Merge remote-tracking branch 'upstream/development' into mueller/update-from-upstream

src/CMakeLists.txt

@@ -4,3 +4,8 @@ target_include_directories(${LIB_FSFW_NAME}
                            INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_subdirectory(fsfw)
+if(FSFW_ADD_HAL)
+  add_subdirectory(fsfw_hal)
+endif()
+
+add_subdirectory(fsfw_tests)

src/fsfw/action/ActionHelper.cpp

@@ -6,7 +6,7 @@
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : owner(setOwner), queueToUse(useThisQueue) {}
 
-ActionHelper::~ActionHelper() {}
+ActionHelper::~ActionHelper() = default;
 
 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
   if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
@@ -59,7 +59,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/ActionHelper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../serialize/SerializeIF.h"
 #include "ActionMessage.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/serialize/SerializeIF.h"
 /**
  * @brief Action Helper is a helper class which handles action messages
  *

src/fsfw/action/ActionMessage.cpp

@@ -2,9 +2,9 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-ActionMessage::ActionMessage() {}
+ActionMessage::ActionMessage() = default;
 
-ActionMessage::~ActionMessage() {}
+ActionMessage::~ActionMessage() = default;
 
 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
                                store_address_t parameters) {
@@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
   switch (message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-      StorageManagerIF* ipcStore =
-          ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-      if (ipcStore != NULL) {
+      auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+      if (ipcStore != nullptr) {
         ipcStore->deleteData(getStoreId(message));
       }
       break;

src/fsfw/action/CommandActionHelper.cpp

@@ -2,14 +2,14 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
-    : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
+    : owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}
 
-CommandActionHelper::~CommandActionHelper() {}
+CommandActionHelper::~CommandActionHelper() = default;
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  SerializeIF *data) {
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == nullptr) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
@@ -29,11 +29,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  const uint8_t *data, uint32_t size) {
-  //    if (commandCount != 0) {
-  //        return CommandsFunctionsIF::ALREADY_COMMANDING;
-  //    }
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == nullptr) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
@@ -59,12 +56,12 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
 
 ReturnValue_t CommandActionHelper::initialize() {
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (ipcStore == NULL) {
+  if (ipcStore == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   queueToUse = owner->getCommandQueuePtr();
-  if (queueToUse == NULL) {
+  if (queueToUse == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -104,7 +101,7 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
 uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-  const uint8_t *data = NULL;
+  const uint8_t *data = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/CommandActionHelper.h

@@ -14,14 +14,14 @@ class CommandActionHelper {
   friend class CommandsActionsIF;
 
  public:
-  CommandActionHelper(CommandsActionsIF* owner);
+  explicit CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
                               const uint8_t* data = nullptr, uint32_t size = 0);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);
-  uint8_t getCommandCount() const;
+  [[nodiscard]] uint8_t getCommandCount() const;
 
  private:
   CommandsActionsIF* owner;

src/fsfw/action/CommandsActionsIF.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
 #define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "CommandActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * Interface to separate commanding actions of other objects.
@@ -21,7 +21,7 @@ class CommandsActionsIF {
   static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
   static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
   static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
-  virtual ~CommandsActionsIF() {}
+  virtual ~CommandsActionsIF() = default;
   virtual MessageQueueIF* getCommandQueuePtr() = 0;
 
  protected:

src/fsfw/action/HasActionsIF.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_ACTION_HASACTIONSIF_H_
 #define FSFW_ACTION_HASACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief
@@ -40,12 +40,12 @@ class HasActionsIF {
   static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
   static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
   static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
-  virtual ~HasActionsIF() {}
+  virtual ~HasActionsIF() = default;
   /**
    * Function to get the MessageQueueId_t of the implementing object
    * @return MessageQueueId_t of the object
    */
-  virtual MessageQueueId_t getCommandQueue() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
   /**
    * Execute or initialize the execution of a certain function.
    * The ActionHelpers will execute this function and behave differently

src/fsfw/action/SimpleActionHelper.cpp

@@ -3,7 +3,7 @@
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
 
-SimpleActionHelper::~SimpleActionHelper() {}
+SimpleActionHelper::~SimpleActionHelper() = default;
 
 void SimpleActionHelper::step(ReturnValue_t result) {
   // STEP_OFFESET is subtracted to compensate for adding offset in base
@@ -38,7 +38,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
     ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
     queueToUse->sendMessage(commandedBy, &reply);
   }
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/SimpleActionHelper.h

@@ -11,15 +11,15 @@
 class SimpleActionHelper : public ActionHelper {
  public:
   SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
-  virtual ~SimpleActionHelper();
+  ~SimpleActionHelper() override;
   void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   ReturnValue_t reportData(SerializeIF* data);
 
  protected:
   void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                        store_address_t dataAddress);
-  virtual void resetHelper();
+                        store_address_t dataAddress) override;
+  void resetHelper() override;
 
  private:
   bool isExecuting;
@@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
   uint8_t stepCount = 0;
 };
 
-#endif /* SIMPLEACTIONHELPER_H_ */
+#endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */

src/fsfw/container/SimpleRingBuffer.cpp

@@ -2,6 +2,9 @@
 
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+
 SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, size_t maxExcessBytes)
     : RingBufferBase<>(0, size, overwriteOld), maxExcessBytes(maxExcessBytes) {
   if (maxExcessBytes > size) {
@@ -48,6 +51,19 @@ void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
 }
 
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, size_t amount) {
+  if (data == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (amount > getMaxSize()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "SimpleRingBuffer::writeData: Amount of data too large" << std::endl;
+#else
+    sif::printError("SimpleRingBuffer::writeData: Amount of data too large\n");
+#endif
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
   if (availableWriteSpace() >= amount or overwriteOld) {
     size_t amountTillWrap = writeTillWrap();
     if (amountTillWrap >= amount) {

src/fsfw/controller/ControllerBase.cpp

@@ -28,7 +28,7 @@ ReturnValue_t ControllerBase::initialize() {
 
   MessageQueueId_t parentQueue = 0;
   if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
     if (parent == nullptr) {
       return RETURN_FAILED;
     }
@@ -54,7 +54,7 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->
 
 void ControllerBase::handleQueue() {
   CommandMessage command;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result;
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = modeHelper.handleModeCommand(&command);
@@ -75,20 +75,20 @@ void ControllerBase::handleQueue() {
   }
 }
 
-void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
+void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
   changeHK(this->mode, this->submode, false);
   triggerEvent(CHANGING_MODE, mode, submode);
-  this->mode = mode;
-  this->submode = submode;
+  mode = mode_;
+  submode = submode_;
   modeHelper.modeChanged(mode, submode);
   modeChanged(mode, submode);
   announceMode(false);
   changeHK(this->mode, this->submode, true);
 }
 
-void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
-  *mode = this->mode;
-  *submode = this->submode;
+void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
+  *mode_ = this->mode;
+  *submode_ = this->submode;
 }
 
 void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
@@ -101,7 +101,7 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
   return RETURN_OK;
 }
 
-void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { return; }
+void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
 
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
   switch (health) {
@@ -117,6 +117,6 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
 HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); }
 void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 
-void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {}
+void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return HasReturnvaluesIF::RETURN_OK; }

src/fsfw/controller/ControllerBase.h

@@ -24,21 +24,21 @@ class ControllerBase : public HasModesIF,
   static const Mode_t MODE_NORMAL = 2;
 
   ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
-  virtual ~ControllerBase();
+  ~ControllerBase() override;
 
   /** SystemObject override */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   /** HasHealthIF overrides */
-  virtual ReturnValue_t setHealth(HealthState health) override;
-  virtual HasHealthIF::HealthState getHealth() override;
+  ReturnValue_t setHealth(HealthState health) override;
+  HasHealthIF::HealthState getHealth() override;
 
   /** ExecutableObjectIF overrides */
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual void setTaskIF(PeriodicTaskIF *task) override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  void setTaskIF(PeriodicTaskIF *task) override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   /**
@@ -54,8 +54,8 @@ class ControllerBase : public HasModesIF,
    */
   virtual void performControlOperation() = 0;
 
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) override = 0;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t *msToReachTheMode) override = 0;
 
   const object_id_t parentId;
 
@@ -80,10 +80,10 @@ class ControllerBase : public HasModesIF,
 
   /** Mode helpers */
   virtual void modeChanged(Mode_t mode, Submode_t submode);
-  virtual void startTransition(Mode_t mode, Submode_t submode) override;
-  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
-  virtual void setToExternalControl() override;
-  virtual void announceMode(bool recursive);
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void getMode(Mode_t *mode, Submode_t *submode) override;
+  void setToExternalControl() override;
+  void announceMode(bool recursive) override;
   /** HK helpers */
   virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -6,7 +6,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
       poolManager(this, commandQueue),
       actionHelper(this, commandQueue) {}
 
-ExtendedControllerBase::~ExtendedControllerBase() {}
+ExtendedControllerBase::~ExtendedControllerBase() = default;
 
 ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
                                                     MessageQueueId_t commandedBy,
@@ -31,7 +31,7 @@ ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *messa
 
 void ExtendedControllerBase::handleQueue() {
   CommandMessage command;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result;
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = actionHelper.handleActionMessage(&command);

src/fsfw/controller/ExtendedControllerBase.h

@@ -18,16 +18,16 @@ class ExtendedControllerBase : public ControllerBase,
                                public HasLocalDataPoolIF {
  public:
   ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
-  virtual ~ExtendedControllerBase();
+  ~ExtendedControllerBase() override;
 
   /* SystemObjectIF overrides */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   /* ExecutableObjectIF overrides */
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   LocalDataPoolManager poolManager;
@@ -39,32 +39,32 @@ class ExtendedControllerBase : public ControllerBase,
    * @param message
    * @return
    */
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override = 0;
 
   /**
    * Periodic helper from ControllerBase, implemented by child class.
    */
-  virtual void performControlOperation() = 0;
+  void performControlOperation() override = 0;
 
   /* Handle the four messages mentioned above */
   void handleQueue() override;
 
   /* HasActionsIF overrides */
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
 
   /* HasLocalDatapoolIF overrides */
-  virtual LocalDataPoolManager* getHkManagerHandle() override;
-  virtual object_id_t getObjectId() const override;
-  virtual uint32_t getPeriodicOperationFrequency() const override;
+  LocalDataPoolManager* getHkManagerHandle() override;
+  [[nodiscard]] object_id_t getObjectId() const override;
+  [[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
 
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override = 0;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override = 0;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
 
   // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override = 0;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override = 0;
 };
 
 #endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -700,7 +700,8 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
+    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed."
+                 << std::endl;
 #else
     sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
 #endif

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -63,7 +63,9 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-  delete comCookie;
+  if (comCookie != nullptr) {
+    delete comCookie;
+  }
   if (defaultFDIRUsed) {
     delete fdirInstance;
   }
@@ -247,15 +249,14 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
   for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
     if (replyPair.second.countdown != nullptr && replyPair.second.active) {
       if (replyPair.second.countdown->hasTimedOut()) {
+        resetTimeoutControlledReply(&replyPair.second);
         timedOut = true;
       }
     }
     if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
       replyPair.second.delayCycles--;
       if (replyPair.second.delayCycles == 0) {
-        if (replyPair.second.periodic) {
-          replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
-        }
+        resetDelayCyclesControlledReply(&replyPair.second);
         timedOut = true;
       }
     }
@@ -263,7 +264,6 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
       replyToReply(replyPair.first, replyPair.second, TIMEOUT);
       missedReply(replyPair.first);
       timedOut = false;
-      replyPair.second.active = false;
     }
   }
 }
@@ -377,8 +377,6 @@ void DeviceHandlerBase::doStateMachine() {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -451,9 +449,6 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   info.dataSet = dataSet;
   info.command = deviceCommandMap.end();
   info.countdown = countdown;
-  if (info.periodic) {
-    info.active = true;
-  }
   auto resultPair = deviceReplyMap.emplace(replyId, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -526,9 +521,19 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
       return COMMAND_NOT_SUPPORTED;
     }
     if (enable) {
-      info->delayCycles = info->maxDelayCycles;
+      info->active = true;
+      if (info->countdown != nullptr) {
+        info->delayCycles = info->maxDelayCycles;
+      } else {
+        info->countdown->resetTimer();
+      }
     } else {
-      info->delayCycles = 0;
+      info->active = false;
+      if (info->countdown != nullptr) {
+        info->delayCycles = 0;
+      } else {
+        info->countdown->timeOut();
+      }
     }
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -846,9 +851,9 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
     }
 
     if (info->active && info->countdown != nullptr) {
-      disableTimeoutControlledReply(info);
+      resetTimeoutControlledReply(info);
     } else if (info->delayCycles != 0) {
-      disableDelayCyclesControlledReply(info);
+      resetDelayCyclesControlledReply(info);
     }
 
     if (result != RETURN_OK) {
@@ -867,7 +872,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
   }
 }
 
-void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
+void DeviceHandlerBase::resetTimeoutControlledReply(DeviceReplyInfo* info) {
   if (info->periodic) {
     info->countdown->resetTimer();
   } else {
@@ -876,7 +881,7 @@ void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
   }
 }
 
-void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) {
+void DeviceHandlerBase::resetDelayCyclesControlledReply(DeviceReplyInfo* info) {
   if (info->periodic) {
     info->delayCycles = info->maxDelayCycles;
   } else {
@@ -1007,6 +1012,8 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
   }
   if (iter != deviceReplyMap.end()) {
     DeviceReplyInfo* info = &(iter->second);
+    // If a countdown has been set, the delay cycles will be ignored and the reply times out
+    // as soon as the countdown has expired
     info->delayCycles = info->maxDelayCycles;
     info->command = command;
     command->second.expectedReplies = expectedReplies;
@@ -1405,7 +1412,12 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
   if (iter == deviceReplyMap.end()) {
     return 0;
   } else if (iter->second.countdown != nullptr) {
-    return 0;
+    // fake a useful return value for legacy code
+    if (iter->second.active) {
+      return 1;
+    } else {
+      return 0;
+    }
   }
   return iter->second.delayCycles;
 }

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -469,12 +469,21 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param maxDelayCycles The maximum number of delay cycles the reply waits
    *    until it times out.
    * @param periodic	Indicates if the command is periodic (i.e. it is sent
+<<<<<<< HEAD
    *    by the device repeatedly without request) or not. Default is aperiodic (0).
    *    Please note that periodic replies are disabled by default. You can enable them with
    *    #updatePeriodicReply
    * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
    *    to provide a pointer to a Countdown object which will signal the timeout
    *    when expired
+=======
+   * by the device repeatedly without request) or not. Default is aperiodic (0).
+   * Please note that periodic replies are disabled by default. You can enable them with
+   * #updatePeriodicReply
+   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
+>>>>>>> upstream/development
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
@@ -1274,15 +1283,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void doGetRead(void);
 
   /**
-   * @brief Handles disabling of replies which use a timeout to detect missed replies.
+   * @brief Resets replies which use a timeout to detect missed replies.
    */
-  void disableTimeoutControlledReply(DeviceReplyInfo *info);
+  void resetTimeoutControlledReply(DeviceReplyInfo *info);
 
   /**
-   * @brief Handles disabling of replies which use a number of maximum delay cycles to detect
+   * @brief Resets replies which use a number of maximum delay cycles to detect
    *        missed replies.
    */
-  void disableDelayCyclesControlledReply(DeviceReplyInfo *info);
+  void resetDelayCyclesControlledReply(DeviceReplyInfo *info);
 
   /**
    * Retrive data from the #IPCStore.

src/fsfw/events/EventManager.cpp

@@ -100,6 +100,11 @@ ReturnValue_t EventManager::subscribeToEventRange(MessageQueueId_t listener, Eve
   return result;
 }
 
+ReturnValue_t EventManager::unsubscribeFromAllEvents(MessageQueueId_t listener,
+                                                     object_id_t object) {
+  return unsubscribeFromEventRange(listener, 0, 0, true, object);
+}
+
 ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom,
                                                       EventId_t idTo, bool idInverted,
                                                       object_id_t reporterFrom,

src/fsfw/events/EventManager.h

@@ -37,6 +37,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                       EventId_t idTo = 0, bool idInverted = false,
                                       object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                       bool reporterInverted = false);
+  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                           EventId_t idTo = 0, bool idInverted = false,
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,

src/fsfw/events/EventManagerIF.h

@@ -20,6 +20,7 @@ class EventManagerIF {
                                          bool forwardAllButSelected = false) = 0;
   virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
   virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
+  virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;
   virtual ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                               EventId_t idTo = 0, bool idInverted = false,
                                               object_id_t reporterFrom = 0,

src/fsfw/fdir/FailureIsolationBase.cpp

@@ -15,6 +15,16 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "FailureIsolationBase::~FailureIsolationBase: Event Manager has not"
+                  " been initialized!"
+               << std::endl;
+#endif
+    return;
+  }
+  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 

src/fsfw/fdir/FaultCounter.cpp

@@ -60,14 +60,14 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
     return INVALID_DOMAIN_ID;
   }
 
-  switch (uniqueId) {
-    case 0:
+  switch (static_cast<ParameterIds>(uniqueId)) {
+    case ParameterIds::FAILURE_THRESHOLD:
       parameterWrapper->set(failureThreshold);
       break;
-    case 1:
+    case ParameterIds::FAULT_COUNT:
       parameterWrapper->set(faultCount);
       break;
-    case 2:
+    case ParameterIds::TIMEOUT:
       parameterWrapper->set(timer.timeout);
       break;
     default:

src/fsfw/fdir/FaultCounter.h

@@ -6,6 +6,8 @@
 
 class FaultCounter : public HasParametersIF {
  public:
+  enum class ParameterIds { FAILURE_THRESHOLD, FAULT_COUNT, TIMEOUT };
+
   FaultCounter();
   FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
                uint8_t setParameterDomain = 0);
@@ -25,7 +27,8 @@ class FaultCounter : public HasParametersIF {
 
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
-                                     const ParameterWrapper *newValues, uint16_t startAtIndex);
+                                     const ParameterWrapper *newValues = nullptr,
+                                     uint16_t startAtIndex = 0);
 
   void setParameterDomain(uint8_t domain);
 

src/fsfw/health/HealthHelper.cpp

@@ -5,7 +5,7 @@
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
     : objectId(objectId), owner(owner) {}
 
-HealthHelper::~HealthHelper() {}
+HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
 
 ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
   switch (message->getCommand()) {

src/fsfw/health/HealthTable.cpp

@@ -27,6 +27,15 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t HealthTable::removeObject(object_id_t object) {
+  mapIterator = healthMap.find(object);
+  if (mapIterator == healthMap.end()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  healthMap.erase(mapIterator);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
 void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) {
   MutexGuard(mutex, timeoutType, mutexTimeoutMs);
   HealthMap::iterator iter = healthMap.find(object);

src/fsfw/health/HealthTable.h

@@ -17,6 +17,7 @@ class HealthTable : public HealthTableIF, public SystemObject {
   /** HealthTableIF overrides */
   virtual ReturnValue_t registerObject(
       object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override;
+  ReturnValue_t removeObject(object_id_t object) override;
   virtual size_t getPrintSize() override;
   virtual void printAll(uint8_t* pointer, size_t maxSize) override;
 

src/fsfw/health/HealthTableIF.h

@@ -14,6 +14,8 @@ class HealthTableIF : public ManagesHealthIF {
   virtual ReturnValue_t registerObject(
       object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
 
