
+    }
+    default:
+        return INVALID_COMMAND_PARAMETER;
+    }
+    registers[0] = commandBuffer[1];
+
+    rawPacket = commandBuffer;
+    rawPacketLen = size;
+
+    return RETURN_OK;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
+        size_t commandDataLen) {
+    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
+    if (commandDataLen != 1) {
+        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
+    }
+
+    switch (commandData[0]) {
+    case MGMLIS3MDL::LOW:
+        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
+        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
+        break;
+    case MGMLIS3MDL::MEDIUM:
+        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
+        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
+        break;
+
+    case MGMLIS3MDL::HIGH:
+        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
+        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
+        break;
+
+    case MGMLIS3MDL::ULTRA:
+        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
+        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
+        break;
+    default:
+        break;
+    }
+
+    return prepareCtrlRegisterWrite();
+}
+
+void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
+    insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
+    insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
+    insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
+    insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
+    insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
+    insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
+}
+
+void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
+    this->goToNormalMode = enable;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
+    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
+
+    for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
+        commandBuffer[i + 1] = registers[i];
+    }
+    rawPacket = commandBuffer;
+    rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
+
+    // We dont have to check if this is working because we just did i
+    return RETURN_OK;
+}
+
+void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+
+}
+
+uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+    return transitionDelay;
+}
+
+void MgmLIS3MDLHandler::modeChanged(void) {
+    internalState = InternalState::STATE_NONE;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
+            new PoolEntry<float>({0.0}));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
+    this->absLimitX = xLimit;
+    this->absLimitY = yLimit;
+    this->absLimitZ = zLimit;
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
new file mode 100644
index 00000000..6bf89a49
--- /dev/null
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
@@ -0,0 +1,186 @@
+#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
+#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
+
+#include "fsfw/FSFW.h"
+#include "events/subsystemIdRanges.h"
+#include "devicedefinitions/MgmLIS3HandlerDefs.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
+class PeriodicOperationDivider;
+
+/**
+ * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
+ *          by STMicroeletronics
+ * @details
+ * Datasheet can be found online by googling LIS3MDL.
+ * Flight manual:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
+ * @author  L. Loidold, R. Mueller
+ */
+class MgmLIS3MDLHandler: public DeviceHandlerBase {
+public:
+    enum class CommunicationStep {
+        DATA,
+        TEMPERATURE
+    };
+
+    static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
+    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
+    //Notifies a command to change the setup parameters
+    static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
+
+    MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
+            uint32_t transitionDelay);
+    virtual ~MgmLIS3MDLHandler();
+
+    /**
+     * Set the absolute limit for the values on the axis in microtesla. The dataset values will
+     * be marked as invalid if that limit is exceeded
+     * @param xLimit
+     * @param yLimit
+     * @param zLimit
+     */
+    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
+    void setToGoToNormalMode(bool enable);
+
+protected:
+
+    /** DeviceHandlerBase overrides */
+    void doShutDown() override;
+    void doStartUp() override;
+    void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    ReturnValue_t buildCommandFromCommand(
+            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+            size_t commandDataLen) override;
+    ReturnValue_t buildTransitionDeviceCommand(
+            DeviceCommandId_t *id) override;
+    ReturnValue_t buildNormalDeviceCommand(
+            DeviceCommandId_t *id) override;
+    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+            DeviceCommandId_t *foundId, size_t *foundLen) override;
+    /**
+     * This implementation is tailored towards space applications and will flag values larger
+     * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
+     * @param id
+     * @param packet
+     * @return
+     */
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+            const uint8_t *packet) override;
+    void fillCommandAndReplyMap() override;
+    void modeChanged(void) override;
+    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+            LocalDataPoolManager &poolManager) override;
+
+private:
+    MGMLIS3MDL::MgmPrimaryDataset dataset;
+    //Length a single command SPI answer
+    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
+
+    uint32_t transitionDelay;
+    // Single SPI command has 2 bytes, first for adress, second for content
+    size_t singleComandSize = 2;
+    // Has the size for all adresses of the lis3mdl + the continous write bit
+    uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
+
+    float absLimitX = 100;
+    float absLimitY = 100;
+    float absLimitZ = 150;
+
+    /**
+     * We want to save the registers we set, so we dont have to read the
+     * registers when we want to change something.
