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

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_ */