+  virtual ReturnValue_t removeObject(object_id_t objectId) = 0;
+
   virtual size_t getPrintSize() = 0;
   virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
 

src/fsfw/osal/linux/FixedTimeslotTask.cpp

@@ -54,7 +54,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
       // If the deadline was missed, the deadlineMissedFunc is called.
       if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
         // No time left on timer -> we missed the deadline
-        if(dlmFunc != nullptr){
+        if (dlmFunc != nullptr) {
           dlmFunc();
         }
       }

src/fsfw/osal/linux/MessageQueue.cpp

@@ -290,9 +290,9 @@ ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes, uint32_t messag
          */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg
-                   << " is too small for requested size " << messageDepth << std::endl;
+                   << " is too small for requested message depth " << messageDepth << std::endl;
         sif::error << "This error can be fixed by setting the maximum "
-                      "allowed message size higher!"
+                      "allowed message depth higher"
                    << std::endl;
 #else
         sif::printError(

src/fsfw_hal/CMakeLists.txt

@@ -0,0 +1,10 @@
+add_subdirectory(devicehandlers)
+add_subdirectory(common)
+
+if(UNIX)
+  add_subdirectory(linux)
+endif()
+
+if(FSFW_HAL_ADD_STM32H7)
+  add_subdirectory(stm32h7)
+endif()

src/fsfw_hal/common/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(gpio)

src/fsfw_hal/common/gpio/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE GpioCookie.cpp)

src/fsfw_hal/common/gpio/GpioCookie.cpp

@@ -0,0 +1,48 @@
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+GpioCookie::GpioCookie() {}
+
+ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
+  if (gpioConfig == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
+#else
+    sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  auto gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+    auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
+    if (statusPair.second == false) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
+                   << std::endl;
+#else
+      sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
+#endif
+#endif
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
+#else
+  sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
+#endif
+#endif
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
+
+GpioCookie::~GpioCookie() {
+  for (auto& config : gpioMap) {
+    delete (config.second);
+  }
+}

src/fsfw_hal/common/gpio/GpioCookie.h

@@ -0,0 +1,40 @@
+#ifndef COMMON_GPIO_GPIOCOOKIE_H_
+#define COMMON_GPIO_GPIOCOOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include "GpioIF.h"
+#include "gpioDefinitions.h"
+
+/**
+ * @brief   Cookie for the GpioIF. Allows the GpioIF to determine which
+ * 			GPIOs to initialize and whether they should be configured as in- or
+ * 			output.
+ * @details	One GpioCookie can hold multiple GPIO configurations. To add a new
+ * 			GPIO configuration to a GpioCookie use the GpioCookie::addGpio
+ * 			function.
+ *
+ * @author 	J. Meier
+ */
+class GpioCookie : public CookieIF {
+ public:
+  GpioCookie();
+
+  virtual ~GpioCookie();
+
+  ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
+
+  /**
+   * @brief	Get map with registered GPIOs.
+   */
+  GpioMap getGpioMap() const;
+
+ private:
+  /**
+   * Returns a copy of the internal GPIO map.
+   */
+  GpioMap gpioMap;
+};
+
+#endif /* COMMON_GPIO_GPIOCOOKIE_H_ */

src/fsfw_hal/common/gpio/GpioIF.h

@@ -0,0 +1,54 @@
+#ifndef COMMON_GPIO_GPIOIF_H_
+#define COMMON_GPIO_GPIOIF_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include "gpioDefinitions.h"
+
+class GpioCookie;
+
+/**
+ * @brief	This class defines the interface for objects requiring the control
+ * 			over GPIOs.
+ * @author	J. Meier
+ */
+class GpioIF : public HasReturnvaluesIF {
+ public:
+  virtual ~GpioIF(){};
+
+  /**
+   * @brief   Called by the GPIO using object.
+   * @param cookie	Cookie specifying informations of the GPIOs required
+   * 					by a object.
+   */
+  virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
+
+  /**
+   * @brief	By implementing this function a child must provide the
+   * 			functionality to pull a certain GPIO to high logic level.
+   *
+   * @param gpioId	A unique number which specifies the GPIO to drive.
+   * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
+   */
+  virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
+
+  /**
+   * @brief	By implementing this function a child must provide the
+   * 			functionality to pull a certain GPIO to low logic level.
+   *
+   * @param gpioId	A unique number which specifies the GPIO to drive.
+   */
+  virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
+
+  /**
+   * @brief   This function requires a child to implement the functionality to read the state of
+   *          an ouput or input gpio.
+   *
+   * @param gpioId    A unique number which specifies the GPIO to read.
+   * @param gpioState State of GPIO will be written to this reference
+   */
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) = 0;
+};
+
+#endif /* COMMON_GPIO_GPIOIF_H_ */

src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -0,0 +1,153 @@
+#ifndef COMMON_GPIO_GPIODEFINITIONS_H_
+#define COMMON_GPIO_GPIODEFINITIONS_H_
+
+#include <map>
+#include <string>
+#include <unordered_map>
+
+using gpioId_t = uint16_t;
+
+namespace gpio {
+
+enum class Levels : int { LOW = 0, HIGH = 1, FAILED = -1, NONE = 99 };
+
+enum class Direction : int { IN = 0, OUT = 1 };
+
+enum class GpioOperation { READ, WRITE };
+
+enum class GpioTypes {
+  NONE,
+  GPIO_REGULAR_BY_CHIP,
+  GPIO_REGULAR_BY_LABEL,
+  GPIO_REGULAR_BY_LINE_NAME,
+  CALLBACK
+};
+
+static constexpr gpioId_t NO_GPIO = -1;
+
+using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
+                           void* args);
+
+}  // namespace gpio
+
+/**
+ * @brief   Struct containing information about the GPIO to use. This is
+ *          required by the libgpiod to access and drive a GPIO.
+ * @param chipname      String of the chipname specifying the group which contains the GPIO to
+ *                      access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
+ *                      the linux command line.
+ * @param lineNum       The offset of the GPIO within the GPIO group.
+ * @param consumer      Name of the consumer. Simply a description of the GPIO configuration.
+ * @param direction     Specifies whether the GPIO should be used as in- or output.
+ * @param initValue     Defines the initial state of the GPIO when configured as output.
+ *                      Only required for output GPIOs.
+ * @param lineHandle    The handle returned by gpiod_chip_get_line will be later written to this
+ *                      pointer.
+ */
+class GpioBase {
+ public:
+  GpioBase() = default;
+
+  GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+           gpio::Levels initValue)
+      : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
+
+  virtual ~GpioBase(){};
+
+  // Can be used to cast GpioBase to a concrete child implementation
+  gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
+  std::string consumer;
+  gpio::Direction direction = gpio::Direction::IN;
+  gpio::Levels initValue = gpio::Levels::NONE;
+};
+
+class GpiodRegularBase : public GpioBase {
+ public:
+  GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+                   gpio::Levels initValue, int lineNum)
+      : GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
+
+  // line number will be configured at a later point for the open by line name configuration
+  GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+                   gpio::Levels initValue)
+      : GpioBase(gpioType, consumer, direction, initValue) {}
+
+  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::Levels::LOW, 0) {}
+
+  GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
+                     gpio::Direction direction_, gpio::Levels 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::Levels::LOW, lineNum_),
+        chipname(chipname_) {}
+
+  std::string chipname;
+};
+
+class GpiodRegularByLabel : public GpiodRegularBase {
+ public:
+  GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
+                      gpio::Direction direction_, gpio::Levels 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::Levels::LOW, lineNum_),
+        label(label_) {}
+
+  std::string label;
+};
+
+/**
+ * @brief   Passing this GPIO configuration to the GPIO IF object will try to open the GPIO by its
+ *          line name. This line name can be set in the device tree and must be unique. Otherwise
+ *          the driver will open the first line with the given name.
+ */
+class GpiodRegularByLineName : public GpiodRegularBase {
+ public:
+  GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
+                         gpio::Levels initValue_)
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
+                         initValue_),
+        lineName(lineName_) {}
+
+  GpiodRegularByLineName(std::string lineName_, std::string consumer_)
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
+                         gpio::Levels::LOW),
+        lineName(lineName_) {}
+
+  std::string lineName;
+};
+
+class GpioCallback : public GpioBase {
+ public:
+  GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
+               gpio::gpio_cb_t callback, void* callbackArgs)
+      : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+        callback(callback),
+        callbackArgs(callbackArgs) {}
+
+  gpio::gpio_cb_t callback = nullptr;
+  void* callbackArgs = nullptr;
+};
+
+using GpioMap = std::map<gpioId_t, GpioBase*>;
+using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
+using GpioMapIter = GpioMap::iterator;
+using GpioUnorderedMapIter = GpioUnorderedMap::iterator;
+
+#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */

src/fsfw_hal/common/spi/spiCommon.h

@@ -0,0 +1,12 @@
+#ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+#define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
+
+#include <cstdint>
+
+namespace spi {
+
+enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
+
+}
+
+#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */

src/fsfw_hal/devicehandlers/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE GyroL3GD20Handler.cpp MgmRM3100Handler.cpp
+                           MgmLIS3MDLHandler.cpp)

src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -0,0 +1,276 @@
+#include "GyroL3GD20Handler.h"
+
+#include <cmath>
+
+#include "fsfw/datapool/PoolReadGuard.h"
+
+GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
+                                       CookieIF *comCookie, uint32_t transitionDelayMs)
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+      transitionDelayMs(transitionDelayMs),
+      dataset(this) {}
+
+GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
+
+void GyroHandlerL3GD20H::doStartUp() {
+  if (internalState == InternalState::NONE) {
+    internalState = InternalState::CONFIGURE;
+  }
+
+  if (internalState == InternalState::CONFIGURE) {
+    if (commandExecuted) {
+      internalState = InternalState::CHECK_REGS;
+      commandExecuted = false;
+    }
+  }
+
+  if (internalState == InternalState::CHECK_REGS) {
+    if (commandExecuted) {
+      internalState = InternalState::NORMAL;
+      if (goNormalModeImmediately) {
+        setMode(MODE_NORMAL);
+      } else {
+        setMode(_MODE_TO_ON);
+      }
+      commandExecuted = false;
+    }
+  }
+}
+
+void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
+
+ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  switch (internalState) {
+    case (InternalState::NONE):
+    case (InternalState::NORMAL): {
+      return NOTHING_TO_SEND;
+    }
+    case (InternalState::CONFIGURE): {
+      *id = L3GD20H::CONFIGURE_CTRL_REGS;
+      uint8_t command[5];
+      command[0] = L3GD20H::CTRL_REG_1_VAL;
+      command[1] = L3GD20H::CTRL_REG_2_VAL;
+      command[2] = L3GD20H::CTRL_REG_3_VAL;
+      command[3] = L3GD20H::CTRL_REG_4_VAL;
+      command[4] = L3GD20H::CTRL_REG_5_VAL;
+      return buildCommandFromCommand(*id, command, 5);
+    }
+    case (InternalState::CHECK_REGS): {
+      *id = L3GD20H::READ_REGS;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      /* Might be a configuration error. */
+      sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
+                      "Unknown internal state!"
+                   << std::endl;
+#else
+      sif::printDebug(
+          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
+          "Unknown internal state!\n");
+#endif
+      return HasReturnvaluesIF::RETURN_OK;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  *id = L3GD20H::READ_REGS;
+  return buildCommandFromCommand(*id, nullptr, 0);
+}
+
+ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                          const uint8_t *commandData,
+                                                          size_t commandDataLen) {
+  switch (deviceCommand) {
+    case (L3GD20H::READ_REGS): {
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
+      std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
+      rawPacket = commandBuffer;
+      rawPacketLen = L3GD20H::READ_LEN + 1;
+      break;
+    }
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
+      commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
+      if (commandData == nullptr or commandDataLen != 5) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+      }
+
+      ctrlReg1Value = commandData[0];
+      ctrlReg2Value = commandData[1];
+      ctrlReg3Value = commandData[2];
+      ctrlReg4Value = commandData[3];
+      ctrlReg5Value = commandData[4];
+
+      bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
+      bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
+
+      if (not fsH and not fsL) {
+        sensitivity = L3GD20H::SENSITIVITY_00;
+      } else if (not fsH and fsL) {
+        sensitivity = L3GD20H::SENSITIVITY_01;
+      } else {
+        sensitivity = L3GD20H::SENSITIVITY_11;
+      }
+
+      commandBuffer[1] = ctrlReg1Value;
+      commandBuffer[2] = ctrlReg2Value;
+      commandBuffer[3] = ctrlReg3Value;
+      commandBuffer[4] = ctrlReg4Value;
+      commandBuffer[5] = ctrlReg5Value;
+
+      rawPacket = commandBuffer;
+      rawPacketLen = 6;
+      break;
+    }
+    case (L3GD20H::READ_CTRL_REGS): {
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
+
+      std::memset(commandBuffer + 1, 0, 5);
+      rawPacket = commandBuffer;
+      rawPacketLen = 6;
+      break;
+    }
+    default:
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
+                                               DeviceCommandId_t *foundId, size_t *foundLen) {
+  // For SPI, the ID will always be the one of the last sent command
+  *foundId = this->getPendingCommand();
+  *foundLen = this->rawPacketLen;
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
+                                                       const uint8_t *packet) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  switch (id) {
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
+      commandExecuted = true;
+      break;
+    }
+    case (L3GD20H::READ_CTRL_REGS): {
+      if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
+          packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
+          packet[5] == ctrlReg5Value) {
+        commandExecuted = true;
+      } else {
+        // Attempt reconfiguration
+        internalState = InternalState::CONFIGURE;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      }
+      break;
+    }
+    case (L3GD20H::READ_REGS): {
+      if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
+          packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
+          packet[5] != ctrlReg5Value) {
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      } else {
+        if (internalState == InternalState::CHECK_REGS) {
+          commandExecuted = true;
+        }
+      }
+
+      statusReg = packet[L3GD20H::STATUS_IDX];
+
+      int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
+      int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
+      int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
+      float angVelocX = angVelocXRaw * sensitivity;
+      float angVelocY = angVelocYRaw * sensitivity;
+      float angVelocZ = angVelocZRaw * sensitivity;
+
+      int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
+      float temperature = 25.0 + temperaturOffset;
+      if (periodicPrintout) {
+        if (debugDivider.checkAndIncrement()) {
+          /* Set terminal to utf-8 if there is an issue with micro printout. */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
+          sif::info << "X: " << angVelocX << std::endl;
+          sif::info << "Y: " << angVelocY << std::endl;
+          sif::info << "Z: " << angVelocZ << std::endl;
+#else
+          sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
+          sif::printInfo("X: %f\n", angVelocX);
+          sif::printInfo("Y: %f\n", angVelocY);
+          sif::printInfo("Z: %f\n", angVelocZ);
+#endif
+        }
+      }
+
+      PoolReadGuard readSet(&dataset);
+      if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+        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.temperature.setValid(true);
+      }
+      break;
+    }
+    default:
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+  }
+  return result;
+}
+
+uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
+  return this->transitionDelayMs;
+}
+
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
+
+ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                          LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
+  insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
+  insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
+}
+
+void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
+
+void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
+  this->absLimitX = limitX;
+  this->absLimitY = limitY;
+  this->absLimitZ = limitZ;
+}
+
+void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -0,0 +1,88 @@
+#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
+#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+
+#include "devicedefinitions/GyroL3GD20Definitions.h"
+
+/**
+ * @brief 	Device Handler for the L3GD20H gyroscope sensor
+ *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
+ * @details
+ * Advanced documentation:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
+ *
+ * Data is read big endian with the smallest possible range of 245 degrees per second.
+ */
+class GyroHandlerL3GD20H : public DeviceHandlerBase {
+ public:
+  GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
+                     uint32_t transitionDelayMs);
+  virtual ~GyroHandlerL3GD20H();
+
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
+
+  /**
+   * 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 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;
+  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+
+  void fillCommandAndReplyMap() override;
+  void modeChanged() override;
+  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+
+ 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, CHECK_REGS, NORMAL };
+  InternalState internalState = InternalState::NONE;
+  bool commandExecuted = false;
+
+  uint8_t statusReg = 0;
+  bool goNormalModeImmediately = false;
+
+  uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
+  uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
+  uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
+  uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
+  uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
+
+  uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
+
+  // Set default value
+  float sensitivity = L3GD20H::SENSITIVITY_00;
+
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
+};
+
+#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -0,0 +1,491 @@
+#include "MgmLIS3MDLHandler.h"
+
+#include <cmath>
+
+#include "fsfw/datapool/PoolReadGuard.h"
+
+MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
+                                     CookieIF *comCookie, uint32_t transitionDelay)
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+      dataset(this),
+      transitionDelay(transitionDelay) {
+  // 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 DeviceHandlerBase::NOTHING_TO_SEND;
+    }
+    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 (periodicPrintout) {
+        if (debugDivider.checkAndIncrement()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+                       " microtesla:"
+                    << std::endl;
+          sif::info << "X: " << mgmX << " uT" << std::endl;
+          sif::info << "Y: " << mgmY << " uT" << std::endl;
+          sif::info << "Z: " << mgmZ << " uT" << std::endl;
+#else
+          sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+          sif::printInfo("X: %f uT\n", mgmX);
+          sif::printInfo("Y: %f uT\n", mgmY);
+          sif::printInfo("Z: %f uT\n", mgmZ);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+        }
+      }
+
+      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 (periodicPrintout) {
+        if (debugDivider.check()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
+#else
+          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+#endif
+        }
+      }
+
+      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) {
+  if (commandData == nullptr) {
+    return INVALID_COMMAND_PARAMETER;
+  }
+  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[0]) {
+    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) {
+  DeviceHandlerBase::doTransition(modeFrom, 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}));
+  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
+  this->absLimitX = xLimit;
+  this->absLimitY = yLimit;
+  this->absLimitZ = zLimit;
+}
+
+void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -0,0 +1,175 @@
+#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
+#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
+
+#include "devicedefinitions/MgmLIS3HandlerDefs.h"
+#include "events/subsystemIdRanges.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.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();
+
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
+  /**
+   * 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();
+
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
+};
+
+#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -0,0 +1,369 @@
+#include "MgmRM3100Handler.h"
+
+#include "fsfw/datapool/PoolReadGuard.h"
+#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
+#include "fsfw/globalfunctions/bitutility.h"
+#include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
+                                   CookieIF *comCookie, uint32_t transitionDelay)
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+      primaryDataset(this),
+      transitionDelay(transitionDelay) {}
+
+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:
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      // Might be a configuration error
+      sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
+                      "Unknown internal state"
+                   << std::endl;
+#else
+      sif::printWarning(
+          "MgmRM3100Handler::buildTransitionDeviceCommand: "
+          "Unknown internal state\n");
+#endif
+#endif
+      return 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::clear(&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}));
+  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
+  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 (periodicPrintout) {
+    if (debugDivider.checkAndIncrement()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::info << "MgmRM3100Handler: Magnetic field strength in"
+                   " microtesla:"
+                << std::endl;
+      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+      sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+      sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+#else
+      sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+      sif::printInfo("X: %f uT\n", fieldStrengthX);
+      sif::printInfo("Y: %f uT\n", fieldStrengthY);
+      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+#endif
+    }
+  }
+
+  // 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;
+}
+
+void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
+}

src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -0,0 +1,103 @@
+#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
+#define MISSION_DEVICES_MGMRM3100HANDLER_H_
+
+#include "devicedefinitions/MgmRM3100HandlerDefs.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+
+/**
+ * @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();
+
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
+  /**
+   * 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);
+
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
+};
+
+#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h