+     * --> everytime we change set a register we have to save it
+     */
+    uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
+
+    uint8_t statusRegister = 0;
+    bool goToNormalMode = false;
+
+    enum class InternalState {
+        STATE_NONE,
+        STATE_FIRST_CONTACT,
+        STATE_SETUP,
+        STATE_CHECK_REGISTERS,
+        STATE_NORMAL
+    };
+
+    InternalState internalState = InternalState::STATE_NONE;
+    CommunicationStep communicationStep = CommunicationStep::DATA;
+    bool commandExecuted = false;
+
+    /*------------------------------------------------------------------------*/
+    /* Device specific commands and variables */
+    /*------------------------------------------------------------------------*/
+    /**
+     * Sets the read bit for the command
+     * @param single command to set the read-bit at
+     * @param boolean to select a continuous read bit, default = false
+     */
+    uint8_t readCommand(uint8_t command, bool continuousCom = false);
+
+    /**
+     * Sets the write bit for the command
+     * @param single command to set the write-bit at
+     * @param boolean to select a continuous write bit, default = false
+     */
+    uint8_t writeCommand(uint8_t command, bool continuousCom = false);
+
+    /**
+     * This Method gets the full scale for the measurement range
+     * e.g.: +- 4 gauss. See p.25 datasheet.
+     *  @return The ReturnValue does not contain the sign of the value
+     */
+    MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
+
+    /**
+     * The 16 bit value needs to be multiplied with a sensitivity factor
+     * which depends on the sensitivity configuration
+     *
+     * @param sens Configured sensitivity of the LIS3 device
+     * @return Multiplication factor to get the sensor value from raw data.
+     */
+    float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
+
+    /**
+     * This Command detects the device ID
+     */
+    ReturnValue_t identifyDevice();
+
+    virtual void setupMgm();
+
+    /*------------------------------------------------------------------------*/
+    /* Non normal commands */
+    /*------------------------------------------------------------------------*/
+    /**
+     * Enables/Disables the integrated Temperaturesensor
+     * @param commandData On or Off
+     * @param length of the commandData: has to be 1
+     */
+    virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
+            size_t commandDataLen);
+
+    /**
+     * Sets the accuracy of the measurement of the axis. The noise is changing.
+     * @param commandData LOW, MEDIUM, HIGH, ULTRA
+     * @param length of the command, has to be 1
+     */
+    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
+            size_t commandDataLen);
+
+    /**
+     * We always update all registers together, so this method updates
+     * the rawpacket and rawpacketLen, so we just manipulate the local
+     * saved register
+     *
+     */
+    ReturnValue_t prepareCtrlRegisterWrite();
+
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    PeriodicOperationDivider* debugDivider;
+#endif
+};
+
+#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
new file mode 100644
index 00000000..20cf95d2
--- /dev/null
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@@ -0,0 +1,363 @@
+#include "MgmRM3100Handler.h"
+
+#include "fsfw/datapool/PoolReadGuard.h"
+#include "fsfw/globalfunctions/bitutility.h"
+#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
+#include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+
+MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
+        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+        primaryDataset(this), transitionDelay(transitionDelay) {
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    debugDivider = new PeriodicOperationDivider(3);
+#endif
+}
+
+MgmRM3100Handler::~MgmRM3100Handler() {}
+
+void MgmRM3100Handler::doStartUp() {
+    switch(internalState) {
+    case(InternalState::NONE): {
+        internalState = InternalState::CONFIGURE_CMM;
+        break;
+    }
+    case(InternalState::CONFIGURE_CMM): {
+        internalState = InternalState::READ_CMM;
+        break;
+    }
+    case(InternalState::READ_CMM): {
+        if(commandExecuted) {
+            internalState = InternalState::STATE_CONFIGURE_TMRC;
+        }
+        break;
+    }
+    case(InternalState::STATE_CONFIGURE_TMRC): {
+        if(commandExecuted) {
+            internalState = InternalState::STATE_READ_TMRC;
+        }
+        break;
+    }
+    case(InternalState::STATE_READ_TMRC): {
+        if(commandExecuted) {
+            internalState = InternalState::NORMAL;
+            if(goToNormalModeAtStartup) {
+                setMode(MODE_NORMAL);
+            }
+            else {
+                setMode(_MODE_TO_ON);
+            }
+        }
+        break;
+    }
+    default: {
+        break;
+    }
+    }
+}
+
+void MgmRM3100Handler::doShutDown() {
+    setMode(_MODE_POWER_DOWN);
+}
+
+ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
+        DeviceCommandId_t *id) {
+    size_t commandLen = 0;
+    switch(internalState) {
+    case(InternalState::NONE):
+    case(InternalState::NORMAL): {
+        return NOTHING_TO_SEND;
+    }
+    case(InternalState::CONFIGURE_CMM): {
+        *id = RM3100::CONFIGURE_CMM;
+        break;
+    }
+    case(InternalState::READ_CMM): {
+        *id = RM3100::READ_CMM;
+        break;
+    }
+    case(InternalState::STATE_CONFIGURE_TMRC): {
+        commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
+        commandLen = 1;
+        *id = RM3100::CONFIGURE_TMRC;
+        break;
+    }
+    case(InternalState::STATE_READ_TMRC): {
+        *id = RM3100::READ_TMRC;
+        break;
+    }
+    default:
+        // Might be a configuration error
+        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
+                std::endl;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    return buildCommandFromCommand(*id, commandBuffer, commandLen);
+}
+
+ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+        const uint8_t *commandData, size_t commandDataLen) {
+    switch(deviceCommand) {
+    case(RM3100::CONFIGURE_CMM): {
+        commandBuffer[0] = RM3100::CMM_REGISTER;
+        commandBuffer[1] = RM3100::CMM_VALUE;
+        rawPacket = commandBuffer;
+        rawPacketLen = 2;
+        break;
+    }
+    case(RM3100::READ_CMM): {
+        commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
+        commandBuffer[1] = 0;
+        rawPacket = commandBuffer;
+        rawPacketLen = 2;
+        break;
+    }
+    case(RM3100::CONFIGURE_TMRC): {
+        return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
+    }
+    case(RM3100::READ_TMRC): {
+        commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
+        commandBuffer[1] = 0;
+        rawPacket = commandBuffer;
+        rawPacketLen = 2;
+        break;
+    }
+    case(RM3100::CONFIGURE_CYCLE_COUNT): {
+        return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
+    }
+    case(RM3100::READ_CYCLE_COUNT): {
+        commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
+        std::memset(commandBuffer + 1, 0, 6);
+        rawPacket = commandBuffer;
+        rawPacketLen = 7;
+        break;
+    }
+    case(RM3100::READ_DATA): {
+        commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
+        std::memset(commandBuffer + 1, 0,  9);
+        rawPacketLen = 10;
+        break;
+    }
+    default:
+        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
+        DeviceCommandId_t *id) {
+    *id = RM3100::READ_DATA;
+    return buildCommandFromCommand(*id, nullptr, 0);
+}
+
+ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
+        size_t len, DeviceCommandId_t *foundId,
+        size_t *foundLen) {
+
+    // For SPI, ID will always be the one of the last sent command
+    *foundId = this->getPendingCommand();
+    *foundLen = len;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    switch(id) {
+    case(RM3100::CONFIGURE_CMM):
+    case(RM3100::CONFIGURE_CYCLE_COUNT):
+    case(RM3100::CONFIGURE_TMRC): {
+        // We can only check whether write was successful with read operation
+        if(mode == _MODE_START_UP) {
+            commandExecuted = true;
+        }
+        break;
+    }
+    case(RM3100::READ_CMM): {
+        uint8_t cmmValue = packet[1];
+        // We clear the seventh bit in any case
+        // because this one is zero sometimes for some reason
+        bitutil::bitClear(&cmmValue, 6);
+        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
+            commandExecuted = true;
+        }
+        else {
+            // Attempt reconfiguration
+            internalState = InternalState::CONFIGURE_CMM;
+            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+        }
+        break;
+    }
+    case(RM3100::READ_TMRC): {
+        if(packet[1] == tmrcRegValue) {
+            commandExecuted = true;
+            // Reading TMRC was commanded. Trigger event to inform ground
+            if(mode != _MODE_START_UP) {
+                triggerEvent(tmrcSet, tmrcRegValue, 0);
+            }
+        }
+        else {
+            // Attempt reconfiguration
+            internalState = InternalState::STATE_CONFIGURE_TMRC;
+            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+        }
+        break;
+    }
+    case(RM3100::READ_CYCLE_COUNT): {
+        uint16_t cycleCountX = packet[1] << 8 | packet[2];
+        uint16_t cycleCountY = packet[3] << 8 | packet[4];
+        uint16_t cycleCountZ = packet[5] << 8 | packet[6];
+        if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
+                cycleCountZ != cycleCountRegValueZ) {
+            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+        }
+        // Reading TMRC was commanded. Trigger event to inform ground
+        if(mode != _MODE_START_UP) {
+            uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
+            triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
+        }
+        break;
+    }
+    case(RM3100::READ_DATA): {
+        result = handleDataReadout(packet);
+        break;
+    }
+    default:
+        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+    }
+
+    return result;
+}
+
+ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
+        const uint8_t *commandData, size_t commandDataLen) {
+    if(commandData == nullptr) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    // Set cycle count
+    if(commandDataLen == 2) {
+        handleCycleCommand(true, commandData, commandDataLen);
+    }
+    else if(commandDataLen == 6) {
+        handleCycleCommand(false, commandData, commandDataLen);
+    }
+    else {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