@@ -0,0 +1,133 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+
+#include <cstdint>
+
+namespace L3GD20H {
+
+/* Actual size is 15 but we round up a bit */
+static constexpr size_t MAX_BUFFER_SIZE = 16;
+
+static constexpr uint8_t READ_MASK = 0b10000000;
+
+static constexpr uint8_t AUTO_INCREMENT_MASK = 0b01000000;
+
+static constexpr uint8_t WHO_AM_I_REG = 0b00001111;
+static constexpr uint8_t WHO_AM_I_VAL = 0b11010111;
+
+/*------------------------------------------------------------------------*/
+/* Control registers */
+/*------------------------------------------------------------------------*/
+static constexpr uint8_t CTRL_REG_1 = 0b00100000;
+static constexpr uint8_t CTRL_REG_2 = 0b00100001;
+static constexpr uint8_t CTRL_REG_3 = 0b00100010;
+static constexpr uint8_t CTRL_REG_4 = 0b00100011;
+static constexpr uint8_t CTRL_REG_5 = 0b00100100;
+
+/* Register 1 */
+static constexpr uint8_t SET_DR_1 = 1 << 7;
+static constexpr uint8_t SET_DR_0 = 1 << 6;
+static constexpr uint8_t SET_BW_1 = 1 << 5;
+static constexpr uint8_t SET_BW_0 = 1 << 4;
+static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
+static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
+static constexpr uint8_t SET_X_ENABLE = 1 << 1;
+static constexpr uint8_t SET_Y_ENABLE = 1;
+
+static constexpr uint8_t CTRL_REG_1_VAL =
+    SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
+
+/* Register 2 */
+static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
+static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
+static constexpr uint8_t SET_HPM_1 = 1 << 5;
+static constexpr uint8_t SET_HPM_0 = 1 << 4;
+static constexpr uint8_t SET_HPCF_3 = 1 << 3;
+static constexpr uint8_t SET_HPCF_2 = 1 << 2;
+static constexpr uint8_t SET_HPCF_1 = 1 << 1;
+static constexpr uint8_t SET_HPCF_0 = 1;
+
+static constexpr uint8_t CTRL_REG_2_VAL = 0b00000000;
+
+/* Register 3 */
+static constexpr uint8_t CTRL_REG_3_VAL = 0b00000000;
+
+/* Register 4 */
+static constexpr uint8_t SET_BNU = 1 << 7;
+static constexpr uint8_t SET_BLE = 1 << 6;
+static constexpr uint8_t SET_FS_1 = 1 << 5;
+static constexpr uint8_t SET_FS_0 = 1 << 4;
+static constexpr uint8_t SET_IMP_ENB = 1 << 3;
+static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
+static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
+static constexpr uint8_t SET_SPI_IF_SELECT = 1;
+
+/* Enable big endian data format */
+static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
+
+/* Register 5 */
+static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
+static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
+
+static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;
+
+/* Possible range values in degrees per second (DPS). */
+static constexpr uint16_t RANGE_DPS_00 = 245;
+static constexpr float SENSITIVITY_00 = 8.75 * 0.001;
+static constexpr uint16_t RANGE_DPS_01 = 500;
+static constexpr float SENSITIVITY_01 = 17.5 * 0.001;
+static constexpr uint16_t RANGE_DPS_11 = 2000;
+static constexpr float SENSITIVITY_11 = 70.0 * 0.001;
+
+static constexpr uint8_t READ_START = CTRL_REG_1;
+static constexpr size_t READ_LEN = 14;
+
+/* Indexing */
+static constexpr uint8_t REFERENCE_IDX = 6;
+static constexpr uint8_t TEMPERATURE_IDX = 7;
+static constexpr uint8_t STATUS_IDX = 8;
+static constexpr uint8_t OUT_X_H = 9;
+static constexpr uint8_t OUT_X_L = 10;
+static constexpr uint8_t OUT_Y_H = 11;
+static constexpr uint8_t OUT_Y_L = 12;
+static constexpr uint8_t OUT_Z_H = 13;
+static constexpr uint8_t OUT_Z_L = 14;
+
+/*------------------------------------------------------------------------*/
+/* Device Handler specific */
+/*------------------------------------------------------------------------*/
+static constexpr DeviceCommandId_t READ_REGS = 0;
+static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
+static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
+
+static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
+
+enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
+
+}  // namespace L3GD20H
+
+class GyroPrimaryDataset : public StaticLocalDataSet<5> {
+ public:
+  /** Constructor  for data users like controllers */
+  GyroPrimaryDataset(object_id_t mgmId)
+      : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
+    setAllVariablesReadOnly();
+  }
+
+  /* Angular velocities in degrees per second (DPS) */
+  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
+  lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
+  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
+
+ private:
+  friend class GyroHandlerL3GD20H;
+  /** Constructor  for the data creator */
+  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
+};
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h

@@ -0,0 +1,163 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
+
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.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<4> {
+ 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);
+};
+
+}  // namespace MGMLIS3MDL
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -0,0 +1,124 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
+
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/serialize/SerialLinkedListAdapter.h>
+
+#include <cstdint>
+
+namespace RM3100 {
+
+/* 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 = 0b10000000;
+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> {
+ 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);
+};
+
+}  // namespace RM3100
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

src/fsfw_hal/host/CMakeLists.txt

@@ -0,0 +1 @@
+

src/fsfw_hal/linux/CMakeLists.txt

@@ -0,0 +1,21 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+  add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp
+                                        utility.cpp)
+
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+  if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
+    add_subdirectory(gpio)
+  endif()
+  add_subdirectory(uart)
+  # Adding those does not really make sense on Apple systems which are generally
+  # host systems. It won't even compile as the headers are missing
+  if(NOT APPLE)
+    add_subdirectory(i2c)
+    add_subdirectory(spi)
+  endif()
+endif()
+
+add_subdirectory(uio)

src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,211 @@
+#include "CommandExecutor.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+#include "fsfw/container/DynamicFIFO.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/serviceinterface.h"
+
+CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
+  waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+  if (state == States::PENDING) {
+    return COMMAND_PENDING;
+  }
+
+  currentCmd = command;
+  this->blocking = blocking;
+  this->printOutput = printOutput;
+  if (state == States::IDLE) {
+    state = States::COMMAND_LOADED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+  if (state == States::IDLE) {
+    return NO_COMMAND_LOADED_OR_PENDING;
+  } else if (state == States::PENDING) {
+    return COMMAND_PENDING;
+  }
+  // Reset data in read vector
+  std::memset(readVec.data(), 0, readVec.size());
+  currentCmdFile = popen(currentCmd.c_str(), "r");
+  if (currentCmdFile == nullptr) {
+    lastError = errno;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (blocking) {
+    ReturnValue_t result = executeBlocking();
+    state = States::IDLE;
+    return result;
+  } else {
+    currentFd = fileno(currentCmdFile);
+    waiter.fd = currentFd;
+  }
+  state = States::PENDING;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+  if (state == States::PENDING) {
+    // Attempt to close process, irrespective of if it is running or not
+    if (currentCmdFile != nullptr) {
+      pclose(currentCmdFile);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+  if (lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << funcName << " pclose failed with code " << lastError << ": "
+                 << strerror(lastError) << std::endl;
+#else
+    sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
+                    strerror(lastError));
+#endif
+  }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
+                                    DynamicFIFO<uint16_t>* sizesFifo) {
+  this->ringBuffer = ringBuffer;
+  this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& replyReceived) {
+  if (blocking) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+  switch (state) {
+    case (States::IDLE):
+    case (States::COMMAND_LOADED): {
+      return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case (States::PENDING): {
+      break;
+    }
+  }
+
+  int result = poll(&waiter, 1, 0);
+  switch (result) {
+    case (0): {
+      return HasReturnvaluesIF::RETURN_OK;
+      break;
+    }
+    case (1): {
+      if (waiter.revents & POLLIN) {
+        ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+        if (readBytes == 0) {
+          // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::warning << "CommandExecutor::check: No bytes read "
+                          "after poll event.."
+                       << std::endl;
+#else
+          sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+          break;
+        } else if (readBytes > 0) {
+          replyReceived = true;
+          if (printOutput) {
+            // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << readVec.data();
+#else
+            sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+          }
+          if (ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
+          }
+          if (sizesFifo != nullptr) {
+            if (not sizesFifo->full()) {
+              sizesFifo->insert(readBytes);
+            }
+          }
+        } else {
+          // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
+                       << std::endl;
+#else
+          sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+        }
+      }
+      if (waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+        sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+        return COMMAND_ERROR;
+      }
+      if (waiter.revents & POLLHUP) {
+        result = pclose(currentCmdFile);
+        ReturnValue_t retval = EXECUTION_FINISHED;
+        if (result != 0) {
+          lastError = result;
+          retval = HasReturnvaluesIF::RETURN_FAILED;
+        }
+        state = States::IDLE;
+        currentCmdFile = nullptr;
+        currentFd = 0;
+        return retval;
+      }
+      break;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+  CommandExecutor::close();
+  currentCmdFile = nullptr;
+  currentFd = 0;
+  state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+  // See:
+  // https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
+  return WEXITSTATUS(this->lastError);
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+  while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+    std::string output(readVec.data());
+    if (printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::info << currentCmd << " | " << output;
+#else
+      sif::printInfo("%s | %s", currentCmd, output);
+#endif
+    }
+    if (ringBuffer != nullptr) {
+      ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+    }
+    if (sizesFifo != nullptr) {
+      if (not sizesFifo->full()) {
+        sizesFifo->insert(output.size());
+      }
+    }
+  }
+  int result = pclose(currentCmdFile);
+  if (result != 0) {
+    lastError = result;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }

src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,131 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class SimpleRingBuffer;
+template <typename T>
+class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+ public:
+  enum class States { IDLE, COMMAND_LOADED, PENDING };
+
+  static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+  //! [EXPORT] : [COMMENT] Execution of the current command has finished
+  static constexpr ReturnValue_t EXECUTION_FINISHED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+  //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+  //! to load another command but a command is still pending
+  static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+  //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+  static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+  //! [EXPORT] : [COMMENT] Command execution failed
+  static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+  //! [EXPORT] : [COMMENT]
+  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+  /**
+   * Constructor. Is initialized with maximum size of internal buffer to read data from the
+   * executed process.
+   * @param maxSize
+   */
+  CommandExecutor(const size_t maxSize);
+
+  /**
+   * Load a new command which should be executed
+   * @param command
+   * @param blocking
+   * @param printOutput
+   * @return
+   */
+  ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+  /**
+   * Execute the loaded command.
+   * @return
+   *  - In blocking mode, it will return RETURN_FAILED if
+   *    the result of the system call was not 0. The error value can be accessed using
+   *    getLastError
+   *  - In non-blocking mode, this call will start
+   *    the execution and then return RETURN_OK
+   */
+  ReturnValue_t execute();
+  /**
+   * Only used in non-blocking mode. Checks the currently running command.
+   * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+   * @return
+   *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+   *    check again after this
+   *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+   *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+   *  - EXECUTION_FINISHED if the process was executed successfully
+   *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
+   *  - COMMAND_ERROR internal poll error
+   */
+  ReturnValue_t check(bool& replyReceived);
+  /**
+   * Abort the current command. Should normally not be necessary, check can be used to find
+   * out whether command execution was successful
+   * @return RETURN_OK
+   */
+  ReturnValue_t close();
+
+  States getCurrentState() const;
+  int getLastError() const;
+  void printLastError(std::string funcName) const;
+
+  /**
+   * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+   * read from the started process
+   * @param ringBuffer
+   * @param sizesFifo
+   */
+  void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+  /**
+   * Reset the executor. This calls close internally and then reset the state machine so new
+   * commands can be loaded and executed
+   */
+  void reset();
+
+  const std::vector<char>& getReadVector() const;
+
+ private:
+  std::string currentCmd;
+  bool blocking = true;
+  FILE* currentCmdFile = nullptr;
+  int currentFd = 0;
+  bool printOutput = true;
+  std::vector<char> readVec;
+  struct pollfd waiter {};
+  SimpleRingBuffer* ringBuffer = nullptr;
+  DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+  States state = States::IDLE;
+  int lastError = 0;
+
+  ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

src/fsfw_hal/linux/UnixFileGuard.cpp

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

src/fsfw_hal/linux/UnixFileGuard.h

@@ -0,0 +1,30 @@
+#ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
+#define LINUX_UTILITY_UNIXFILEGUARD_H_
+
+#include <fcntl.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <unistd.h>
+
+#include <string>
+
+class UnixFileGuard {
+ public:
+  static constexpr int READ_WRITE_FLAG = O_RDWR;
+  static constexpr int READ_ONLY_FLAG = O_RDONLY;
+  static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
+
+  static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
+
+  UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+                std::string diagnosticPrefix = "");
+
+  virtual ~UnixFileGuard();
+
+  ReturnValue_t getOpenResult() const;
+
+ private:
+  int* fileDescriptor = nullptr;
+  ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
+};
+
+#endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -0,0 +1,12 @@
+# This abstraction layer requires the gpiod library. You can install this
+# library with "sudo apt-get install -y libgpiod-dev". If you are
+# cross-compiling, you need to install the package before syncing the sysroot to
+# your host computer.
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+  message(STATUS "gpiod library not found, not linking against it")
+else()
+  target_sources(${LIB_FSFW_NAME} PRIVATE LinuxLibgpioIF.cpp)
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_GPIO})
+endif()

src/fsfw_hal/linux/gpio/Gpio.h

@@ -0,0 +1,27 @@
+#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
+#define FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_
+
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+
+/**
+ * @brief   Additional abstraction layer for handling GPIOs.
+ *
+ * @author  J. Meier
+ */
+class Gpio {
+ public:
+  Gpio(gpioId_t gpioId, GpioIF* gpioIF) : gpioId(gpioId), gpioIF(gpioIF) {
+    if (gpioIF == nullptr) {
+      sif::error << "Gpio::Gpio: Invalid GpioIF" << std::endl;
+    }
+  }
+  ReturnValue_t pullHigh() { return gpioIF->pullHigh(gpioId); }
+  ReturnValue_t pullLow() { return gpioIF->pullLow(gpioId); }
+
+ private:
+  gpioId_t gpioId = gpio::NO_GPIO;
+  GpioIF* gpioIF = nullptr;
+};
+
+#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_GPIO_GPIO_H_ */

src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -0,0 +1,468 @@
+#include "LinuxLibgpioIF.h"
+
+#include <gpiod.h>
+#include <unistd.h>
+
+#include <utility>
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+
+LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
+
+LinuxLibgpioIF::~LinuxLibgpioIF() {
+  for (auto& config : gpioMap) {
+    delete (config.second);
+  }
+}
+
+ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
+  ReturnValue_t result;
+  if (gpioCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  GpioMap mapToAdd = gpioCookie->getGpioMap();
+
+  /* Check whether this ID already exists in the map and remove duplicates */
+  result = checkForConflicts(mapToAdd);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  result = configureGpios(mapToAdd);
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
+  }
+
+  /* Register new GPIOs in gpioMap */
+  gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
+
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
+  ReturnValue_t result = RETURN_OK;
+  for (auto& gpioConfig : mapToAdd) {
+    auto& gpioType = gpioConfig.second->gpioType;
+    switch (gpioType) {
+      case (gpio::GpioTypes::NONE): {
+        return GPIO_INVALID_INSTANCE;
+      }
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+        auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
+        if (regularGpio == nullptr) {
+          return GPIO_INVALID_INSTANCE;
+        }
+        result = 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;
+        }
+        result = configureGpioByLabel(gpioConfig.first, *regularGpio);
+        break;
+      }
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+        auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
+        if (regularGpio == nullptr) {
+          return GPIO_INVALID_INSTANCE;
+        }
+        result = configureGpioByLineName(gpioConfig.first, *regularGpio);
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        if (gpioCallback->callback == nullptr) {
+          return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
+                               gpioCallback->initValue, gpioCallback->callbackArgs);
+      }
+    }
+    if (result != RETURN_OK) {
+      return GPIO_INIT_FAILED;
+    }
+  }
+  return result;
+}
+
+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) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
+                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+  std::string failOutput = "label: " + label;
+  return configureRegularGpio(gpioId, 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) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
+                 << ". Gpio ID: " << gpioId << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+  std::string failOutput = "chipname: " + chipname;
+  return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
+                                                      GpiodRegularByLineName& gpioByLineName) {
+  std::string& lineName = gpioByLineName.lineName;
+  char chipname[MAX_CHIPNAME_LENGTH];
+  unsigned int lineOffset;
+
+  int result =
+      gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
+  if (result != LINE_FOUND) {
+    parseFindeLineResult(result, lineName);
+    return RETURN_FAILED;
+  }
+
+  gpioByLineName.lineNum = static_cast<int>(lineOffset);
+
+  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
+  if (chip == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
+                 << ". <Gpio ID: " << gpioId << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+  std::string failOutput = "line name: " + lineName;
+  return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+                                                   GpiodRegularBase& regularGpio,
+                                                   std::string failOutput) {
+  unsigned int lineNum;
+  gpio::Direction direction;
+  std::string consumer;
+  struct gpiod_line* lineHandle;
+  int result = 0;
+
+  lineNum = regularGpio.lineNum;
+  lineHandle = gpiod_chip_get_line(chip, lineNum);
+  if (!lineHandle) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    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;
+#endif
+    gpiod_chip_close(chip);
+    return RETURN_FAILED;
+  }
+
+  direction = regularGpio.direction;
+  consumer = regularGpio.consumer;
+  /* Configure direction and add a description to the GPIO */
+  switch (direction) {
+    case (gpio::Direction::OUT): {
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+                                         static_cast<int>(regularGpio.initValue));
+      break;
+    }
+    case (gpio::Direction::IN): {
+      result = gpiod_line_request_input(lineHandle, consumer.c_str());
+      break;
+    }
+    default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
+#endif
+      return GPIO_INVALID_INSTANCE;
+    }
+
+      if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
+                   << " from GPIO instance with ID: " << gpioId << std::endl;
+#else
+        sif::printError(
+            "LinuxLibgpioIF::configureRegularGpio: "
+            "Failed to request line %d from GPIO instance with ID: %d\n",
+            lineNum, gpioId);
+#endif
+        gpiod_line_release(lineHandle);
+        return RETURN_FAILED;
+      }
+  }
+  /**
+   * Write line handle to GPIO configuration instance so it can later be used to set or
+   * read states of GPIOs.
+   */
+  regularGpio.lineHandle = lineHandle;
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
+  gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
+#endif
+    return UNKNOWN_GPIO_ID;
+  }
+
+  auto gpioType = gpioMapIter->second->gpioType;
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    if (regularGpio == nullptr) {
+      return GPIO_TYPE_FAILURE;
+    }
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
+  } else {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+    if (gpioCallback->callback == nullptr) {
+      return GPIO_INVALID_INSTANCE;
+    }
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
+                           gpioCallback->callbackArgs);
+    return RETURN_OK;
+  }
+  return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
+  gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
+#else
+    sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
+#endif
+    return UNKNOWN_GPIO_ID;
+  }
+
+  auto& gpioType = gpioMapIter->second->gpioType;
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    if (regularGpio == nullptr) {
+      return GPIO_TYPE_FAILURE;
+    }
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
+  } else {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+    if (gpioCallback->callback == nullptr) {
+      return GPIO_INVALID_INSTANCE;
+    }
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
+                           gpioCallback->callbackArgs);
+    return RETURN_OK;
+  }
+  return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+                                        gpio::Levels logicLevel) {
+  int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
+  if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
+                 << " to logic level " << static_cast<int>(logicLevel) << std::endl;
+#else
+    sif::printWarning(
+        "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+        "logic level %d\n",
+        gpioId, logicLevel);
+#endif
+    return DRIVE_GPIO_FAILURE;
+  }
+
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, gpio::Levels& gpioState) {
+  gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+#else
+    sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
+#endif
+    return UNKNOWN_GPIO_ID;
+  }
+
+  auto gpioType = gpioMapIter->second->gpioType;
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    if (regularGpio == nullptr) {
+      return GPIO_TYPE_FAILURE;
+    }
+    gpioState = static_cast<gpio::Levels>(gpiod_line_get_value(regularGpio->lineHandle));
+    if (gpioState == gpio::Levels::FAILED) {
+      return GPIO_GET_VALUE_FAILED;
+    }
+  } else {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+    if (gpioCallback->callback == nullptr) {
+      return GPIO_INVALID_INSTANCE;
+    }
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
+                           gpioCallback->callbackArgs);
+    return RETURN_OK;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  for (auto& gpioConfig : mapToAdd) {
+    switch (gpioConfig.second->gpioType) {
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
+        if (regularGpio == nullptr) {
+          return GPIO_TYPE_FAILURE;
+        }
+        // Check for conflicts and remove duplicates if necessary
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          status = result;
+        }
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        if (callbackGpio == nullptr) {
+          return GPIO_TYPE_FAILURE;
+        }
+        // Check for conflicts and remove duplicates if necessary
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          status = result;
+        }
+        break;
+      }
+      default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
+#else
+        sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
+#endif
+        status = GPIO_TYPE_FAILURE;
+      }
+    }
+  }
+  return status;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
+                                                    gpio::GpioTypes expectedType,
+                                                    GpioMap& mapToAdd) {
+  // Cross check with private map
+  gpioMapIter = gpioMap.find(gpioIdToCheck);
+  if (gpioMapIter != gpioMap.end()) {
+    auto& gpioType = gpioMapIter->second->gpioType;
+    bool eraseDuplicateDifferentType = false;
+    switch (expectedType) {
+      case (gpio::GpioTypes::NONE): {
+        break;
+      }
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+        if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+          eraseDuplicateDifferentType = true;
+        }
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        if (gpioType != gpio::GpioTypes::CALLBACK) {
+          eraseDuplicateDifferentType = true;
+        }
+      }
+    }
+    if (eraseDuplicateDifferentType) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                      "different GPIO type "
+                   << gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
+#else
+      sif::printWarning(
+          "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+          "different GPIO type %d. Removing duplicate from map to add\n",
+          gpioIdToCheck);
+#endif
+      mapToAdd.erase(gpioIdToCheck);
+      return GPIO_DUPLICATE_DETECTED;
+    }
+
+    // Remove element from map to add because a entry for this GPIO already exists
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
+                    "definition with ID "
+                 << gpioIdToCheck << " detected. "
+                 << "Duplicate will be removed from map to add" << std::endl;
+#else
+    sif::printWarning(
+        "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+        "with ID %d detected. Duplicate will be removed from map to add\n",
+        gpioIdToCheck);
+#endif
+    mapToAdd.erase(gpioIdToCheck);
+    return GPIO_DUPLICATE_DETECTED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
+  switch (result) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    case LINE_NOT_EXISTS:
+    case LINE_ERROR: {
+      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
+                   << " does not exist" << std::endl;
+      break;
+    }
+    default: {
+      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                      "with name "
+                   << lineName << std::endl;
+      break;
+    }
+#else
+    case LINE_NOT_EXISTS:
+    case LINE_ERROR: {
+      sif::printWarning(
+          "LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
+          "does not exist\n",
+          lineName);
+      break;
+    }
+    default: {
+      sif::printWarning(
+          "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+          "with name %s\n",
+          lineName);
+      break;
+    }
+#endif
+  }
+}