+    std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
+    std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
+    std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
+    rawPacketLen = 7;
+    rawPacket = commandBuffer;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
+        const uint8_t *commandData, size_t commandDataLen) {
+    RM3100::CycleCountCommand command(oneCycleValue);
+    ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
+            SerializeIF::Endianness::BIG);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
+    if(command.cycleCountX > 450 ) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    cycleCountRegValueX = command.cycleCountX;
+    cycleCountRegValueY = command.cycleCountY;
+    cycleCountRegValueZ = command.cycleCountZ;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
+        const uint8_t *commandData, size_t commandDataLen) {
+    if(commandData == nullptr or commandDataLen != 1) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    commandBuffer[0] = RM3100::TMRC_REGISTER;
+    commandBuffer[1] = commandData[0];
+    tmrcRegValue = commandData[0];
+    rawPacketLen = 2;
+    rawPacket = commandBuffer;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void MgmRM3100Handler::fillCommandAndReplyMap() {
+    insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
+    insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
+
+    insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
+    insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
+
+    insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
+    insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
+
+    insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
+}
+
+void MgmRM3100Handler::modeChanged(void) {
+    internalState = InternalState::NONE;
+}
+
+ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+    return this->transitionDelay;
+}
+
+void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
+    goToNormalModeAtStartup = enable;
+}
+
+ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
+    // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
+    // trickery here to calculate the raw values first
+    int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
+    int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
+    int32_t fieldStrengthRawZ  = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
+
+    // Now scale to physical value in microtesla
+    float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
+    float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+    float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
+
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    if(debugDivider->checkAndIncrement()) {
+        sif::info << "MgmRM3100Handler: Magnetic field strength in"
+                " microtesla:" << std::endl;
+        /* Set terminal to utf-8 if there is an issue with micro printout. */
+        sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+        sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+        sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+    }
+#endif
+
+    // TODO: Sanity check on values?
+    PoolReadGuard readGuard(&primaryDataset);
+    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+        primaryDataset.fieldStrengthX = fieldStrengthX;
+        primaryDataset.fieldStrengthY = fieldStrengthY;
+        primaryDataset.fieldStrengthZ = fieldStrengthZ;
+        primaryDataset.setValidity(true, true);
+    }
+    return RETURN_OK;
+}
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
new file mode 100644
index 00000000..1ba680cb
--- /dev/null
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
@@ -0,0 +1,111 @@
+#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
+#define MISSION_DEVICES_MGMRM3100HANDLER_H_
+
+#include "fsfw/FSFW.h"
+#include "devices/powerSwitcherList.h"
+#include "devicedefinitions/MgmRM3100HandlerDefs.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#endif
+
+/**
+ * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
+ *          (https://www.pnicorp.com/rm3100/)
+ * @details
+ * Flight manual:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
+ */
+class MgmRM3100Handler: public DeviceHandlerBase {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
+
+	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
+	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
+			0x00, severity::INFO);
+
+	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
+	//! P1: Second two bytes new Cycle Count Y
+	//! P2: New cycle count Z
+	static constexpr Event cycleCountersSet = event::makeEvent(
+			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
+
+	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
+	        CookieIF* comCookie, uint32_t transitionDelay);
+	virtual ~MgmRM3100Handler();
+
+	/**
+	 * Configure device handler to go to normal mode after startup immediately
+	 * @param enable
+	 */
+	void setToGoToNormalMode(bool enable);
+
+protected:
+
+	/* DeviceHandlerBase overrides */
+	ReturnValue_t buildTransitionDeviceCommand(
+	        DeviceCommandId_t *id) override;
+	void doStartUp() override;
+	void doShutDown() override;
+	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+	        const uint8_t *commandData, size_t commandDataLen) override;
+	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+			DeviceCommandId_t *foundId, size_t *foundLen) override;