src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -0,0 +1,90 @@
+#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
+#define LINUX_GPIO_LINUXLIBGPIOIF_H_
+
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
+class GpioCookie;
+class GpiodRegularIF;
+
+/**
+ * @brief	This class implements the GpioIF for a linux based system.
+ * @details
+ * This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
+ * @note
+ * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
+ */
+class LinuxLibgpioIF : public GpioIF, public SystemObject {
+ public:
+  static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
+
+  static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+  static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
+  static constexpr ReturnValue_t GPIO_INIT_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);
+  // Will be returned if getting the line value failed. Error type will be set to errno in this case
+  static constexpr ReturnValue_t GPIO_GET_VALUE_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 7);
+  LinuxLibgpioIF(object_id_t objectId);
+  virtual ~LinuxLibgpioIF();
+
+  ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
+  ReturnValue_t pullHigh(gpioId_t gpioId) override;
+  ReturnValue_t pullLow(gpioId_t gpioId) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, gpio::Levels& gpioState) override;
+
+ private:
+  static const size_t MAX_CHIPNAME_LENGTH = 11;
+  static const int LINE_NOT_EXISTS = 0;
+  static const int LINE_ERROR = -1;
+  static const int LINE_FOUND = 1;
+
+  // Holds the information and configuration of all used GPIOs
+  GpioUnorderedMap gpioMap;
+  GpioUnorderedMapIter gpioMapIter;
+
+  /**
+   * @brief	This functions drives line of a GPIO specified by the GPIO ID.
+   *
+   * @param gpioId	The GPIO ID of the GPIO to drive.
+   * @param logiclevel	The logic level to set. O or 1.
+   */
+  ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
+
+  ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+  ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
+  ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
+  ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+                                     GpiodRegularBase& regularGpio, std::string failOutput);
+
+  /**
+   * @brief	This function checks if GPIOs are already registered and whether
+   * 			there exists a conflict in the GPIO configuration. E.g. the
+   * 			direction.
+   *
+   * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
+   *
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
+   */
+  ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
+
+  ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
+
+  /**
+   * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
+   */
+  ReturnValue_t configureGpios(GpioMap& mapToAdd);
+
+  void parseFindeLineResult(int result, std::string& lineName);
+};
+
+#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

src/fsfw_hal/linux/i2c/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC I2cComIF.cpp I2cCookie.cpp)

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -0,0 +1,239 @@
+#include "I2cComIF.h"
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+#include "fsfw/globalfunctions/arrayprinter.h"
+#endif
+
+#include <errno.h>
+#include <fcntl.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <cstring>
+
+I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
+
+I2cComIF::~I2cComIF() {}
+
+ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
+  address_t i2cAddress;
+  std::string deviceFile;
+
+  if (cookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  i2cAddress = i2cCookie->getAddress();
+
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    size_t maxReplyLen = i2cCookie->getMaxReplyLen();
+    I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
+    auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
+    if (not statusPair.second) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
+                 << i2cAddress << "to I2C device "
+                 << "map" << std::endl;
+#endif
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
+             << "already in use" << std::endl;
+#endif
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+  ReturnValue_t result;
+  int fd;
+  std::string deviceFile;
+
+  if (sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  if (sendLen == 0) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
+               << "registered in i2cDeviceMap" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  deviceFile = i2cCookie->getDeviceFile();
+  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+  result = openDevice(deviceFile, i2cAddress, &fd);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
+                  "device with error code "
+               << errno << ". Error description: " << strerror(errno) << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(sendData, sendLen);
+#endif
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
+
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  ReturnValue_t result;
+  int fd;
+  std::string deviceFile;
+
+  if (requestLen == 0) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
+               << "registered in i2cDeviceMap" << std::endl;
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  deviceFile = i2cCookie->getDeviceFile();
+  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+  result = openDevice(deviceFile, i2cAddress, &fd);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    i2cDeviceMapIter->second.replyLen = 0;
+    return result;
+  }
+
+  uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
+
+  int readLen = read(fd, replyBuffer, requestLen);
+  if (readLen != static_cast<int>(requestLen)) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if (readLen < 0) {
+      sif::warning << "I2cComIF::requestReceiveMessage: Reading from I2C "
+                   << "device failed with error code " << errno << " | " << strerror(errno)
+                   << std::endl;
+    } else {
+      sif::warning << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
+                   << requestLen << " bytes" << std::endl;
+    }
+#else
+#endif
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(replyBuffer, requestLen);
+#endif
+
+  i2cDeviceMapIter->second.replyLen = requestLen;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
+               << "found in i2cDeviceMap" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  *buffer = i2cDeviceMapIter->second.replyBuffer.data();
+  *size = i2cDeviceMapIter->second.replyLen;
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
+                                   int* fileDescriptor) {
+  if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
+                 << std::endl;
+    sif::warning << "Error description " << strerror(errno) << std::endl;
+#else
+    sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
+    sif::printWarning("Error description: %s\n", strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw_hal/linux/i2c/I2cComIF.h

@@ -0,0 +1,57 @@
+#ifndef LINUX_I2C_I2COMIF_H_
+#define LINUX_I2C_I2COMIF_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+
+#include <unordered_map>
+#include <vector>
+
+#include "I2cCookie.h"
+
+/**
+ * @brief 	This is the communication interface for I2C devices connected
+ * 			to a system running a Linux OS.
+ *
+ * @note    The Xilinx Linux kernel might not support to read more than 255 bytes at once.
+ *
+ * @author 	J. Meier
+ */
+class I2cComIF : public DeviceCommunicationIF, public SystemObject {
+ public:
+  I2cComIF(object_id_t objectId);
+
+  virtual ~I2cComIF();
+
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+
+ private:
+  struct I2cInstance {
+    std::vector<uint8_t> replyBuffer;
+    size_t replyLen;
+  };
+
+  using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
+  using I2cDeviceMapIter = I2cDeviceMap::iterator;
+
+  /* In this map all i2c devices will be registered with their address and
+   * the appropriate file descriptor will be stored */
+  I2cDeviceMap i2cDeviceMap;
+  I2cDeviceMapIter i2cDeviceMapIter;
+
+  /**
+   * @brief	This function opens an I2C device and binds the opened file
+   * 			to a specific I2C address.
+   * @param deviceFile	The name of the device file. E.g. i2c-0
+   * @param i2cAddress	The address of the i2c slave device.
+   * @param fileDescriptor	Pointer to device descriptor.
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
+   */
+  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
+};
+
+#endif /* LINUX_I2C_I2COMIF_H_ */

src/fsfw_hal/linux/i2c/I2cCookie.cpp

@@ -0,0 +1,12 @@
+#include "fsfw_hal/linux/i2c/I2cCookie.h"
+
+I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
+    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}
+
+address_t I2cCookie::getAddress() const { return i2cAddress; }
+
+size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }
+
+std::string I2cCookie::getDeviceFile() const { return deviceFile; }
+
+I2cCookie::~I2cCookie() {}

src/fsfw_hal/linux/i2c/I2cCookie.h

@@ -0,0 +1,36 @@
+#ifndef LINUX_I2C_I2CCOOKIE_H_
+#define LINUX_I2C_I2CCOOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+
+#include <string>
+
+/**
+ * @brief   Cookie for the i2cDeviceComIF.
+ *
+ * @author 	J. Meier
+ */
+class I2cCookie : public CookieIF {
+ public:
+  /**
+   * @brief	Constructor for the I2C cookie.
+   * @param i2cAddress_	The i2c address of the target device.
+   * @param maxReplyLen_	The maximum expected length of a reply from the
+   * 						target device.
+   * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
+   */
+  I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
+
+  virtual ~I2cCookie();
+
+  address_t getAddress() const;
+  size_t getMaxReplyLen() const;
+  std::string getDeviceFile() const;
+
+ private:
+  address_t i2cAddress = 0;
+  size_t maxReplyLen = 0;
+  std::string deviceFile;
+};
+
+#endif /* LINUX_I2C_I2CCOOKIE_H_ */

src/fsfw_hal/linux/rpi/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE GpioRPi.cpp)

src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -0,0 +1,38 @@
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include "fsfw/FSFW.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+
+ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
+                                        std::string consumer, gpio::Direction direction,
+                                        gpio::Levels initValue) {
+  if (cookie == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  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";
+
+  config->consumer = consumer;
+  config->direction = direction;
+  config->initValue = initValue;
+
+  /* Sanity check for the BCM pins before assigning it */
+  if (bcmPin > 27) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
+#else
+    sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  config->lineNum = bcmPin;
+  cookie->addGpio(gpioId, config);
+  return HasReturnvaluesIF::RETURN_OK;
+}

src/fsfw_hal/linux/rpi/GpioRPi.h

@@ -0,0 +1,28 @@
+#ifndef BSP_RPI_GPIO_GPIORPI_H_
+#define BSP_RPI_GPIO_GPIORPI_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include "../../common/gpio/gpioDefinitions.h"
+
+class GpioCookie;
+
+namespace gpio {
+
+/**
+ * Create a GpioConfig_t. This function does a sanity check on the BCM pin number and fails if the
+ * BCM pin is invalid.
+ * @param cookie    Adds the configuration to this cookie directly
+ * @param gpioId    ID which identifies the GPIO configuration
+ * @param bcmPin    Raspberry Pi BCM pin
+ * @param consumer  Information string
+ * @param direction GPIO direction
+ * @param initValue Intial value for output pins, 0 for low, 1 for high
+ * @return
+ */
+ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
+                                  std::string consumer, gpio::Direction direction,
+                                  gpio::Levels initValue);
+}  // namespace gpio
+
+#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

src/fsfw_hal/linux/spi/CMakeLists.txt

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

src/fsfw_hal/linux/spi/ManualCsLockGuard.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#include "fsfw/ipc/MutexIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
+class ManualCsLockWrapper : public HasReturnvaluesIF {
+ public:
+  ManualCsLockWrapper(MutexIF* lock, GpioIF* gpioIF, SpiCookie* cookie,
+                      MutexIF::TimeoutType type = MutexIF::TimeoutType::BLOCKING,
+                      uint32_t timeoutMs = 0)
+      : lock(lock), gpioIF(gpioIF), cookie(cookie), type(type), timeoutMs(timeoutMs) {
+    if (cookie == nullptr) {
+      // TODO: Error? Or maybe throw exception..
+      return;
+    }
+    cookie->setCsLockManual(true);
+    lockResult = lock->lockMutex(type, timeoutMs);
+    if (lockResult != RETURN_OK) {
+      return;
+    }
+    gpioResult = gpioIF->pullLow(cookie->getChipSelectPin());
+  }
+
+  ~ManualCsLockWrapper() {
+    if (gpioResult == RETURN_OK) {
+      gpioIF->pullHigh(cookie->getChipSelectPin());
+    }
+    cookie->setCsLockManual(false);
+    if (lockResult == RETURN_OK) {
+      lock->unlockMutex();
+    }
+  }
+  ReturnValue_t lockResult;
+  ReturnValue_t gpioResult;
+
+ private:
+  MutexIF* lock;
+  GpioIF* gpioIF;
+  SpiCookie* cookie;
+  MutexIF::TimeoutType type;
+  uint32_t timeoutMs = 0;
+};

src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -0,0 +1,436 @@
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+
+#include <fcntl.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/ipc/MutexFactory.h>
+#include <linux/spi/spidev.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <cstring>
+
+#include "fsfw/FSFW.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/utility.h"
+
+SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
+    : SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
+  if (gpioComIF == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
+#else
+    sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+  }
+
+  csMutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
+  int retval = 0;
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  address_t spiAddress = spiCookie->getSpiAddress();
+
+  auto iter = spiDeviceMap.find(spiAddress);
+  if (iter == spiDeviceMap.end()) {
+    size_t bufferSize = spiCookie->getMaxBufferSize();
+    SpiInstance spiInstance(bufferSize);
+    auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
+    if (not statusPair.second) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
+                 << spiAddress << "to SPI device map" << std::endl;
+#else
+      sif::printError(
+          "SpiComIF::initializeInterface: Failed to insert device with address "
+          "%lu to SPI device map\n",
+          static_cast<unsigned long>(spiAddress));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    /* Now we emplaced the read buffer in the map, we still need to assign that location
+    to the SPI driver transfer struct */
+    spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
+  } else {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
+#else
+    sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  /* Pull CS high in any case to be sure that device is inactive */
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
+  if (gpioId != gpio::NO_GPIO) {
+    gpioComIF->pullHigh(gpioId);
+  }
+
+  uint32_t spiSpeed = 0;
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+
+  SpiCookie::UncommonParameters params;
+  spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
+
+  int fileDescriptor = 0;
+  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+
+  /* These flags are rather uncommon */
+  if (params.threeWireSpi or params.noCs or params.csHigh) {
+    uint32_t currentMode = 0;
+    retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
+    }
+
+    if (params.threeWireSpi) {
+      currentMode |= SPI_3WIRE;
+    }
+    if (params.noCs) {
+      /* Some drivers like the Raspberry Pi ignore this flag in any case */
+      currentMode |= SPI_NO_CS;
+    }
+    if (params.csHigh) {
+      currentMode |= SPI_CS_HIGH;
+    }
+    /* Write adapted mode */
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
+    }
+  }
+  if (params.lsbFirst) {
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
+    }
+  }
+  if (params.bitsPerWord != 8) {
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
+    if (retval != 0) {
+      utility::handleIoctlError(
+          "SpiComIF::initializeInterface: "
+          "Could not write bits per word!");
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  if (sendLen > spiCookie->getMaxBufferSize()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen
+                 << "larger than maximum buffer length " << spiCookie->getMaxBufferSize()
+                 << std::endl;
+#else
+    sif::printWarning(
+        "SpiComIF::sendMessage: Too much data sent, send length %lu larger "
+        "than maximum buffer length %lu!\n",
+        static_cast<unsigned long>(sendLen),
+        static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    return DeviceCommunicationIF::TOO_MUCH_DATA;
+  }
+
+  if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
+    result = performRegularSendOperation(spiCookie, sendData, sendLen);
+  } else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+    spi::send_callback_function_t sendFunc = nullptr;
+    void* funcArgs = nullptr;
+    spiCookie->getCallback(&sendFunc, &funcArgs);
+    if (sendFunc != nullptr) {
+      result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
+    }
+  }
+  return result;
+}
+
+ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
+                                                    size_t sendLen) {
+  address_t spiAddress = spiCookie->getSpiAddress();
+  auto iter = spiDeviceMap.find(spiAddress);
+  if (iter != spiDeviceMap.end()) {
+    spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
+  }
+
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int retval = 0;
+  /* Prepare transfer */
+  int fileDescriptor = 0;
+  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return OPENING_FILE_FAILED;
+  }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  spiCookie->assignWriteBuffer(sendData);
+  spiCookie->setTransferSize(sendLen);
+
+  bool fullDuplex = spiCookie->isFullDuplex();
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
+  bool csLockManual = spiCookie->getCsLockManual();
+
+  MutexIF::TimeoutType csType;
+  dur_millis_t csTimeout = 0;
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    spiCookie->getMutexParams(csType, csTimeout);
+    result = csMutex->lockMutex(csType, csTimeout);
+    if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
+                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
+                 << std::endl;
+#else
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
+#endif
+#endif
+      return result;
+    }
+    updateLinePolarity(fileDescriptor);
+    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;
+    }
+  } else {
+    updateLinePolarity(fileDescriptor);
+  }
+
+  /* Execute transfer */
+  if (fullDuplex) {
+    /* Initiate a full duplex SPI transfer. */
+    retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
+    if (retval < 0) {
+      utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+      result = FULL_DUPLEX_TRANSFER_FAILED;
+    }
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+    performSpiWiretapping(spiCookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+  } else {
+    /* We write with a blocking half-duplex transfer here */
+    if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
+#else
+      sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+      result = HALF_DUPLEX_TRANSFER_FAILED;
+    }
+  }
+
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    gpioComIF->pullHigh(gpioId);
+    result = csMutex->unlockMutex();
+    if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
+#endif
+      return result;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
+
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  if (spiCookie->isFullDuplex()) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  return performHalfDuplexReception(spiCookie);
+}
+
+ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int fileDescriptor = 0;
+  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return OPENING_FILE_FAILED;
+  }
+
+  uint8_t* rxBuf = nullptr;
+  size_t readSize = spiCookie->getCurrentTransferSize();
+  result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  bool csLockManual = spiCookie->getCsLockManual();
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
+  MutexIF::TimeoutType csType;
+  dur_millis_t csTimeout = 0;
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    spiCookie->getMutexParams(csType, csTimeout);
+    result = csMutex->lockMutex(csType, csTimeout);
+    if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
+                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
+                 << std::endl;
+#else
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
+#endif
+#endif
+      return result;
+    }
+    gpioComIF->pullLow(gpioId);
+  }
+
+  if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
+#else
+    sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    result = HALF_DUPLEX_TRANSFER_FAILED;
+  }
+
+  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+    gpioComIF->pullHigh(gpioId);
+    result = csMutex->unlockMutex();
+    if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
+#endif
+      return result;
+    }
+  }
+
+  return result;
+}
+
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  uint8_t* rxBuf = nullptr;
+  ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  *buffer = rxBuf;
+  *size = spiCookie->getCurrentTransferSize();
+  spiCookie->setTransferSize(0);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+MutexIF* SpiComIF::getCsMutex() { return csMutex; }
+
+void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
+  if (spiCookie == nullptr) {
+    return;
+  }
+  size_t dataLen = spiCookie->getTransferStructHandle()->len;
+  uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "Sent SPI data: " << std::endl;
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  sif::info << "Received SPI data: " << std::endl;
+#else
+  sif::printInfo("Sent SPI data: \n");
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  sif::printInfo("Received SPI data: \n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+  dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+}
+
+ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
+  if (buffer == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  auto iter = spiDeviceMap.find(spiAddress);
+  if (iter == spiDeviceMap.end()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  *buffer = iter->second.replyBuffer.data();
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
+
+void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
+  int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
+  }
+
+  retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
+  }
+}
+
+void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
+  uint8_t tmpMode = 0;
+  int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed");
+  }
+  mode = static_cast<spi::SpiModes>(tmpMode);
+
+  retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
+  }
+}
+
+const std::string& SpiComIF::getSpiDev() const { return dev; }
+
+void SpiComIF::updateLinePolarity(int spiFd) {
+  clockUpdateTransfer.len = 0;
+  int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
+}

src/fsfw_hal/linux/spi/SpiComIF.h

@@ -0,0 +1,106 @@
+#ifndef LINUX_SPI_SPICOMIF_H_
+#define LINUX_SPI_SPICOMIF_H_
+
+#include <unordered_map>
+#include <vector>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "returnvalues/classIds.h"
+#include "spiDefinitions.h"
+
+class SpiCookie;
+
+/**
+ * @brief   Encapsulates access to linux SPI driver for FSFW objects
+ * @details
+ * Right now, only full-duplex SPI is supported. Most device specific transfer properties
+ * are contained in the SPI cookie.
+ * @author  R. Mueller
+ */
+class SpiComIF : public DeviceCommunicationIF, public SystemObject {
+ public:
+  static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
+  static constexpr ReturnValue_t OPENING_FILE_FAILED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+  /* Full duplex (ioctl) transfer failure */
+  static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+  /* Half duplex (read/write) transfer failure */
+  static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+
+  SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
+
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+
+  /**
+   * @brief   This function returns the mutex which can be used to protect the spi bus when
+   *          the chip select must be driven from outside of the com if.
+   */
+  MutexIF* getCsMutex();
+  void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
+
+  /**
+   * Perform a regular send operation using Linux iotcl. This is public so it can be used
+   * in functions like a user callback if special handling is only necessary for certain commands.
+   * @param spiCookie
+   * @param sendData
+   * @param sendLen
+   * @return
+   */
+  ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
+                                            size_t sendLen);
+
+  GpioIF* getGpioInterface();
+  void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
+  void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
+
+  /**
+   * This updates the SPI clock default polarity. Only setting the mode does not update
+   * the line state, which can be an issue on mode switches because the clock line will
+   * switch the state after the chip select is pulled low.
+   *
+   * It is recommended to call this function after #setSpiSpeedAndMode and after locking the
+   * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
+   * @param spiFd
+   */
+  void updateLinePolarity(int spiFd);
+
+  const std::string& getSpiDev() const;
+  void performSpiWiretapping(SpiCookie* spiCookie);
+
+  ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
+
+ private:
+  struct SpiInstance {
+    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    std::vector<uint8_t> replyBuffer;
+  };
+
+  GpioIF* gpioComIF = nullptr;
+  std::string dev = "";
+  /**
+   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
+   * pulled high
+   */
+  MutexIF* csMutex = nullptr;
+  // MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  // uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
+  spi_ioc_transfer clockUpdateTransfer = {};
+
+  using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
+  using SpiDeviceMapIter = SpiDeviceMap::iterator;
+
+  SpiDeviceMap spiDeviceMap;
+
+  ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
+};
+
+#endif /* LINUX_SPI_SPICOMIF_H_ */

src/fsfw_hal/linux/spi/SpiCookie.cpp

@@ -0,0 +1,120 @@
+#include "SpiCookie.h"
+
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+                     spi::SpiModes spiMode, uint32_t spiSpeed)
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
+                nullptr, nullptr) {}
+
+SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
+                     uint32_t spiSpeed)
+    : SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
+
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+                     spi::SpiModes spiMode, uint32_t spiSpeed,
+                     spi::send_callback_function_t callback, void* args)
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
+                callback, args) {}
+
+SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+                     spi::send_callback_function_t callback, void* args)
+    : spiAddress(spiAddress),
+      chipSelectPin(chipSelect),
+      comIfMode(comIfMode),
+      maxSize(maxSize),
+      spiMode(spiMode),
+      spiSpeed(spiSpeed),
+      sendCallback(callback),
+      callbackArgs(args) {}
+
+spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
+
+void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
+                                 UncommonParameters* parameters) const {
+  spiMode = this->spiMode;
+  spiSpeed = this->spiSpeed;
+
+  if (parameters != nullptr) {
+    parameters->threeWireSpi = uncommonParameters.threeWireSpi;
+    parameters->lsbFirst = uncommonParameters.lsbFirst;
+    parameters->noCs = uncommonParameters.noCs;
+    parameters->bitsPerWord = uncommonParameters.bitsPerWord;
+    parameters->csHigh = uncommonParameters.csHigh;
+  }
+}
+
+gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
+
+size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
+
+address_t SpiCookie::getSpiAddress() const { return spiAddress; }
+
+void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
+
+void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
+
+void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
+
+void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
+  uncommonParameters.bitsPerWord = bitsPerWord;
+}
+
+void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
+
+void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
+  spiTransferStruct.cs_change = deselectCs;
+  spiTransferStruct.delay_usecs = delayUsecs;
+}
+
+void SpiCookie::assignReadBuffer(uint8_t* rx) {
+  if (rx != nullptr) {
+    spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
+  }
+}
+
+void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
+  if (tx != nullptr) {
+    spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
+  }
+}
+
+void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
+  this->comIfMode = spi::SpiComIfModes::CALLBACK;
+  this->sendCallback = callback;
+  this->callbackArgs = args;
+}
+
+void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
+
+spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
+
+void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
+
+bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
+
+void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
+
+size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
+
+void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
+
+void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
+
+void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
+  *callback = this->sendCallback;
+  *args = this->callbackArgs;
+}
+
+void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
+
+bool SpiCookie::getCsLockManual() const { return manualCsLock; }
+
+void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
+  csTimeoutType = this->csTimeoutType;
+  csTimeout = this->csTimeout;
+}
+
+void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
+  this->csTimeoutType = csTimeoutType;
+  this->csTimeout = csTimeout;
+}

src/fsfw_hal/linux/spi/SpiCookie.h

@@ -0,0 +1,196 @@
+#ifndef LINUX_SPI_SPICOOKIE_H_
+#define LINUX_SPI_SPICOOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/ipc/MutexIF.h>
+#include <fsfw/timemanager/clockDefinitions.h>
+#include <linux/spi/spidev.h>
+
+#include "../../common/gpio/gpioDefinitions.h"
+#include "spiDefinitions.h"
+
+/**
+ * @brief   This cookie class is passed to the SPI communication interface
+ * @details
+ * This cookie contains device specific properties like speed and SPI mode or the SPI transfer
+ * struct required by the Linux SPI driver. It also contains a handle to a GPIO interface
+ * to perform slave select switching when necessary.
+ *
+ * The user can specify gpio::NO_GPIO as the GPIO ID or use a custom send callback to meet
+ * special requirements like expander slave select switching (e.g. GPIO or I2C expander)
+ * or special timing related requirements.
+ */
+class SpiCookie : public CookieIF {
+ public:
+  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
+
+  /**
+   * Each SPI device will have a corresponding cookie. The cookie is used by the communication
+   * interface and contains device specific information like the largest expected size to be
+   * sent and received and the GPIO pin used to toggle the SPI slave select pin.
+   * @param spiAddress
+   * @param chipSelect    Chip select. gpio::NO_GPIO can be used for hardware slave selects.
+   * @param spiDev
+   * @param maxSize
+   */
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
+            uint32_t spiSpeed);
+
+  /**
+   * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
+   * slave select or if CS logic is performed with decoders.
+   */
+  SpiCookie(address_t spiAddress, const size_t maxReplySize, spi::SpiModes spiMode,
+            uint32_t spiSpeed);
+
+  /**
+   * Use the callback mode of the SPI communication interface. The user can pass the callback
+   * function here or by using the setter function #setCallbackMode
+   */
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
+            uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
+
+  /**
+   * Get the callback function
+   * @param callback
+   * @param args
+   */
+  void getCallback(spi::send_callback_function_t* callback, void** args);
+
+  address_t getSpiAddress() const;
+  gpioId_t getChipSelectPin() const;
+  size_t getMaxBufferSize() const;
+
+  spi::SpiComIfModes getComIfMode() const;
+
+  /** Enables changing SPI speed at run-time */
+  void setSpiSpeed(uint32_t newSpeed);
+  /** Enables changing the SPI mode at run-time */
+  void setSpiMode(spi::SpiModes newMode);
+
+  /**
+   * Set the SPI to callback mode and assigns the user supplied callback and an argument
+   * passed to the callback.
+   * @param callback
+   * @param args
+   */
+  void setCallbackMode(spi::send_callback_function_t callback, void* args);
+
+  /**
+   * Can be used to set the callback arguments and a later point than initialization.
+   * @param args
+   */
+  void setCallbackArgs(void* args);
+
+  /**
+   * True if SPI transfers should be performed in full duplex mode
+   * @return
+   */
+  bool isFullDuplex() const;
+
+  /**
+   * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
+   * ressembling common SPI hardware implementation with shift registers, where read and writes
+   * happen simultaneosly.
+   * @param fullDuplex
+   */
+  void setFullOrHalfDuplex(bool halfDuplex);
+
+  /**
+   * This needs to be called to specify where the SPI driver writes to or reads from.
+   * @param readLocation
+   * @param writeLocation
+   */
+  void assignReadBuffer(uint8_t* rx);
+  void assignWriteBuffer(const uint8_t* tx);
+  /**
+   * Set size for the next transfer. Set to 0 for no transfer
+   * @param transferSize
+   */
+  void setTransferSize(size_t transferSize);
+  size_t getCurrentTransferSize() const;
+
+  struct UncommonParameters {
+    uint8_t bitsPerWord = 8;
+    bool noCs = false;
+    bool csHigh = false;
+    bool threeWireSpi = false;
+    /* MSB first is more common */
+    bool lsbFirst = false;
+  };
+
+  /**
+   * Can be used to explicitely disable hardware chip select.
+   * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
+   * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
+   * @param enable
+   */
+  void setNoCs(bool enable);
+  void setThreeWireSpi(bool enable);
+  void setLsbFirst(bool enable);
+  void setCsHigh(bool enable);
+  void setBitsPerWord(uint8_t bitsPerWord);
+
+  void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
+                        UncommonParameters* parameters = nullptr) const;
+
+  /**
+   * See spidev.h cs_change and delay_usecs
+   * @param deselectCs
+   * @param delayUsecs
+   */
+  void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
+
+  void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
+  void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
+
+  void setCsLockManual(bool enable);
+  bool getCsLockManual() const;
+
+  spi_ioc_transfer* getTransferStructHandle();
+
+ private:
+  address_t spiAddress;
+  gpioId_t chipSelectPin;
+
+  spi::SpiComIfModes comIfMode;
+
+  // Required for regular mode
+  const size_t maxSize;
+  spi::SpiModes spiMode;
+  /**
+   * If this is set to true, the SPI ComIF will not perform any mutex locking for the
+   * CS mechanism. The user is responsible to locking and unlocking the mutex for the
+   * whole duration of the transfers.
+   */
+  bool manualCsLock = false;
+  uint32_t spiSpeed;
+  bool halfDuplex = false;
+
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
+  dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
+
+  // Required for callback mode
+  spi::send_callback_function_t sendCallback = nullptr;
+  void* callbackArgs = nullptr;
+
+  struct spi_ioc_transfer spiTransferStruct = {};
+  UncommonParameters uncommonParameters;
+
+  /**
+   * Internal constructor which initializes every field
+   * @param spiAddress
+   * @param chipSelect
+   * @param spiDev
+   * @param maxSize
+   * @param spiMode
+   * @param spiSpeed
+   * @param callback
+   * @param args
+   */
+  SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            spi::send_callback_function_t callback, void* args);
+};
+
+#endif /* LINUX_SPI_SPICOOKIE_H_ */

src/fsfw_hal/linux/spi/spiDefinitions.h

@@ -0,0 +1,25 @@
+#ifndef LINUX_SPI_SPIDEFINITONS_H_
+#define LINUX_SPI_SPIDEFINITONS_H_
+
+#include <linux/spi/spidev.h>
+
+#include <cstdint>
+
+#include "../../common/gpio/gpioDefinitions.h"
+#include "../../common/spi/spiCommon.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class SpiCookie;
+class SpiComIF;
+
+namespace spi {
+
+enum SpiComIfModes { REGULAR, CALLBACK };
+
+using send_callback_function_t = ReturnValue_t (*)(SpiComIF* comIf, SpiCookie* cookie,
+                                                   const uint8_t* sendData, size_t sendLen,
+                                                   void* args);
+
+}  // namespace spi
+
+#endif /* LINUX_SPI_SPIDEFINITONS_H_ */