+	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+
+	void fillCommandAndReplyMap() override;
+	void modeChanged(void) override;
+	virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+			LocalDataPoolManager &poolManager) override;
+
+private:
+
+	enum class InternalState {
+	    NONE,
+		CONFIGURE_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,
+		NORMAL
+	};
+	InternalState internalState = InternalState::NONE;
+	bool commandExecuted = false;
+	RM3100::Rm3100PrimaryDataset primaryDataset;
+
+	uint8_t commandBuffer[10];
+	uint8_t commandBufferLen = 0;
+
+	uint8_t cmmRegValue = RM3100::CMM_VALUE;
+	uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
+	uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
+	uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
+	uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
+	float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
+	float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
+	float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
+
+	bool goToNormalModeAtStartup = false;
+	uint32_t transitionDelay;
+
+	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
+			const uint8_t *commandData,size_t commandDataLen);
+	ReturnValue_t handleCycleCommand(bool oneCycleValue,
+			const uint8_t *commandData, size_t commandDataLen);
+
+	ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
+			const uint8_t *commandData,size_t commandDataLen);
+
+	ReturnValue_t handleDataReadout(const uint8_t* packet);
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+	PeriodicOperationDivider* debugDivider;
+#endif
+};
+
+#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

From 59feaa4b5c272899e07915accc4c3b46d3f4d45d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sun, 26 Sep 2021 22:38:47 +0200
Subject: [PATCH 09/10] moved class id and subsystem ID

---
 src/fsfw/events/fwSubsystemIdRanges.h | 2 ++
 src/fsfw/returnvalues/FwClassIds.h    | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/src/fsfw/events/fwSubsystemIdRanges.h b/src/fsfw/events/fwSubsystemIdRanges.h
index 88dee9b4..08fb878d 100644
--- a/src/fsfw/events/fwSubsystemIdRanges.h
+++ b/src/fsfw/events/fwSubsystemIdRanges.h
@@ -29,6 +29,8 @@ enum: uint8_t {
     PUS_SERVICE_9 = 89,
     PUS_SERVICE_17 = 97,
     PUS_SERVICE_23 = 103,
+    MGM_LIS3MDL = 106,
+    MGM_RM3100 = 107,
 
     FW_SUBSYSTEM_ID_RANGE
 };
diff --git a/src/fsfw/returnvalues/FwClassIds.h b/src/fsfw/returnvalues/FwClassIds.h
index af32f9a7..cdbf5657 100644
--- a/src/fsfw/returnvalues/FwClassIds.h
+++ b/src/fsfw/returnvalues/FwClassIds.h
@@ -76,6 +76,8 @@ enum: uint8_t {
     HAL_UART, //HURT
     HAL_I2C, //HI2C
     HAL_GPIO, //HGIO
+    MGM_LIS3MDL, //MGMLIS3
+    MGM_RM3100, //MGMRM3100
     FW_CLASS_ID_COUNT // [EXPORT] : [END]
 
 };

From 423f7c828189701230fe7161a680590e37bf40fb Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sun, 26 Sep 2021 22:45:32 +0200
Subject: [PATCH 10/10] missing include and printer compatbility fixes

---
 .../devicehandlers/GyroL3GD20Handler.cpp      |  4 +++-
 .../devicehandlers/MgmLIS3MDLHandler.cpp      |  2 ++
 .../devicehandlers/MgmRM3100Handler.cpp       | 19 ++++++++++++++++---
 3 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
index 70ba49eb..d27351d7 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@@ -1,7 +1,9 @@
-#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "GyroL3GD20Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 
+#include <cmath>
+
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
         CookieIF *comCookie, uint32_t transitionDelayMs):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
index 891d6fdc..804e83f2 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -5,6 +5,8 @@
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #endif
 
+#include <cmath>
+
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
         CookieIF* comCookie, uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
index 20cf95d2..124eebbc 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@@ -89,9 +89,16 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
         break;
     }
     default:
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         // Might be a configuration error
-        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
-                std::endl;
+        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state" << std::endl;
+#else
+        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state\n");
+#endif
+#endif
         return HasReturnvaluesIF::RETURN_OK;
     }
 
@@ -342,12 +349,18 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     if(debugDivider->checkAndIncrement()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::info << "MgmRM3100Handler: Magnetic field strength in"
                 " microtesla:" << std::endl;
-        /* Set terminal to utf-8 if there is an issue with micro printout. */
         sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
         sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
         sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+#else
+        sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+        sif::printInfo("X: %f uT\n", fieldStrengthX);
+        sif::printInfo("Y: %f uT\n", fieldStrengthY);
+        sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+#endif
     }
 #endif