src/fsfw_hal/linux/uart/CMakeLists.txt

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

src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -0,0 +1,603 @@
+#include "UartComIF.h"
+
+#include <errno.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+
+#include <cstring>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/utility.h"
+
+UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
+
+UartComIF::~UartComIF() {}
+
+ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+
+  if (cookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  deviceFile = uartCookie->getDeviceFile();
+
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
+    int fileDescriptor = configureUartPort(uartCookie);
+    if (fileDescriptor < 0) {
+      return RETURN_FAILED;
+    }
+    size_t maxReplyLen = uartCookie->getMaxReplyLen();
+    UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
+    auto status = uartDeviceMap.emplace(deviceFile, uartElements);
+    if (status.second == false) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
+                   << "to UART device map" << std::endl;
+#endif
+      return RETURN_FAILED;
+    }
+  } else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
+                 << " already in use" << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  return RETURN_OK;
+}
+
+int UartComIF::configureUartPort(UartCookie* uartCookie) {
+  struct termios options = {};
+
+  std::string deviceFile = uartCookie->getDeviceFile();
+  int flags = O_RDWR;
+  if (uartCookie->getUartMode() == UartModes::CANONICAL) {
+    // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
+    // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
+    flags |= O_NONBLOCK;
+  }
+  int fd = open(deviceFile.c_str(), flags);
+
+  if (fd < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
+                 << "with error code " << errno << strerror(errno) << std::endl;
+#endif
+    return fd;
+  }
+
+  /* Read in existing settings */
+  if (tcgetattr(fd, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Error " << errno
+                 << "from tcgetattr: " << strerror(errno) << std::endl;
+#endif
+    return fd;
+  }
+
+  setParityOptions(&options, uartCookie);
+  setStopBitOptions(&options, uartCookie);
+  setDatasizeOptions(&options, uartCookie);
+  setFixedOptions(&options);
+  setUartMode(&options, *uartCookie);
+  if (uartCookie->getInputShouldBeFlushed()) {
+    tcflush(fd, TCIFLUSH);
+  }
+
+  /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
+  options.c_cc[VTIME] = 0;
+  options.c_cc[VMIN] = 0;
+
+  configureBaudrate(&options, uartCookie);
+
+  /* Save option settings */
+  if (tcsetattr(fd, TCSANOW, &options) != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
+                 << ": " << strerror(errno);
+#endif
+    return fd;
+  }
+  return fd;
+}
+
+void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
+  /* Clear parity bit */
+  options->c_cflag &= ~PARENB;
+  switch (uartCookie->getParity()) {
+    case Parity::EVEN:
+      options->c_cflag |= PARENB;
+      options->c_cflag &= ~PARODD;
+      break;
+    case Parity::ODD:
+      options->c_cflag |= PARENB;
+      options->c_cflag |= PARODD;
+      break;
+    default:
+      break;
+  }
+}
+
+void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
+  /* Clear stop field. Sets stop bit to one bit */
+  options->c_cflag &= ~CSTOPB;
+  switch (uartCookie->getStopBits()) {
+    case StopBits::TWO_STOP_BITS:
+      options->c_cflag |= CSTOPB;
+      break;
+    default:
+      break;
+  }
+}
+
+void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
+  /* Clear size bits */
+  options->c_cflag &= ~CSIZE;
+  switch (uartCookie->getBitsPerWord()) {
+    case BitsPerWord::BITS_5:
+      options->c_cflag |= CS5;
+      break;
+    case BitsPerWord::BITS_6:
+      options->c_cflag |= CS6;
+      break;
+    case BitsPerWord::BITS_7:
+      options->c_cflag |= CS7;
+      break;
+    case BitsPerWord::BITS_8:
+      options->c_cflag |= CS8;
+      break;
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+#endif
+      break;
+  }
+}
+
+void UartComIF::setFixedOptions(struct termios* options) {
+  /* Disable RTS/CTS hardware flow control */
+  options->c_cflag &= ~CRTSCTS;
+  /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
+  options->c_cflag |= CREAD | CLOCAL;
+  /* Disable echo */
+  options->c_lflag &= ~ECHO;
+  /* Disable erasure */
+  options->c_lflag &= ~ECHOE;
+  /* Disable new-line echo */
+  options->c_lflag &= ~ECHONL;
+  /* Disable interpretation of INTR, QUIT and SUSP */
+  options->c_lflag &= ~ISIG;
+  /* Turn off s/w flow ctrl */
+  options->c_iflag &= ~(IXON | IXOFF | IXANY);
+  /* Disable any special handling of received bytes */
+  options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
+  /* Prevent special interpretation of output bytes (e.g. newline chars) */
+  options->c_oflag &= ~OPOST;
+  /* Prevent conversion of newline to carriage return/line feed */
+  options->c_oflag &= ~ONLCR;
+}
+
+void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
+  switch (uartCookie->getBaudrate()) {
+    case UartBaudRate::RATE_50:
+      cfsetispeed(options, B50);
+      cfsetospeed(options, B50);
+      break;
+    case UartBaudRate::RATE_75:
+      cfsetispeed(options, B75);
+      cfsetospeed(options, B75);
+      break;
+    case UartBaudRate::RATE_110:
+      cfsetispeed(options, B110);
+      cfsetospeed(options, B110);
+      break;
+    case UartBaudRate::RATE_134:
+      cfsetispeed(options, B134);
+      cfsetospeed(options, B134);
+      break;
+    case UartBaudRate::RATE_150:
+      cfsetispeed(options, B150);
+      cfsetospeed(options, B150);
+      break;
+    case UartBaudRate::RATE_200:
+      cfsetispeed(options, B200);
+      cfsetospeed(options, B200);
+      break;
+    case UartBaudRate::RATE_300:
+      cfsetispeed(options, B300);
+      cfsetospeed(options, B300);
+      break;
+    case UartBaudRate::RATE_600:
+      cfsetispeed(options, B600);
+      cfsetospeed(options, B600);
+      break;
+    case UartBaudRate::RATE_1200:
+      cfsetispeed(options, B1200);
+      cfsetospeed(options, B1200);
+      break;
+    case UartBaudRate::RATE_1800:
+      cfsetispeed(options, B1800);
+      cfsetospeed(options, B1800);
+      break;
+    case UartBaudRate::RATE_2400:
+      cfsetispeed(options, B2400);
+      cfsetospeed(options, B2400);
+      break;
+    case UartBaudRate::RATE_4800:
+      cfsetispeed(options, B4800);
+      cfsetospeed(options, B4800);
+      break;
+    case UartBaudRate::RATE_9600:
+      cfsetispeed(options, B9600);
+      cfsetospeed(options, B9600);
+      break;
+    case UartBaudRate::RATE_19200:
+      cfsetispeed(options, B19200);
+      cfsetospeed(options, B19200);
+      break;
+    case UartBaudRate::RATE_38400:
+      cfsetispeed(options, B38400);
+      cfsetospeed(options, B38400);
+      break;
+    case UartBaudRate::RATE_57600:
+      cfsetispeed(options, B57600);
+      cfsetospeed(options, B57600);
+      break;
+    case UartBaudRate::RATE_115200:
+      cfsetispeed(options, B115200);
+      cfsetospeed(options, B115200);
+      break;
+    case UartBaudRate::RATE_230400:
+      cfsetispeed(options, B230400);
+      cfsetospeed(options, B230400);
+      break;
+#ifndef __APPLE__
+    case UartBaudRate::RATE_460800:
+      cfsetispeed(options, B460800);
+      cfsetospeed(options, B460800);
+      break;
+    case UartBaudRate::RATE_500000:
+      cfsetispeed(options, B500000);
+      cfsetospeed(options, B500000);
+      break;
+    case UartBaudRate::RATE_576000:
+      cfsetispeed(options, B576000);
+      cfsetospeed(options, B576000);
+      break;
+    case UartBaudRate::RATE_921600:
+      cfsetispeed(options, B921600);
+      cfsetospeed(options, B921600);
+      break;
+    case UartBaudRate::RATE_1000000:
+      cfsetispeed(options, B1000000);
+      cfsetospeed(options, B1000000);
+      break;
+    case UartBaudRate::RATE_1152000:
+      cfsetispeed(options, B1152000);
+      cfsetospeed(options, B1152000);
+      break;
+    case UartBaudRate::RATE_1500000:
+      cfsetispeed(options, B1500000);
+      cfsetospeed(options, B1500000);
+      break;
+    case UartBaudRate::RATE_2000000:
+      cfsetispeed(options, B2000000);
+      cfsetospeed(options, B2000000);
+      break;
+    case UartBaudRate::RATE_2500000:
+      cfsetispeed(options, B2500000);
+      cfsetospeed(options, B2500000);
+      break;
+    case UartBaudRate::RATE_3000000:
+      cfsetispeed(options, B3000000);
+      cfsetospeed(options, B3000000);
+      break;
+    case UartBaudRate::RATE_3500000:
+      cfsetispeed(options, B3500000);
+      cfsetospeed(options, B3500000);
+      break;
+    case UartBaudRate::RATE_4000000:
+      cfsetispeed(options, B4000000);
+      cfsetospeed(options, B4000000);
+      break;
+#endif  // ! __APPLE__
+    default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#endif
+      break;
+  }
+}
+
+ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+  int fd = 0;
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+
+  if (sendLen == 0) {
+    return RETURN_OK;
+  }
+
+  if (sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
+               << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  fd = uartDeviceMapIter->second.fileDescriptor;
+
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
+               << ": Error description: " << strerror(errno) << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
+
+ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  UartModes uartMode = uartCookie->getUartMode();
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+
+  if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
+    return RETURN_OK;
+  }
+
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
+               << " not in uart map" << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  if (uartMode == UartModes::CANONICAL) {
+    return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
+  } else if (uartMode == UartModes::NON_CANONICAL) {
+    return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
+  } else {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+}
+
+ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                             size_t requestLen) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  uint8_t maxReadCycles = uartCookie.getReadCycles();
+  uint8_t currentReadCycles = 0;
+  int bytesRead = 0;
+  size_t currentBytesRead = 0;
+  size_t maxReplySize = uartCookie.getMaxReplyLen();
+  int fd = iter->second.fileDescriptor;
+  auto bufferPtr = iter->second.replyBuffer.data();
+  iter->second.replyLen = 0;
+  do {
+    size_t allowedReadSize = 0;
+    if (currentBytesRead >= maxReplySize) {
+      // Overflow risk. Emit warning, trigger event and break. If this happens,
+      // the reception buffer is not large enough or data is not polled often enough.
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
+                   << std::endl;
+#else
+      sif::printWarning(
+          "UartComIF::requestReceiveMessage: "
+          "Next read would cause overflow!");
+#endif
+#endif
+      result = UART_RX_BUFFER_TOO_SMALL;
+      break;
+    } else {
+      allowedReadSize = maxReplySize - currentBytesRead;
+    }
+
+    bytesRead = read(fd, bufferPtr, allowedReadSize);
+    if (bytesRead < 0) {
+      // EAGAIN: No data available in non-blocking mode
+      if (errno != EAGAIN) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
+                     << strerror(errno) << std::endl;
+#else
+        sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
+                          strerror(errno));
+#endif
+#endif
+        return RETURN_FAILED;
+      }
+
+    } else if (bytesRead > 0) {
+      iter->second.replyLen += bytesRead;
+      bufferPtr += bytesRead;
+      currentBytesRead += bytesRead;
+    }
+    currentReadCycles++;
+  } while (bytesRead > 0 and currentReadCycles < maxReadCycles);
+  return result;
+}
+
+ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                                size_t requestLen) {
+  int fd = iter->second.fileDescriptor;
+  auto bufferPtr = iter->second.replyBuffer.data();
+  // Size check to prevent buffer overflow
+  if (requestLen > uartCookie.getMaxReplyLen()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
+                 << std::endl;
+#else
+    sif::printWarning(
+        "UartComIF::requestReceiveMessage: "
+        "Next read would cause overflow!");
+#endif
+#endif
+    return UART_RX_BUFFER_TOO_SMALL;
+  }
+  int bytesRead = read(fd, bufferPtr, requestLen);
+  if (bytesRead < 0) {
+    return RETURN_FAILED;
+  } else if (bytesRead != static_cast<int>(requestLen)) {
+    if (uartCookie.isReplySizeFixed()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
+                   << requestLen << " bytes" << std::endl;
+#endif
+      return RETURN_FAILED;
+    }
+  }
+  iter->second.replyLen = bytesRead;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
+               << std::endl;
+#endif
+    return RETURN_FAILED;
+  }
+
+  *buffer = uartDeviceMapIter->second.replyBuffer.data();
+  *size = uartDeviceMapIter->second.replyLen;
+
+  /* Length is reset to 0 to prevent reading the same data twice */
+  uartDeviceMapIter->second.replyLen = 0;
+
+  return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
+    int fd = uartDeviceMapIter->second.fileDescriptor;
+    tcflush(fd, TCIFLUSH);
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
+    int fd = uartDeviceMapIter->second.fileDescriptor;
+    tcflush(fd, TCOFLUSH);
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
+  std::string deviceFile;
+  UartDeviceMapIter uartDeviceMapIter;
+  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+  deviceFile = uartCookie->getDeviceFile();
+  uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
+    int fd = uartDeviceMapIter->second.fileDescriptor;
+    tcflush(fd, TCIOFLUSH);
+    return RETURN_OK;
+  }
+  return RETURN_FAILED;
+}
+
+void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
+  UartModes uartMode = uartCookie.getUartMode();
+  if (uartMode == UartModes::NON_CANONICAL) {
+    /* Disable canonical mode */
+    options->c_lflag &= ~ICANON;
+  } else if (uartMode == UartModes::CANONICAL) {
+    options->c_lflag |= ICANON;
+  }
+}

src/fsfw_hal/linux/uart/UartComIF.h

@@ -0,0 +1,121 @@
+#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
+#define BSP_Q7S_COMIF_UARTCOMIF_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+
+#include <unordered_map>
+#include <vector>
+
+#include "UartCookie.h"
+
+/**
+ * @brief 	This is the communication interface to access serial ports on linux based operating
+ *          systems.
+ *
+ * @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
+ *          operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
+ *
+ * @author 	J. Meier
+ */
+class UartComIF : public DeviceCommunicationIF, public SystemObject {
+ public:
+  static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
+
+  static constexpr ReturnValue_t UART_READ_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
+  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
+  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);
+
+  UartComIF(object_id_t objectId);
+
+  virtual ~UartComIF();
+
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+
+  /**
+   * @brief   This function discards all data received but not read in the UART buffer.
+   */
+  ReturnValue_t flushUartRxBuffer(CookieIF* cookie);
+
+  /**
+   * @brief   This function discards all data in the transmit buffer of the UART driver.
+   */
+  ReturnValue_t flushUartTxBuffer(CookieIF* cookie);
+
+  /**
+   * @brief   This function discards both data in the transmit and receive buffer of the UART.
+   */
+  ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
+
+ private:
+  using UartDeviceFile_t = std::string;
+
+  struct UartElements {
+    int fileDescriptor;
+    std::vector<uint8_t> replyBuffer;
+    /** Number of bytes read will be written to this variable */
+    size_t replyLen;
+  };
+
+  using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
+  using UartDeviceMapIter = UartDeviceMap::iterator;
+
+  /**
+   * The uart devie map stores informations of initialized uart ports.
+   */
+  UartDeviceMap uartDeviceMap;
+
+  /**
+   * @brief	This function opens and configures a uart device by using the information stored
+   *          in the uart cookie.
+   * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
+   *                      uart device file, baudrate, parity, stopbits etc.
+   * @return  The file descriptor of the configured uart.
+   */
+  int configureUartPort(UartCookie* uartCookie);
+
+  /**
+   * @brief   This function adds the parity settings to the termios options struct.
+   *
+   * @param options   Pointer to termios options struct which will be modified to enable or disable
+   *                  parity checking.
+   * @param uartCookie    Pointer to uart cookie containing the information about the desired
+   *                      parity settings.
+   *
+   */
+  void setParityOptions(struct termios* options, UartCookie* uartCookie);
+
+  void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
+
+  /**
+   * @brief   This function sets options which are not configurable by the uartCookie.
+   */
+  void setFixedOptions(struct termios* options);
+
+  /**
+   * @brief   With this function the datasize settings are added to the termios options struct.
+   */
+  void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
+
+  /**
+   * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
+   *          struct.
+   */
+  void configureBaudrate(struct termios* options, UartCookie* uartCookie);
+
+  void setUartMode(struct termios* options, UartCookie& uartCookie);
+
+  ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                    size_t requestLen);
+  ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                       size_t requestLen);
+};
+
+#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

src/fsfw_hal/linux/uart/UartCookie.cpp

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

src/fsfw_hal/linux/uart/UartCookie.h

@@ -0,0 +1,142 @@
+#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
+#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/objectmanager/SystemObjectIF.h>
+
+#include <string>
+
+enum class Parity { NONE, EVEN, ODD };
+
+enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
+
+enum class UartModes { CANONICAL, NON_CANONICAL };
+
+enum class BitsPerWord { BITS_5, BITS_6, BITS_7, BITS_8 };
+
+enum class UartBaudRate {
+  RATE_50,
+  RATE_75,
+  RATE_110,
+  RATE_134,
+  RATE_150,
+  RATE_200,
+  RATE_300,
+  RATE_600,
+  RATE_1200,
+  RATE_1800,
+  RATE_2400,
+  RATE_4800,
+  RATE_9600,
+  RATE_19200,
+  RATE_38400,
+  RATE_57600,
+  RATE_115200,
+  RATE_230400,
+  RATE_460800,
+  RATE_500000,
+  RATE_576000,
+  RATE_921600,
+  RATE_1000000,
+  RATE_1152000,
+  RATE_1500000,
+  RATE_2000000,
+  RATE_2500000,
+  RATE_3000000,
+  RATE_3500000,
+  RATE_4000000
+};
+
+/**
+ * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
+ *          The constructor only requests for common options like the baudrate. Other options can
+ *          be set by member functions.
+ *
+ * @author 	J. Meier
+ */
+class UartCookie : public CookieIF {
+ public:
+  /**
+   * @brief	Constructor for the uart cookie.
+   * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
+   * @param uartMode      Specify the UART mode. The canonical mode should be used if the
+   *                      messages are separated by a delimited character like '\n'. See the
+   *                      termios documentation for more information
+   * @param baudrate      The baudrate to use for input and output.
+   * @param maxReplyLen   The maximum size an object using this cookie expects
+   * @details
+   * Default configuration: No parity
+   *                        8 databits (number of bits transfered with one uart frame)
+   *                        One stop bit
+   */
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartBaudRate baudrate,
+             size_t maxReplyLen, UartModes uartMode = UartModes::NON_CANONICAL);
+
+  virtual ~UartCookie();
+
+  UartBaudRate getBaudrate() const;
+  size_t getMaxReplyLen() const;
+  std::string getDeviceFile() const;
+  Parity getParity() const;
+  BitsPerWord getBitsPerWord() const;
+  StopBits getStopBits() const;
+  UartModes getUartMode() const;
+  object_id_t getHandlerId() const;
+
+  /**
+   * The UART ComIF will only perform a specified number of read cycles for the canonical mode.
+   * The user can specify how many of those read cycles are performed for one device handler
+   * communication cycle. An example use-case would be to read all available GPS NMEA strings
+   * at once.
+   * @param readCycles
+   */
+  void setReadCycles(uint8_t readCycles);
+  uint8_t getReadCycles() const;
+
+  /**
+   * Allows to flush the data which was received but has not been read yet. This is useful
+   * to discard obsolete data at software startup.
+   */
+  void setToFlushInput(bool enable);
+  bool getInputShouldBeFlushed();
+
+  /**
+   * Functions two enable parity checking.
+   */
+  void setParityOdd();
+  void setParityEven();
+
+  /**
+   * Function two set number of bits per UART frame.
+   */
+  void setBitsPerWord(BitsPerWord bitsPerWord_);
+
+  /**
+   * Function to specify the number of stopbits.
+   */
+  void setTwoStopBits();
+  void setOneStopBit();
+
+  /**
+   * Calling this function prevents the UartComIF to return failed if not all requested bytes
+   * could be read. This is required by a device handler when the size of a reply is not known.
+   */
+  void setNoFixedSizeReply();
+
+  bool isReplySizeFixed();
+
+ private:
+  const object_id_t handlerId;
+  std::string deviceFile;
+  const UartModes uartMode;
+  bool flushInput = false;
+  UartBaudRate baudrate;
+  size_t maxReplyLen = 0;
+  Parity parity = Parity::NONE;
+  BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
+  uint8_t readCycles = 1;
+  StopBits stopBits = StopBits::ONE_STOP_BIT;
+  bool replySizeFixed = true;
+};
+
+#endif

src/fsfw_hal/linux/uio/CMakeLists.txt

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

src/fsfw_hal/linux/uio/UioMapper.cpp

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

src/fsfw_hal/linux/uio/UioMapper.h

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

src/fsfw_hal/linux/utility.cpp

@@ -0,0 +1,23 @@
+#include "fsfw_hal/linux/utility.h"
+
+#include <cerrno>
+#include <cstring>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+void utility::handleIoctlError(const char* const customPrintout) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  if (customPrintout != nullptr) {
+    sif::warning << customPrintout << std::endl;
+  }
+  sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
+#else
+  if (customPrintout != nullptr) {
+    sif::printWarning("%s\n", customPrintout);
+  }
+  sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+}

src/fsfw_hal/linux/utility.h

@@ -0,0 +1,10 @@
+#ifndef LINUX_UTILITY_UTILITY_H_
+#define LINUX_UTILITY_UTILITY_H_
+
+namespace utility {
+
+void handleIoctlError(const char* const customPrintout);
+
+}
+
+#endif /* LINUX_UTILITY_UTILITY_H_ */

src/fsfw_hal/stm32h7/CMakeLists.txt

@@ -0,0 +1,5 @@
+add_subdirectory(spi)
+add_subdirectory(gpio)
+add_subdirectory(devicetest)
+
+target_sources(${LIB_FSFW_NAME} PRIVATE dma.cpp)

src/fsfw_hal/stm32h7/definitions.h

@@ -0,0 +1,26 @@
+#ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_
+#define FSFW_HAL_STM32H7_DEFINITIONS_H_
+
+#include <utility>
+
+#include "stm32h7xx.h"
+
+namespace stm32h7 {
+
+/**
+ * Typedef for STM32 GPIO pair where the first entry is the port used (e.g. GPIOA)
+ * and the second entry is the pin number
+ */
+struct GpioCfg {
+  GpioCfg() : port(nullptr), pin(0), altFnc(0){};
+
+  GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
+      : port(port), pin(pin), altFnc(altFnc){};
+  GPIO_TypeDef* port;
+  uint16_t pin;
+  uint8_t altFnc;
+};
+
+}  // namespace stm32h7
+
+#endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE GyroL3GD20H.cpp)

src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp

@@ -0,0 +1,556 @@
+#include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
+
+#include <cstring>
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
+#include "stm32h7xx_hal_rcc.h"
+#include "stm32h7xx_hal_spi.h"
+
+alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
+alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> GyroL3GD20H::txBuffer
+    __attribute__((section(".dma_buffer")));
+
+TransferStates transferState = TransferStates::IDLE;
+spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
+
+GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
+    : spiHandle(spiHandle) {
+  txDmaHandle = new DMA_HandleTypeDef();
+  rxDmaHandle = new DMA_HandleTypeDef();
+  spi::setSpiHandle(spiHandle);
+  spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
+  transferMode = transferMode_;
+  if (transferMode == spi::TransferModes::DMA) {
+    mspCfg = new spi::MspDmaConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
+    spi::setDmaHandles(txDmaHandle, rxDmaHandle);
+    stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS);
+    spi::setSpiDmaMspFunctions(typedCfg);
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
+    mspCfg = new spi::MspIrqConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
+    stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
+    spi::setSpiIrqMspFunctions(typedCfg);
+  } else if (transferMode == spi::TransferModes::POLLING) {
+    mspCfg = new spi::MspPollingConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
+    stm32h7::h743zi::standardPollingCfg(*typedCfg);
+    spi::setSpiPollingMspFunctions(typedCfg);
+  }
+
+  spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, nullptr);
+  spi::assignTransferErrorCallback(&spiTransferErrorCallback, nullptr);
+
+  GPIO_InitTypeDef chipSelect = {};
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+  chipSelect.Pin = GPIO_PIN_14;
+  chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
+  HAL_GPIO_Init(GPIOD, &chipSelect);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+}
+
+GyroL3GD20H::~GyroL3GD20H() {
+  delete txDmaHandle;
+  delete rxDmaHandle;
+  if (mspCfg != nullptr) {
+    delete mspCfg;
+  }
+}
+
+ReturnValue_t GyroL3GD20H::initialize() {
+  // Configure the SPI peripheral
+  spiHandle->Instance = SPI1;
+  spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
+  spiHandle->Init.Direction = SPI_DIRECTION_2LINES;
+  spi::assignSpiMode(spi::SpiModes::MODE_3, *spiHandle);
+  spiHandle->Init.DataSize = SPI_DATASIZE_8BIT;
+  spiHandle->Init.FirstBit = SPI_FIRSTBIT_MSB;
+  spiHandle->Init.TIMode = SPI_TIMODE_DISABLE;
+  spiHandle->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+  spiHandle->Init.CRCPolynomial = 7;
+  spiHandle->Init.CRCLength = SPI_CRC_LENGTH_8BIT;
+  spiHandle->Init.NSS = SPI_NSS_SOFT;
+  spiHandle->Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
+  // Recommended setting to avoid glitches
+  spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+  spiHandle->Init.Mode = SPI_MODE_MASTER;
+  if (HAL_SPI_Init(spiHandle) != HAL_OK) {
+    sif::printWarning("Error initializing SPI\n");
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  delete mspCfg;
+  transferState = TransferStates::WAIT;
+
+  sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
+
+  txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
+  txBuffer[1] = 0;
+
+  switch (transferMode) {
+    case (spi::TransferModes::DMA): {
+      return handleDmaTransferInit();
+    }
+    case (spi::TransferModes::INTERRUPT): {
+      return handleInterruptTransferInit();
+    }
+    case (spi::TransferModes::POLLING): {
+      return handlePollingTransferInit();
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::performOperation() {
+  switch (transferMode) {
+    case (spi::TransferModes::DMA): {
+      return handleDmaSensorRead();
+    }
+    case (spi::TransferModes::POLLING): {
+      return handlePollingSensorRead();
+    }
+    case (spi::TransferModes::INTERRUPT): {
+      return handleInterruptSensorRead();
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
+  /* Clean D-cache */
+  /* Make sure the address is 32-byte aligned and add 32-bytes to length,
+  in case it overlaps cacheline */
+  // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
+  HAL_StatusTypeDef result = performDmaTransfer(2);
+  if (result != HAL_OK) {
+    // Transfer error in transmission process
+    sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
+  }
+
+  // Wait for the transfer to complete
+  while (transferState == TransferStates::WAIT) {
+    TaskFactory::delayTask(1);
+  }
+
+  switch (transferState) {
+    case (TransferStates::SUCCESS): {
+      uint8_t whoAmIVal = rxBuffer[1];
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+        sif::printDebug(
+            "GyroL3GD20H::initialize: "
+            "Read WHO AM I value %d not equal to expected value!\n",
+            whoAmIVal);
+      }
+      transferState = TransferStates::IDLE;
+      break;
+    }
+    case (TransferStates::FAILURE): {
+      sif::printWarning("Transfer failure\n");
+      transferState = TransferStates::FAILURE;
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  // Configure the 5 configuration registers
+  uint8_t configRegs[5];
+  prepareConfigRegs(configRegs);
+
+  result = performDmaTransfer(6);
+  if (result != HAL_OK) {
+    // Transfer error in transmission process
+    sif::printWarning("Error transmitting SPI with DMA\n");
+  }
+
+  // Wait for the transfer to complete
+  while (transferState == TransferStates::WAIT) {
+    TaskFactory::delayTask(1);
+  }
+
+  switch (transferState) {
+    case (TransferStates::SUCCESS): {
+      sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
+      transferState = TransferStates::IDLE;
+      break;
+    }
+    case (TransferStates::FAILURE): {
+      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
+      transferState = TransferStates::FAILURE;
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  std::memset(txBuffer.data() + 1, 0, 5);
+  result = performDmaTransfer(6);
+  if (result != HAL_OK) {
+    // Transfer error in transmission process
+    sif::printWarning("Error transmitting SPI with DMA\n");
+  }
+  // Wait for the transfer to complete
+  while (transferState == TransferStates::WAIT) {
+    TaskFactory::delayTask(1);
+  }
+
+  switch (transferState) {
+    case (TransferStates::SUCCESS): {
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+          rxBuffer[5] != configRegs[4]) {
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+      } else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
+      transferState = TransferStates::IDLE;
+      break;
+    }
+    case (TransferStates::FAILURE): {
+      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
+      transferState = TransferStates::FAILURE;
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  std::memset(txBuffer.data() + 1, 0, 14);
+
+  HAL_StatusTypeDef result = performDmaTransfer(15);
+  if (result != HAL_OK) {
+    // Transfer error in transmission process
+    sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
+  }
+  // Wait for the transfer to complete
+  while (transferState == TransferStates::WAIT) {
+    TaskFactory::delayTask(1);
+  }
+
+  switch (transferState) {
+    case (TransferStates::SUCCESS): {
+      handleSensorReadout();
+      break;
+    }
+    case (TransferStates::FAILURE): {
+      sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
+      transferState = TransferStates::FAILURE;
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
+  transferState = TransferStates::WAIT;
+#if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
+  SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
+                          txBuffer.size() + 32);
+#endif
+
+  // Start SPI transfer via DMA
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
+}
+
+ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  switch (result) {
+    case (HAL_OK): {
+      sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
+      uint8_t whoAmIVal = rxBuffer[1];
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+        sif::printDebug(
+            "GyroL3GD20H::performOperation: "
+            "Read WHO AM I value %d not equal to expected value!\n",
+            whoAmIVal);
+      }
+      break;
+    }
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case (HAL_ERROR): {
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  // Configure the 5 configuration registers
+  uint8_t configRegs[5];
+  prepareConfigRegs(configRegs);
+
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  switch (result) {
+    case (HAL_OK): {
+      break;
+    }
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case (HAL_ERROR): {
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  std::memset(txBuffer.data() + 1, 0, 5);
+
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  switch (result) {
+    case (HAL_OK): {
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+          rxBuffer[5] != configRegs[4]) {
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+      } else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
+      break;
+    }
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case (HAL_ERROR): {
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  std::memset(txBuffer.data() + 1, 0, 14);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+
+  switch (result) {
+    case (HAL_OK): {
+      handleSensorReadout();
+      break;
+    }
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case (HAL_ERROR): {
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
+    case (HAL_OK): {
+      sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
+      // Wait for the transfer to complete
+      while (transferState == TransferStates::WAIT) {
+        TaskFactory::delayTask(1);
+      }
+
+      uint8_t whoAmIVal = rxBuffer[1];
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+        sif::printDebug(
+            "GyroL3GD20H::initialize: "
+            "Read WHO AM I value %d not equal to expected value!\n",
+            whoAmIVal);
+      }
+      break;
+    }
+    case (HAL_BUSY):
+    case (HAL_ERROR):
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  transferState = TransferStates::WAIT;
+  // Configure the 5 configuration registers
+  uint8_t configRegs[5];
+  prepareConfigRegs(configRegs);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+    case (HAL_OK): {
+      // Wait for the transfer to complete
+      while (transferState == TransferStates::WAIT) {
+        TaskFactory::delayTask(1);
+      }
+      break;
+    }
+    case (HAL_BUSY):
+    case (HAL_ERROR):
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  std::memset(txBuffer.data() + 1, 0, 5);
+  transferState = TransferStates::WAIT;
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+    case (HAL_OK): {
+      // Wait for the transfer to complete
+      while (transferState == TransferStates::WAIT) {
+        TaskFactory::delayTask(1);
+      }
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+          rxBuffer[5] != configRegs[4]) {
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+      } else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
+      break;
+    }
+    case (HAL_BUSY):
+    case (HAL_ERROR):
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
+  transferState = TransferStates::WAIT;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  std::memset(txBuffer.data() + 1, 0, 14);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
+    case (HAL_OK): {
+      // Wait for the transfer to complete
+      while (transferState == TransferStates::WAIT) {
+        TaskFactory::delayTask(1);
+      }
+      handleSensorReadout();
+      break;
+    }
+    case (HAL_BUSY):
+    case (HAL_ERROR):
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
+  // Enable sensor
+  configRegs[0] = 0b00001111;
+  configRegs[1] = 0b00000000;
+  configRegs[2] = 0b00000000;
+  // Big endian select
+  configRegs[3] = 0b01000000;
+  configRegs[4] = 0b00000000;
+
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
+  std::memcpy(txBuffer.data() + 1, configRegs, 5);
+}
+
+uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
+  uint8_t rxBuf[2] = {};
+  uint8_t txBuf[2] = {};
+  txBuf[0] = reg | STM_READ_MASK;
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
+  if (result) {
+  };
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  return rxBuf[1];
+}
+
+void GyroL3GD20H::handleSensorReadout() {
+  uint8_t statusReg = rxBuffer[8];
+  int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
+  float gyroX = static_cast<float>(gyroXRaw) * 0.00875;
+  int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
+  float gyroY = static_cast<float>(gyroYRaw) * 0.00875;
+  int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
+  float gyroZ = static_cast<float>(gyroZRaw) * 0.00875;
+  sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
+  sif::printInfo("Gyro X: %f\n", gyroX);
+  sif::printInfo("Gyro Y: %f\n", gyroY);
+  sif::printInfo("Gyro Z: %f\n", gyroZ);
+}
+
+void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
+  transferState = TransferStates::SUCCESS;
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  if (GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
+    // Invalidate cache prior to access by CPU
+    SCB_InvalidateDCache_by_Addr((uint32_t *)GyroL3GD20H::rxBuffer.data(),
+                                 GyroL3GD20H::recvBufferSize);
+  }
+}
+
+/**
+ * @brief  SPI error callbacks.
+ * @param  hspi: SPI handle
+ * @note   This example shows a simple way to report transfer error, and you can
+ *         add your own implementation.
+ * @retval None
+ */
+void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
+  transferState = TransferStates::FAILURE;
+}

src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h

@@ -0,0 +1,65 @@
+#ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
+#define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
+
+#include <array>
+#include <cstdint>
+
+#include "../spi/mspInit.h"
+#include "../spi/spiDefinitions.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_spi.h"
+
+#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
+#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
+#endif
+
+enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
+
+class GyroL3GD20H {
+ public:
+  GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
+  ~GyroL3GD20H();
+
+  ReturnValue_t initialize();
+  ReturnValue_t performOperation();
+
+ private:
+  const uint8_t WHO_AM_I_REG = 0b00001111;
+  const uint8_t STM_READ_MASK = 0b10000000;
+  const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
+  const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
+  const uint8_t CTRL_REG_1 = 0b00100000;
+  const uint32_t L3G_RANGE = 245;
+
+  SPI_HandleTypeDef* spiHandle;
+
+  static spi::TransferModes transferMode;
+  static constexpr size_t recvBufferSize = 32 * 10;
+  static std::array<uint8_t, recvBufferSize> rxBuffer;
+  static constexpr size_t txBufferSize = 32;
+  static std::array<uint8_t, txBufferSize> txBuffer;
+
+  ReturnValue_t handleDmaTransferInit();
+  ReturnValue_t handlePollingTransferInit();
+  ReturnValue_t handleInterruptTransferInit();
+
+  ReturnValue_t handleDmaSensorRead();
+  HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
+  ReturnValue_t handlePollingSensorRead();
+  ReturnValue_t handleInterruptSensorRead();
+
+  uint8_t readRegPolling(uint8_t reg);
+
+  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
+  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
+
+  void prepareConfigRegs(uint8_t* configRegs);
+  void handleSensorReadout();
+
+  DMA_HandleTypeDef* txDmaHandle = {};
+  DMA_HandleTypeDef* rxDmaHandle = {};
+  spi::MspCfgBase* mspCfg = {};
+};
+
+#endif /*  FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */

src/fsfw_hal/stm32h7/dma.cpp

@@ -0,0 +1,51 @@
+#include <fsfw_hal/stm32h7/dma.h>
+
+#include <cstddef>
+#include <cstdint>
+
+user_handler_t DMA_1_USER_HANDLERS[8];
+user_args_t DMA_1_USER_ARGS[8];
+
+user_handler_t DMA_2_USER_HANDLERS[8];
+user_args_t DMA_2_USER_ARGS[8];
+
+void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
+                               user_handler_t user_handler, user_args_t user_args) {
+  if (dma_idx == DMA_1) {
+    DMA_1_USER_HANDLERS[stream_idx] = user_handler;
+    DMA_1_USER_ARGS[stream_idx] = user_args;
+  } else if (dma_idx == DMA_2) {
+    DMA_2_USER_HANDLERS[stream_idx] = user_handler;
+    DMA_2_USER_ARGS[stream_idx] = user_args;
+  }
+}
+
+// The interrupt handlers in the format required for the IRQ vector table
+
+/* Do not change these function names! They need to be exactly equal to the name of the functions
+defined in the startup_stm32h743xx.s files! */
+
+#define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX)                                  \
+  if (DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) {                            \
+    DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
+    return;                                                                           \
+  }                                                                                   \
+  Default_Handler()
+
+extern "C" void DMA1_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 0); }
+extern "C" void DMA1_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 1); }
+extern "C" void DMA1_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 2); }
+extern "C" void DMA1_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 3); }
+extern "C" void DMA1_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 4); }
+extern "C" void DMA1_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 5); }
+extern "C" void DMA1_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 6); }
+extern "C" void DMA1_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 7); }
+
+extern "C" void DMA2_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 0); }
+extern "C" void DMA2_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 1); }
+extern "C" void DMA2_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 2); }
+extern "C" void DMA2_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 3); }
+extern "C" void DMA2_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 4); }
+extern "C" void DMA2_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 5); }
+extern "C" void DMA2_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 6); }
+extern "C" void DMA2_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 7); }

src/fsfw_hal/stm32h7/dma.h

@@ -0,0 +1,44 @@
+#ifndef FSFW_HAL_STM32H7_DMA_H_
+#define FSFW_HAL_STM32H7_DMA_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <cstdint>
+
+#include "interrupts.h"
+
+namespace dma {
+
+enum DMAType { TX = 0, RX = 1 };
+
+enum DMAIndexes : uint8_t { DMA_1 = 1, DMA_2 = 2 };
+
+enum DMAStreams {
+  STREAM_0 = 0,
+  STREAM_1 = 1,
+  STREAM_2 = 2,
+  STREAM_3 = 3,
+  STREAM_4 = 4,
+  STREAM_5 = 5,
+  STREAM_6 = 6,
+  STREAM_7 = 7,
+};
+
+/**
+ * Assign user interrupt handlers for DMA streams, allowing to pass an
+ * arbitrary argument as well. Generally, this argument will be the related DMA handle.
+ * @param user_handler
+ * @param user_args
+ */
+void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, user_handler_t user_handler,
+                          user_args_t user_args);
+
+}  // namespace dma
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_HAL_STM32H7_DMA_H_ */

src/fsfw_hal/stm32h7/gpio/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE gpio.cpp)

src/fsfw_hal/stm32h7/gpio/gpio.cpp

@@ -0,0 +1,71 @@
+#include "fsfw_hal/stm32h7/gpio/gpio.h"
+
+#include "stm32h7xx_hal_rcc.h"
+
+void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
+#ifdef GPIOA
+  if (gpioPort == GPIOA) {
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOB
+  if (gpioPort == GPIOB) {
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOC
+  if (gpioPort == GPIOC) {
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOD
+  if (gpioPort == GPIOD) {
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOE
+  if (gpioPort == GPIOE) {
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOF
+  if (gpioPort == GPIOF) {
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOG
+  if (gpioPort == GPIOG) {
+    __HAL_RCC_GPIOG_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOH
+  if (gpioPort == GPIOH) {
+    __HAL_RCC_GPIOH_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOI
+  if (gpioPort == GPIOI) {
+    __HAL_RCC_GPIOI_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOJ
+  if (gpioPort == GPIOJ) {
+    __HAL_RCC_GPIOJ_CLK_ENABLE();
+  }
+#endif
+
+#ifdef GPIOK
+  if (gpioPort == GPIOK) {
+    __HAL_RCC_GPIOK_CLK_ENABLE();
+  }
+#endif
+}

src/fsfw_hal/stm32h7/gpio/gpio.h

@@ -0,0 +1,12 @@
+#ifndef FSFW_HAL_STM32H7_GPIO_GPIO_H_
+#define FSFW_HAL_STM32H7_GPIO_GPIO_H_
+
+#include "stm32h7xx.h"
+
+namespace gpio {
+
+void initializeGpioClock(GPIO_TypeDef* gpioPort);
+
+}
+
+#endif /* FSFW_HAL_STM32H7_GPIO_GPIO_H_ */

src/fsfw_hal/stm32h7/i2c/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE)

src/fsfw_hal/stm32h7/interrupts.h

@@ -0,0 +1,24 @@
+#ifndef FSFW_HAL_STM32H7_INTERRUPTS_H_
+#define FSFW_HAL_STM32H7_INTERRUPTS_H_
+
+#include <cstdint>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Default handler which is defined in startup file as assembly code.
+ */
+extern void Default_Handler();
+
+typedef void (*user_handler_t)(void*);
+typedef void* user_args_t;
+
+enum IrqPriorities : uint8_t { HIGHEST = 0, HIGHEST_FREERTOS = 6, LOWEST = 15 };
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* FSFW_HAL_STM32H7_INTERRUPTS_H_ */

src/fsfw_hal/stm32h7/spi/CMakeLists.txt

@@ -0,0 +1,9 @@
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE spiCore.cpp
+          spiDefinitions.cpp
+          spiInterrupts.cpp
+          mspInit.cpp
+          SpiCookie.cpp
+          SpiComIF.cpp
+          stm32h743zi.cpp)

src/fsfw_hal/stm32h7/spi/SpiComIF.cpp

@@ -0,0 +1,474 @@
+#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
+
+#include "fsfw/tasks/SemaphoreFactory.h"
+#include "fsfw_hal/stm32h7/gpio/gpio.h"
+#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+
+// FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
+// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
+// and it is not trivial to add a releaseFromISR to the SemaphoreIF
+#if defined FSFW_OSAL_RTEMS
+#include "fsfw/osal/rtems/BinarySemaphore.h"
+#elif defined FSFW_OSAL_FREERTOS
+#include "fsfw/osal/freertos/BinarySemaphore.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
+#endif
+
+#include "stm32h7xx_hal_gpio.h"
+
+SpiComIF::SpiComIF(object_id_t objectId) : SystemObject(objectId) {
+  void *irqArgsVoided = reinterpret_cast<void *>(&irqArgs);
+  spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
+  spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
+  spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
+  spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
+}
+
+void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) {
+  this->cacheMaintenanceOnTxBuffer = enable;
+}
+
+void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxHandle) {
+  spi::setDmaHandles(txHandle, rxHandle);
+}
+
+ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
+
+ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
+  if (spiCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
+#else
+    sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
+#endif
+    return NULLPOINTER;
+  }
+  auto transferMode = spiCookie->getTransferMode();
+
+  if (transferMode == spi::TransferModes::DMA) {
+    DMA_HandleTypeDef *txHandle = nullptr;
+    DMA_HandleTypeDef *rxHandle = nullptr;
+    spi::getDmaHandles(&txHandle, &rxHandle);
+    if (txHandle == nullptr or rxHandle == nullptr) {
+      sif::printError("SpiComIF::initialize: DMA handles not set!\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  // This semaphore ensures thread-safety for a given bus
+  spiSemaphore =
+      dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
+  address_t spiAddress = spiCookie->getDeviceAddress();
+
+  auto iter = spiDeviceMap.find(spiAddress);
+  if (iter == spiDeviceMap.end()) {
+    size_t bufferSize = spiCookie->getMaxRecvSize();
+    auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
+    if (not statusPair.second) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
+                 << spiAddress << "to SPI device map" << std::endl;
+#else
+      sif::printError(
+          "SpiComIF::initializeInterface: Failed to insert device with address "
+          "%lu to SPI device map\n",
+          static_cast<unsigned long>(spiAddress));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+  auto gpioPin = spiCookie->getChipSelectGpioPin();
+  auto gpioPort = spiCookie->getChipSelectGpioPort();
+
+  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
+
+  auto spiIdx = spiCookie->getSpiIdx();
+  if (spiIdx == spi::SpiBus::SPI_1) {
+#ifdef SPI1
+    spiHandle.Instance = SPI1;
+#endif
+  } else if (spiIdx == spi::SpiBus::SPI_2) {
+#ifdef SPI2
+    spiHandle.Instance = SPI2;
+#endif
+  } else {
+    printCfgError("SPI Bus Index");
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  auto mspCfg = spiCookie->getMspCfg();
+
+  if (transferMode == spi::TransferModes::POLLING) {
+    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
+    if (typedCfg == nullptr) {
+      printCfgError("Polling MSP");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    spi::setSpiPollingMspFunctions(typedCfg);
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
+    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
+    if (typedCfg == nullptr) {
+      printCfgError("IRQ MSP");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    spi::setSpiIrqMspFunctions(typedCfg);
+  } else if (transferMode == spi::TransferModes::DMA) {
+    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
+    if (typedCfg == nullptr) {
+      printCfgError("DMA MSP");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    // Check DMA handles
+    DMA_HandleTypeDef *txHandle = nullptr;
+    DMA_HandleTypeDef *rxHandle = nullptr;
+    spi::getDmaHandles(&txHandle, &rxHandle);
+    if (txHandle == nullptr or rxHandle == nullptr) {
+      printCfgError("DMA Handle");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    spi::setSpiDmaMspFunctions(typedCfg);
+  }
+
+  if (gpioPort != nullptr) {
+    gpio::initializeGpioClock(gpioPort);
+    GPIO_InitTypeDef chipSelect = {};
+    chipSelect.Pin = gpioPin;
+    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
+    HAL_GPIO_Init(gpioPort, &chipSelect);
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+  }
+
+  if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
+    sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  // The MSP configuration struct is not required anymore
+  spiCookie->deleteMspCfg();
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
+
+  auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
+  if (iter == spiDeviceMap.end()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  iter->second.currentTransferLen = sendLen;
+
+  auto transferMode = spiCookie->getTransferMode();
+  switch (spiCookie->getTransferState()) {
+    case (spi::TransferStates::IDLE): {
+      break;
+    }
+    case (spi::TransferStates::WAIT):
+    case (spi::TransferStates::FAILURE):
+    case (spi::TransferStates::SUCCESS):
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  switch (transferMode) {
+    case (spi::TransferModes::POLLING): {
+      return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+                                        sendData, sendLen);
+    }
+    case (spi::TransferModes::INTERRUPT): {
+      return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+                                          sendData, sendLen);
+    }
+    case (spi::TransferModes::DMA): {
+      return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+                                    sendData, sendLen);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
+
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+  switch (spiCookie->getTransferState()) {
+    case (spi::TransferStates::SUCCESS): {
+      auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
+      if (iter == spiDeviceMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+      }
+      *buffer = iter->second.replyBuffer.data();
+      *size = iter->second.currentTransferLen;
+      spiCookie->setTransferState(spi::TransferStates::IDLE);
+      break;
+    }
+    case (spi::TransferStates::FAILURE): {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
+#else
+      sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
+#endif
+#endif
+      spiCookie->setTransferState(spi::TransferStates::IDLE);
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    case (spi::TransferStates::WAIT):
+    case (spi::TransferStates::IDLE): {
+      break;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
+  this->defaultPollingTimeout = timeout;
+}
+
+ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
+                                                   SpiCookie &spiCookie, const uint8_t *sendData,
+                                                   size_t sendLen) {
+  auto gpioPort = spiCookie.getChipSelectGpioPort();
+  auto gpioPin = spiCookie.getChipSelectGpioPin();
+  auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
+  if (returnval != HasReturnvaluesIF::RETURN_OK) {
+    return returnval;
+  }
+  spiCookie.setTransferState(spi::TransferStates::WAIT);
+  if (gpioPort != nullptr) {
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
+  }
+
+  auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
+                                        sendLen, defaultPollingTimeout);
+  if (gpioPort != nullptr) {
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+  }
+  spiSemaphore->release();
+  switch (result) {
+    case (HAL_OK): {
+      spiCookie.setTransferState(spi::TransferStates::SUCCESS);
+      break;
+    }
+    case (HAL_TIMEOUT): {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
+                   << spiCookie->getDeviceAddress() << std::endl;
+#else
+      sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
+                        spiCookie.getDeviceAddress());
+#endif
+#endif
+      spiCookie.setTransferState(spi::TransferStates::FAILURE);
+      return spi::HAL_TIMEOUT_RETVAL;
+    }
+    case (HAL_ERROR):
+    default: {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
+                   << spiCookie->getDeviceAddress() << std::endl;
+#else
+      sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
+                        spiCookie.getDeviceAddress());
+#endif
+#endif
+      spiCookie.setTransferState(spi::TransferStates::FAILURE);
+      return spi::HAL_ERROR_RETVAL;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
+                                                     SpiCookie &spiCookie, const uint8_t *sendData,
+                                                     size_t sendLen) {
+  return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+}
+
+ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
+                                               SpiCookie &spiCookie, const uint8_t *sendData,
+                                               size_t sendLen) {
+  return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+}
+
+ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
+                                               SpiCookie &spiCookie, const uint8_t *sendData,
+                                               size_t sendLen) {
+  ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  // yet another HAL driver which is not const-correct..
+  HAL_StatusTypeDef status = HAL_OK;
+  auto transferMode = spiCookie.getTransferMode();
+  if (transferMode == spi::TransferModes::DMA) {
+    if (cacheMaintenanceOnTxBuffer) {
+      /* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
+      in case it overlaps cacheline */
+      SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
+    }
+    status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
+                                         currentRecvPtr, sendLen);
+  } else {
+    status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
+                                        sendLen);
+  }
+  switch (status) {
+    case (HAL_OK): {
+      break;
+    }
+    default: {
+      return halErrorHandler(status, transferMode);
+    }
+  }
+  return result;
+}
+
+ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
+  char modeString[10];
+  if (transferMode == spi::TransferModes::DMA) {
+    std::snprintf(modeString, sizeof(modeString), "Dma");
+  } else {
+    std::snprintf(modeString, sizeof(modeString), "Interrupt");
+  }
+  sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
+  switch (status) {
+    case (HAL_BUSY): {
+      return spi::HAL_BUSY_RETVAL;
+    }
+    case (HAL_ERROR): {
+      return spi::HAL_ERROR_RETVAL;
+    }
+    case (HAL_TIMEOUT): {
+      return spi::HAL_TIMEOUT_RETVAL;
+    }
+    default: {
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+  }
+}
+
+ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
+                                            SpiCookie &spiCookie, const uint8_t *sendData,
+                                            size_t sendLen) {
+  currentRecvPtr = recvPtr;
+  currentRecvBuffSize = sendLen;
+
+  // Take the semaphore which will be released by a callback when the transfer is complete
+  ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    // Configuration error
+    sif::printWarning(
+        "SpiComIF::handleInterruptSendOperation: Semaphore "
+        "could not be acquired after %d ms\n",
+        timeoutMs);
+    return result;
+  }
+  // Cache the current SPI handle in any case
+  spi::setSpiHandle(&spiHandle);
+  // Assign the IRQ arguments for the user callbacks
+  irqArgs.comIF = this;
+  irqArgs.spiCookie = &spiCookie;
+  // The SPI handle is passed to the default SPI callback as a void argument. This callback
+  // is different from the user callbacks specified above!
+  spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
+  if (spiCookie.getChipSelectGpioPort() != nullptr) {
+    HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
+                      GPIO_PIN_RESET);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
+}
+
+void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
+}
+
+void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
+}
+
+void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
+  genericIrqHandler(args, spi::TransferStates::FAILURE);
+}
+
+void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
+  IrqArgs *irqArgs = reinterpret_cast<IrqArgs *>(irqArgsVoid);
+  if (irqArgs == nullptr) {
+    return;
+  }
+  SpiCookie *spiCookie = irqArgs->spiCookie;
+  SpiComIF *comIF = irqArgs->comIF;
+  if (spiCookie == nullptr or comIF == nullptr) {
+    return;
+  }
+
+  spiCookie->setTransferState(targetState);
+
+  if (spiCookie->getChipSelectGpioPort() != nullptr) {
+    // Pull CS pin high again
+    HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
+                      GPIO_PIN_SET);
+  }
+
+#if defined FSFW_OSAL_FREERTOS
+  // Release the task semaphore
+  BaseType_t taskWoken = pdFALSE;
+  ReturnValue_t result =
+      BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
+#elif defined FSFW_OSAL_RTEMS
+  ReturnValue_t result = comIF->spiSemaphore->release();
+#endif
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    // Configuration error
+    printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
+  }
+
+  // Perform cache maintenance operation for DMA transfers
+  if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
+    // Invalidate cache prior to access by CPU
+    SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
+  }
+#if defined FSFW_OSAL_FREERTOS
+  /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
+  than the currently running task */
+  if (taskWoken == pdTRUE) {
+    TaskManagement::requestContextSwitch(CallContext::ISR);
+  }
+#endif
+}
+
+void SpiComIF::printCfgError(const char *const type) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration"
+               << std::endl;
+#else
+  sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type);
+#endif
+}

src/fsfw_hal/stm32h7/spi/SpiComIF.h

@@ -0,0 +1,126 @@
+#ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
+#define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
+
+#include <map>
+#include <vector>
+
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/SemaphoreIF.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "stm32h743xx.h"
+#include "stm32h7xx_hal_spi.h"
+
+class SpiCookie;
+class BinarySemaphore;
+
+/**
+ * @brief   This communication interface allows using generic device handlers with using
+ *          the STM32H7 SPI peripherals
+ * @details
+ * This communication interface supports all three major communcation modes:
+ *  - Polling: Simple, but not recommended to real use-cases, blocks the CPU
+ *  - Interrupt: Good for small data only arriving occasionally
+ *  - DMA: Good for large data which also occur regularly. Please note that the number
+ *    of DMA channels in limited
+ * The device specific information is usually kept in the SpiCookie class. The current
+ * implementation limits the transfer mode for a given SPI bus.
+ * @author  R. Mueller
+ */
+class SpiComIF : public SystemObject, public DeviceCommunicationIF {
+ public:
+  /**
+   * Create a SPI communication interface for the given SPI peripheral (spiInstance)
+   * @param objectId
+   * @param spiInstance
+   * @param spiHandle
+   * @param transferMode
+   */
+  SpiComIF(object_id_t objectId);
+
+  /**
+   * Allows the user to disable cache maintenance on the TX buffer. This can be done if the
+   * TX buffers are places and MPU protected properly like specified in this link:
+   * https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
+   * The cache maintenace is enabled by default.
+   * @param enable
+   */
+  void configureCacheMaintenanceOnTxBuffer(bool enable);
+
+  void setDefaultPollingTimeout(dur_millis_t timeout);
+
+  /**
+   * Add the DMA handles. These need to be set in the DMA transfer mode is used.
+   * @param txHandle
+   * @param rxHandle
+   */
+  void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
+
+  ReturnValue_t initialize() override;
+
+  // DeviceCommunicationIF overrides
+  virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
+  virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                    size_t sendLen) override;
+  virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+  virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
+                                            size_t* size) override;
+
+ protected:
+  struct SpiInstance {
+    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    std::vector<uint8_t> replyBuffer;
+    size_t currentTransferLen = 0;
+  };
+
+  struct IrqArgs {
+    SpiComIF* comIF = nullptr;
+    SpiCookie* spiCookie = nullptr;
+  };
+
+  IrqArgs irqArgs;
+
+  uint32_t defaultPollingTimeout = 50;
+
+  SemaphoreIF::TimeoutType timeoutType = SemaphoreIF::TimeoutType::WAITING;
+  dur_millis_t timeoutMs = 20;
+
+  BinarySemaphore* spiSemaphore = nullptr;
+  bool cacheMaintenanceOnTxBuffer = true;
+
+  using SpiDeviceMap = std::map<address_t, SpiInstance>;
+  using SpiDeviceMapIter = SpiDeviceMap::iterator;
+
+  uint8_t* currentRecvPtr = nullptr;
+  size_t currentRecvBuffSize = 0;
+
+  SpiDeviceMap spiDeviceMap;
+
+  ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                           SpiCookie& spiCookie, const uint8_t* sendData,
+                                           size_t sendLen);
+  ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                             SpiCookie& spiCookie, const uint8_t* sendData,
+                                             size_t sendLen);
+  ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                       SpiCookie& spiCookie, const uint8_t* sendData,
+                                       size_t sendLen);
+  ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                       SpiCookie& spiCookie, const uint8_t* sendData,
+                                       size_t sendLen);
+  ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                    SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
+  ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
+
+  static void spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
+  static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
+  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
+  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
+
+  static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
+
+  void printCfgError(const char* const type);
+};
+
+#endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

src/fsfw_hal/stm32h7/spi/SpiCookie.cpp

@@ -0,0 +1,60 @@
+#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
+
+SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
+                     spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
+                     size_t maxRecvSize, stm32h7::GpioCfg csGpio)
+    : deviceAddress(deviceAddress),
+      spiIdx(spiIdx),
+      spiSpeed(spiSpeed),
+      spiMode(spiMode),
+      transferMode(transferMode),
+      csGpio(csGpio),
+      mspCfg(mspCfg),
+      maxRecvSize(maxRecvSize) {
+  spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
+  spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
+  spiHandle.Init.TIMode = SPI_TIMODE_DISABLE;
+  spiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+  spiHandle.Init.CRCPolynomial = 7;
+  spiHandle.Init.CRCLength = SPI_CRC_LENGTH_8BIT;
+  spiHandle.Init.NSS = SPI_NSS_SOFT;
+  spiHandle.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
+  spiHandle.Init.Direction = SPI_DIRECTION_2LINES;
+  // Recommended setting to avoid glitches
+  spiHandle.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+  spiHandle.Init.Mode = SPI_MODE_MASTER;
+  spi::assignSpiMode(spiMode, spiHandle);
+  spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
+}
+
+uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
+
+GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
+
+address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
+
+spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
+
+spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
+
+uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
+
+size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
+
+SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
+
+spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
+
+void SpiCookie::deleteMspCfg() {
+  if (mspCfg != nullptr) {
+    delete mspCfg;
+  }
+}
+
+spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
+
+void SpiCookie::setTransferState(spi::TransferStates transferState) {
+  this->transferState = transferState;
+}
+
+spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }

src/fsfw_hal/stm32h7/spi/SpiCookie.h

@@ -0,0 +1,76 @@
+#ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
+#define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
+
+#include <utility>
+
+#include "../definitions.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "mspInit.h"
+#include "spiDefinitions.h"
+#include "stm32h743xx.h"
+
+/**
+ * @brief   SPI cookie implementation for the STM32H7 device family
+ * @details
+ * This cookie contains and caches device specific information to be used by the
+ * SPI communication interface
+ * @author  R. Mueller
+ */
+class SpiCookie : public CookieIF {
+  friend class SpiComIF;
+
+ public:
+  /**
+   * Allows construction of a SPI cookie for a connected SPI device
+   * @param deviceAddress
+   * @param spiIdx                SPI bus, e.g. SPI1 or SPI2
+   * @param transferMode
+   * @param mspCfg                This is the MSP configuration. The user is expected to supply
+   *                              a valid MSP configuration. See mspInit.h for functions
+   *                              to create one.
+   * @param spiSpeed
+   * @param spiMode
+   * @param chipSelectGpioPin     GPIO port. Don't use a number here, use the 16 bit type
+   *                              definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
+   * @param chipSelectGpioPort    GPIO port (e.g. GPIOA)
+   * @param maxRecvSize           Maximum expected receive size. Chose as small as possible.
+   * @param csGpio                Optional CS GPIO definition.
+   */
+  SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
+            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
+            stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
+
+  uint16_t getChipSelectGpioPin() const;
+  GPIO_TypeDef* getChipSelectGpioPort();
+  address_t getDeviceAddress() const;
+  spi::SpiBus getSpiIdx() const;
+  spi::SpiModes getSpiMode() const;
+  spi::TransferModes getTransferMode() const;
+  uint32_t getSpiSpeed() const;
+  size_t getMaxRecvSize() const;
+  SPI_HandleTypeDef& getSpiHandle();
+
+ private:
+  address_t deviceAddress;
+  SPI_HandleTypeDef spiHandle = {};
+  spi::SpiBus spiIdx;
+  uint32_t spiSpeed;
+  spi::SpiModes spiMode;
+  spi::TransferModes transferMode;
+  volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
+  stm32h7::GpioCfg csGpio;
+
+  // The MSP configuration is cached here. Be careful when using this, it is automatically
+  // deleted by the SPI  communication interface if it is not required anymore!
+  spi::MspCfgBase* mspCfg = nullptr;
+  const size_t maxRecvSize;
+
+  // Only the SpiComIF is allowed to use this to prevent dangling pointers issues
+  spi::MspCfgBase* getMspCfg();
+  void deleteMspCfg();
+
+  void setTransferState(spi::TransferStates transferState);
+  spi::TransferStates getTransferState() const;
+};
+
+#endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */