From 30217aa42b9ca23b1a0a8a8a972953277b124c34 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 10 Nov 2021 18:51:56 +0100
Subject: [PATCH 01/14] updated SerializeAdapter.h

- Updates `SerializerAdapter` to also take simple pointer and simply assign the serialized and deSerialized size
- Added related unittests
---
 src/fsfw/serialize/SerializeAdapter.h         | 400 +++++++++++-------
 .../unit/serialize/TestSerialization.cpp      | 297 ++++++++-----
 2 files changed, 429 insertions(+), 268 deletions(-)

diff --git a/src/fsfw/serialize/SerializeAdapter.h b/src/fsfw/serialize/SerializeAdapter.h
index e6cd247e..2831472c 100644
--- a/src/fsfw/serialize/SerializeAdapter.h
+++ b/src/fsfw/serialize/SerializeAdapter.h
@@ -7,7 +7,7 @@
 #include <cstddef>
 #include <type_traits>
 
- /**
+/**
  * @brief These adapters provides an interface to use the SerializeIF functions
  * 		  with arbitrary template objects to facilitate and simplify the
  * 		  serialization of classes with different multiple different data types
@@ -20,174 +20,250 @@
  */
 class SerializeAdapter {
 public:
-	/***
-	 * This function can be used to serialize a trivial copy-able type or a
-	 * child of SerializeIF.
-	 * The right template to be called is determined in the function itself.
-	 * For objects of non trivial copy-able type this function is almost never
-	 * called by the user directly. Instead helpers for specific types like
-	 * SerialArrayListAdapter or SerialLinkedListAdapter is the right choice here.
-	 *
-	 * @param[in] object Object to serialize, the used type is deduced from this pointer
-	 * @param[in/out] buffer Buffer to serialize into. Will be moved by the function.
-	 * @param[in/out] size Size of current written buffer. Will be incremented by the function.
-	 * @param[in] maxSize Max size of Buffer
-	 * @param[in] streamEndianness Endianness of serialized element as in according to SerializeIF::Endianness
-	 * @return
-	 * 		- @c BUFFER_TOO_SHORT The given buffer in is too short
-	 * 		- @c RETURN_FAILED Generic Error
-	 * 		- @c RETURN_OK Successful serialization
-	 */
-	template<typename T>
-	static ReturnValue_t serialize(const T *object, uint8_t **buffer,
-			size_t *size, size_t maxSize,
-			SerializeIF::Endianness streamEndianness) {
-		InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
-		return adapter.serialize(object, buffer, size, maxSize,
-				streamEndianness);
-	}
-	/**
-	 * Function to return the serialized size of the object in the pointer.
-	 * May be a trivially copy-able object or a Child of SerializeIF
-	 *
-	 * @param object Pointer to Object
-	 * @return Serialized size of object
-	 */
-	template<typename T>
-	static size_t getSerializedSize(const T *object){
-		InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
-		return adapter.getSerializedSize(object);
-	}
-	/**
-	 * @brief
-	 * Deserializes a object from a given buffer of given size.
-	 * Object Must be trivially copy-able or a child of SerializeIF.
-	 *
-	 * @details
-	 * Buffer will be moved to the current read location. Size will be decreased by the function.
-	 *
-	 * @param[in/out] buffer Buffer to deSerialize from. Will be moved by the function.
-	 * @param[in/out] size Remaining size of the buffer to read from. Will be decreased by function.
-	 * @param[in] streamEndianness Endianness as in according to SerializeIF::Endianness
-	 * @return
-	 * 	- @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
-	 * 	- @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
-	 * 	- @c RETURN_FAILED Generic Error
-	 * 	- @c RETURN_OK Successful deserialization
-	 */
-	template<typename T>
-	static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
-			size_t *size, SerializeIF::Endianness streamEndianness) {
-		InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
-		return adapter.deSerialize(object, buffer, size, streamEndianness);
-	}
+    /***
+     * @brief   Serialize a trivial copy-able type or a child of SerializeIF.
+     * @details
+     * The right template to be called is determined in the function itself.
+     * For objects of non trivial copy-able type this function is almost never
+     * called by the user directly. Instead helpers for specific types like
+     * SerialArrayListAdapter or SerialLinkedListAdapter are the right choice here.
+     *
+     * @param[in] object: Object to serialize, the used type is deduced from this pointer
+     * @param[in/out] buffer: Pointer to the buffer to serialize into. Buffer position will be
+     *     incremented by the function.
+     * @param[in/out] size: Pointer to size of current written buffer.
+     *     SIze will be incremented by the function.
+     * @param[in] maxSize: Max size of Buffer
+     * @param[in] streamEndianness: Endianness of serialized element as in according to
+     *     SerializeIF::Endianness
+     * @return
+     * 		- @c BUFFER_TOO_SHORT The given buffer in is too short
+     * 		- @c RETURN_FAILED Generic Error
+     * 		- @c RETURN_OK Successful serialization
+     */
+    template<typename T>
+    static ReturnValue_t serialize(const T *object, uint8_t **buffer,
+            size_t *size, size_t maxSize,
+            SerializeIF::Endianness streamEndianness) {
+        InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
+        return adapter.serialize(object, buffer, size, maxSize,
+                streamEndianness);
+    }
+
+    /***
+     * This function can be used to serialize a trivial copy-able type or a child of SerializeIF.
+     * The right template to be called is determined in the function itself.
+     * For objects of non trivial copy-able type this function is almost never
+     * called by the user directly. Instead helpers for specific types like
+     * SerialArrayListAdapter or SerialLinkedListAdapter are the right choice here.
+     *
+     * @param[in] object: Object to serialize, the used type is deduced from this pointer
+     * @param[in/out] buffer: Buffer to serialize into.
+     * @param[out] serSize: Serialized size
+     * @param[in] maxSize: Max size of buffer
+     * @param[in] streamEndianness: Endianness of serialized element as in according to
+     *     SerializeIF::Endianness
+     * @return
+     *      - @c BUFFER_TOO_SHORT The given buffer in is too short
+     *      - @c RETURN_FAILED Generic Error
+     *      - @c RETURN_OK Successful serialization
+     */
+    template<typename T>
+    static ReturnValue_t serialize(const T *object, uint8_t* const buffer, size_t* serSize,
+            size_t maxSize, SerializeIF::Endianness streamEndianness) {
+        if(object == nullptr or buffer == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
+        uint8_t** tempPtr = const_cast<uint8_t**>(&buffer);
+        size_t tmpSize = 0;
+        ReturnValue_t result = adapter.serialize(object, tempPtr, &tmpSize, maxSize,
+                streamEndianness);
+        if(serSize != nullptr) {
+            *serSize = tmpSize;
+        }
+        return result;
+    }
+
+    /**
+     * @brief   Function to return the serialized size of the object in the pointer.
+     * @details
+     * May be a trivially copy-able object or a child of SerializeIF.
+     *
+     * @param object Pointer to Object
+     * @return Serialized size of object
+     */
+    template<typename T>
+    static size_t getSerializedSize(const T *object){
+        InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
+        return adapter.getSerializedSize(object);
+    }
+
+    /**
+     * @brief Deserializes a object from a given buffer of given size.
+     *
+     * @details
+     * Object Must be trivially copy-able or a child of SerializeIF.
+     * Buffer will be moved to the current read location. Size will be decreased by the function.
+     *
+     * @param[in] object:        Pointer to object to deserialize
+     * @param[in/out] buffer:    Pointer to the buffer to deSerialize from. Buffer position will be
+     *     incremented by the function
+     * @param[in/out] size:      Pointer to remaining size of the buffer to read from.
+     *     Will be decreased by function.
+     * @param[in] streamEndianness: Endianness as in according to SerializeIF::Endianness
+     * @return
+     * 	- @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
+     * 	- @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
+     * 	- @c RETURN_FAILED Generic Error
+     * 	- @c RETURN_OK Successful deserialization
+     */
+    template<typename T>
+    static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+            size_t *size, SerializeIF::Endianness streamEndianness) {
+        InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
+        return adapter.deSerialize(object, buffer, size, streamEndianness);
+    }
+
+    /**
+     * @brief Deserializes a object from a given buffer of given size.
+     *
+     * @details
+     * Object Must be trivially copy-able or a child of SerializeIF.
+     *
+     * @param[in] object:        Pointer to object to deserialize
+     * @param[in] buffer:    Buffer to deSerialize from
+     * @param[out] deserSize:    Deserialized length
+     * @param[in] streamEndianness: Endianness as in according to SerializeIF::Endianness
+     * @return
+     *  - @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
+     *  - @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
+     *  - @c RETURN_FAILED Generic Error
+     *  - @c RETURN_OK Successful deserialization
+     */
+    template<typename T>
+    static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
+            size_t* deserSize, SerializeIF::Endianness streamEndianness) {
+        if(object == nullptr or buffer == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
+        const uint8_t** tempPtr = &buffer;
+        size_t maxVal = -1;
+        ReturnValue_t result = adapter.deSerialize(object, tempPtr, &maxVal, streamEndianness);
+        if(deserSize != nullptr) {
+            *deserSize = -1 - maxVal;
+        }
+        return result;
+    }
+
 private:
-	/**
-	 * Internal template to deduce the right function calls at compile time
-	 */
-	template<typename T, bool> class InternalSerializeAdapter;
+    /**
+     * Internal template to deduce the right function calls at compile time
+     */
+    template<typename T, bool> class InternalSerializeAdapter;
 
-	/**
-	 * Template to be used if T is not a child of SerializeIF
-	 *
-	 * @tparam T T must be trivially_copyable
-	 */
-	template<typename T>
-	class InternalSerializeAdapter<T, false> {
-		static_assert (std::is_trivially_copyable<T>::value,
-				"If a type needs to be serialized it must be a child of "
-				"SerializeIF or trivially copy-able");
-	public:
-		static ReturnValue_t serialize(const T *object, uint8_t **buffer,
-				size_t *size, size_t max_size,
-				SerializeIF::Endianness streamEndianness) {
-			size_t ignoredSize = 0;
-			if (size == nullptr) {
-				size = &ignoredSize;
-			}
-			// Check remaining size is large enough and check integer
-			// overflow of *size
-			size_t newSize = sizeof(T) + *size;
-			if ((newSize <= max_size) and (newSize > *size)) {
-				T tmp;
-				switch (streamEndianness) {
-				case SerializeIF::Endianness::BIG:
-					tmp = EndianConverter::convertBigEndian<T>(*object);
-					break;
-				case SerializeIF::Endianness::LITTLE:
-					tmp = EndianConverter::convertLittleEndian<T>(*object);
-					break;
-				default:
-				case SerializeIF::Endianness::MACHINE:
-					tmp = *object;
-					break;
-				}
-				std::memcpy(*buffer, &tmp, sizeof(T));
-				*size += sizeof(T);
-				(*buffer) += sizeof(T);
-				return HasReturnvaluesIF::RETURN_OK;
-			} else {
-				return SerializeIF::BUFFER_TOO_SHORT;
-			}
-		}
+    /**
+     * Template to be used if T is not a child of SerializeIF
+     *
+     * @tparam T T must be trivially_copyable
+     */
+    template<typename T>
+    class InternalSerializeAdapter<T, false> {
+        static_assert (std::is_trivially_copyable<T>::value,
+                "If a type needs to be serialized it must be a child of "
+                "SerializeIF or trivially copy-able");
+    public:
+        static ReturnValue_t serialize(const T *object, uint8_t **buffer,
+                size_t *size, size_t max_size,
+                SerializeIF::Endianness streamEndianness) {
+            size_t ignoredSize = 0;
+            if (size == nullptr) {
+                size = &ignoredSize;
+            }
+            // Check remaining size is large enough and check integer
+            // overflow of *size
+            size_t newSize = sizeof(T) + *size;
+            if ((newSize <= max_size) and (newSize > *size)) {
+                T tmp;
+                switch (streamEndianness) {
+                case SerializeIF::Endianness::BIG:
+                    tmp = EndianConverter::convertBigEndian<T>(*object);
+                    break;
+                case SerializeIF::Endianness::LITTLE:
+                    tmp = EndianConverter::convertLittleEndian<T>(*object);
+                    break;
+                default:
+                case SerializeIF::Endianness::MACHINE:
+                    tmp = *object;
+                    break;
+                }
+                std::memcpy(*buffer, &tmp, sizeof(T));
+                *size += sizeof(T);
+                (*buffer) += sizeof(T);
+                return HasReturnvaluesIF::RETURN_OK;
+            } else {
+                return SerializeIF::BUFFER_TOO_SHORT;
+            }
+        }
 
-		ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
-				size_t *size, SerializeIF::Endianness streamEndianness) {
-			T tmp;
-			if (*size >= sizeof(T)) {
-				*size -= sizeof(T);
-				std::memcpy(&tmp, *buffer, sizeof(T));
-				switch (streamEndianness) {
-				case SerializeIF::Endianness::BIG:
-					*object = EndianConverter::convertBigEndian<T>(tmp);
-					break;
-				case SerializeIF::Endianness::LITTLE:
-					*object = EndianConverter::convertLittleEndian<T>(tmp);
-					break;
-				default:
-				case SerializeIF::Endianness::MACHINE:
-					*object = tmp;
-					break;
-				}
+        ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+                size_t *size, SerializeIF::Endianness streamEndianness) {
+            T tmp;
+            if (*size >= sizeof(T)) {
+                *size -= sizeof(T);
+                std::memcpy(&tmp, *buffer, sizeof(T));
+                switch (streamEndianness) {
+                case SerializeIF::Endianness::BIG:
+                    *object = EndianConverter::convertBigEndian<T>(tmp);
+                    break;
+                case SerializeIF::Endianness::LITTLE:
+                    *object = EndianConverter::convertLittleEndian<T>(tmp);
+                    break;
+                default:
+                case SerializeIF::Endianness::MACHINE:
+                    *object = tmp;
+                    break;
+                }
 
-				*buffer += sizeof(T);
-				return HasReturnvaluesIF::RETURN_OK;
-			} else {
-				return SerializeIF::STREAM_TOO_SHORT;
-			}
-		}
+                *buffer += sizeof(T);
+                return HasReturnvaluesIF::RETURN_OK;
+            } else {
+                return SerializeIF::STREAM_TOO_SHORT;
+            }
+        }
 
-		uint32_t getSerializedSize(const T *object) {
-			return sizeof(T);
-		}
-	};
+        uint32_t getSerializedSize(const T *object) {
+            return sizeof(T);
+        }
+    };
 
-	/**
-	 * Template for objects that inherit from SerializeIF
-	 *
-	 * @tparam T A child of SerializeIF
-	 */
-	template<typename T>
-	class InternalSerializeAdapter<T, true> {
-	public:
-		ReturnValue_t serialize(const T *object, uint8_t **buffer, size_t *size,
-				size_t max_size,
-				SerializeIF::Endianness streamEndianness) const {
-			size_t ignoredSize = 0;
-			if (size == nullptr) {
-				size = &ignoredSize;
-			}
-			return object->serialize(buffer, size, max_size, streamEndianness);
-		}
-		size_t getSerializedSize(const T *object) const {
-			return object->getSerializedSize();
-		}
+    /**
+     * Template for objects that inherit from SerializeIF
+     *
+     * @tparam T A child of SerializeIF
+     */
+    template<typename T>
+    class InternalSerializeAdapter<T, true> {
+    public:
+        ReturnValue_t serialize(const T *object, uint8_t **buffer, size_t *size,
+                size_t max_size,
+                SerializeIF::Endianness streamEndianness) const {
+            size_t ignoredSize = 0;
+            if (size == nullptr) {
+                size = &ignoredSize;
+            }
+            return object->serialize(buffer, size, max_size, streamEndianness);
+        }
+        size_t getSerializedSize(const T *object) const {
+            return object->getSerializedSize();
+        }
 
-		ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
-				size_t *size, SerializeIF::Endianness streamEndianness) {
-			return object->deSerialize(buffer, size, streamEndianness);
-		}
-	};
+        ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+                size_t *size, SerializeIF::Endianness streamEndianness) {
+            return object->deSerialize(buffer, size, streamEndianness);
+        }
+    };
 };
 
 #endif /* _FSFW_SERIALIZE_SERIALIZEADAPTER_H_ */
diff --git a/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp b/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp
index 64deae3b..f883fe78 100644
--- a/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp
+++ b/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp
@@ -3,128 +3,213 @@
 
 #include <catch2/catch_test_macros.hpp>
 #include <catch2/catch_approx.hpp>
+#include <fsfw/serialize/SerialBufferAdapter.h>
 
 #include <array>
 
-static bool test_value_bool = true;
-static uint8_t tv_uint8   {5};
-static uint16_t tv_uint16 {283};
-static uint32_t tv_uint32 {929221};
-static uint64_t tv_uint64 {2929329429};
+static bool testBool = true;
+static uint8_t tvUint8   {5};
+static uint16_t tvUint16 {283};
+static uint32_t tvUint32 {929221};
+static uint64_t tvUint64 {2929329429};
 
-static int8_t tv_int8 {-16};
-static int16_t tv_int16 {-829};
-static int32_t tv_int32 {-2312};
+static int8_t tvInt8 {-16};
+static int16_t tvInt16 {-829};
+static int32_t tvInt32 {-2312};
 
-static float tv_float {8.2149214};
-static float tv_sfloat = {-922.2321321};
-static double tv_double {9.2132142141e8};
-static double tv_sdouble {-2.2421e19};
+static float tvFloat {8.2149214};
+static float tvSfloat = {-922.2321321};
+static double tvDouble {9.2132142141e8};
+static double tvSdouble {-2.2421e19};
 
-static std::array<uint8_t, 512> test_array;
+static std::array<uint8_t, 512> TEST_ARRAY;
 
-TEST_CASE( "Serialization size tests", "[TestSerialization]") {
+TEST_CASE( "Serialization size tests", "[SerSizeTest]") {
 	//REQUIRE(unitTestClass.test_autoserialization() == 0);
-	REQUIRE(SerializeAdapter::getSerializedSize(&test_value_bool) ==
-			sizeof(test_value_bool));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint8) ==
-			sizeof(tv_uint8));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint16) ==
-			sizeof(tv_uint16));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint32 ) ==
-			sizeof(tv_uint32));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint64) ==
-			sizeof(tv_uint64));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int8) ==
-			sizeof(tv_int8));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int16) ==
-			sizeof(tv_int16));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int32) ==
-			sizeof(tv_int32));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_float) ==
-			sizeof(tv_float));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_sfloat) ==
-			sizeof(tv_sfloat ));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_double) ==
-			sizeof(tv_double));
-	REQUIRE(SerializeAdapter::getSerializedSize(&tv_sdouble) ==
-			sizeof(tv_sdouble));
+	REQUIRE(SerializeAdapter::getSerializedSize(&testBool) ==
+			sizeof(testBool));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvUint8) ==
+			sizeof(tvUint8));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvUint16) ==
+			sizeof(tvUint16));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvUint32 ) ==
+			sizeof(tvUint32));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvUint64) ==
+			sizeof(tvUint64));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvInt8) ==
+			sizeof(tvInt8));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvInt16) ==
+			sizeof(tvInt16));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvInt32) ==
+			sizeof(tvInt32));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvFloat) ==
+			sizeof(tvFloat));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvSfloat) ==
+			sizeof(tvSfloat ));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvDouble) ==
+			sizeof(tvDouble));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tvSdouble) ==
+			sizeof(tvSdouble));
 }
 
+TEST_CASE("Auto Serialize Adapter", "[SerAdapter]") {
+	size_t serializedSize = 0;
+	uint8_t * pArray = TEST_ARRAY.data();
 
-TEST_CASE("Auto Serialize Adapter testing", "[single-file]") {
-	size_t serialized_size = 0;
-	uint8_t * p_array = test_array.data();
+    SECTION("SerDe") {
+        size_t deserSize = 0;
+        SerializeAdapter::serialize(&testBool, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 1);
+        REQUIRE(TEST_ARRAY[0] == true);
+        bool readBack = false;
+        SerializeAdapter::deSerialize(&readBack, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 1);
+        REQUIRE(readBack == true);
+        SerializeAdapter::serialize(&tvUint8, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 1);
+        REQUIRE(TEST_ARRAY[0] == 5);
+        uint8_t readBackUint8 = 0;
+        uint8_t* const testPtr = TEST_ARRAY.data();
+        uint8_t* const shouldStayConst = testPtr;
+        SerializeAdapter::deSerialize(&readBackUint8, testPtr, &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(testPtr == shouldStayConst);
+        REQUIRE(deserSize == 1);
+        REQUIRE(readBackUint8 == 5);
+        SerializeAdapter::serialize(&tvUint16, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 2);
+        deserSize = 0;
+        uint16_t readBackUint16 = 0;
+        SerializeAdapter::deSerialize(&readBackUint16, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 2);
+        REQUIRE(readBackUint16 == 283);
 
-	SECTION("Serializing...") {
-		SerializeAdapter::serialize(&test_value_bool, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_uint8, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_uint16, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_uint32, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_int8, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_int16, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_int32, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_uint64, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_float, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_double, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_sfloat, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::serialize(&tv_sdouble, &p_array,
-				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
-		REQUIRE (serialized_size == 47);
+        SerializeAdapter::serialize(&tvUint32, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 4);
+        uint32_t readBackUint32 = 0;
+        deserSize = 0;
+        SerializeAdapter::deSerialize(&readBackUint32, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 4);
+        REQUIRE(readBackUint32 == 929221);
+
+        SerializeAdapter::serialize(&tvInt16, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 2);
+        int16_t readBackInt16 = 0;
+        SerializeAdapter::deSerialize(&readBackInt16, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(readBackInt16 == -829);
+        REQUIRE(deserSize == 2);
+
+        SerializeAdapter::serialize(&tvFloat, TEST_ARRAY.data(),  &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        float readBackFloat = 0.0;
+        SerializeAdapter::deSerialize(&readBackFloat, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(readBackFloat == Catch::Approx(8.214921));
+
+        SerializeAdapter::serialize(&tvSdouble, TEST_ARRAY.data(), &deserSize, TEST_ARRAY.size(),
+                SerializeIF::Endianness::MACHINE);
+        double readBackSignedDouble = 0.0;
+        SerializeAdapter::deSerialize(&readBackSignedDouble, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(readBackSignedDouble == Catch::Approx(-2.2421e19));
+
+        uint8_t testBuf[4] = {1, 2, 3, 4};
+        SerialBufferAdapter<uint8_t> bufferAdapter(testBuf, sizeof(testBuf));
+        SerializeAdapter::serialize(&bufferAdapter, TEST_ARRAY.data(), &deserSize,
+                TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 4);
+        for(uint8_t idx = 0; idx < 4; idx++) {
+            REQUIRE(TEST_ARRAY[idx] == idx + 1);
+        }
+        deserSize = 0;
+        testBuf[0] = 0;
+        testBuf[1] = 12;
+        SerializeAdapter::deSerialize(&bufferAdapter, TEST_ARRAY.data(), &deserSize,
+                SerializeIF::Endianness::MACHINE);
+        REQUIRE(deserSize == 4);
+        for(uint8_t idx = 0; idx < 4; idx++) {
+            REQUIRE(testBuf[idx] == idx + 1);
+        }
+    }
+
+	SECTION("Serialize incrementing") {
+		SerializeAdapter::serialize(&testBool, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvUint8, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvUint16, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvUint32, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvInt8, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvInt16, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvInt32, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvUint64, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvFloat, &pArray, &serializedSize,
+		        TEST_ARRAY.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvDouble, &pArray, &serializedSize, TEST_ARRAY.size(),
+		        SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvSfloat, &pArray, &serializedSize, TEST_ARRAY.size(),
+		        SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tvSdouble, &pArray, &serializedSize, TEST_ARRAY.size(),
+		        SerializeIF::Endianness::MACHINE);
+		REQUIRE (serializedSize == 47);
 	}
 
-	SECTION("Deserializing") {
-		p_array = test_array.data();
-		size_t remaining_size = serialized_size;
-		SerializeAdapter::deSerialize(&test_value_bool,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_uint8,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_uint16,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_uint32,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_int8,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_int16,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_int32,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_uint64,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_float,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_double,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_sfloat,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
-		SerializeAdapter::deSerialize(&tv_sdouble,
-				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SECTION("Deserialize decrementing") {
+		pArray = TEST_ARRAY.data();
+		size_t remaining_size = serializedSize;
+		SerializeAdapter::deSerialize(&testBool, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvUint8, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvUint16, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvUint32, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvInt8, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvInt16, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvInt32, const_cast<const uint8_t**>(&pArray),
+		        &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvUint64,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvFloat,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvDouble,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvSfloat,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tvSdouble,
+				const_cast<const uint8_t**>(&pArray), &remaining_size, SerializeIF::Endianness::MACHINE);
 
-		REQUIRE(test_value_bool == true);
-		REQUIRE(tv_uint8 == 5);
-		REQUIRE(tv_uint16 == 283);
-		REQUIRE(tv_uint32 == 929221);
-		REQUIRE(tv_uint64 == 2929329429);
-		REQUIRE(tv_int8 == -16);
-		REQUIRE(tv_int16 == -829);
-		REQUIRE(tv_int32 == -2312);
+		REQUIRE(testBool == true);
+		REQUIRE(tvUint8 == 5);
+		REQUIRE(tvUint16 == 283);
+		REQUIRE(tvUint32 == 929221);
+		REQUIRE(tvUint64 == 2929329429);
+		REQUIRE(tvInt8 == -16);
+		REQUIRE(tvInt16 == -829);
+		REQUIRE(tvInt32 == -2312);
 
-		REQUIRE(tv_float == Catch::Approx(8.214921));
-		REQUIRE(tv_double == Catch::Approx(9.2132142141e8));
-		REQUIRE(tv_sfloat == Catch::Approx(-922.2321321));
-		REQUIRE(tv_sdouble == Catch::Approx(-2.2421e19));
+		REQUIRE(tvFloat == Catch::Approx(8.214921));
+		REQUIRE(tvDouble == Catch::Approx(9.2132142141e8));
+		REQUIRE(tvSfloat == Catch::Approx(-922.2321321));
+		REQUIRE(tvSdouble == Catch::Approx(-2.2421e19));
 	}
 }
 

From c2bf09d506899d3ef893c0d8932898b158eef23d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 1 Dec 2021 11:04:24 +0100
Subject: [PATCH 02/14] Introducing documentation with Sphinx

This PR introduces the generation of documentation based on
this excellent blog post: https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/

It combines the tools Sphinx, Doxygen and Breathe to generate good
looking HTML documentation conveniently which can be hosted easily.

The helper scripts were unified and there is now one helper.py script
which can be used to create, build and open both tests and documentation.
"./helper.py -h" can be used to get the different options.

This PR also contains some smaller fixes which were necessary for the docs
to build
---
 CMakeLists.txt                                |  18 +-
 README.md                                     |  18 +-
 cmake/FindSphinx.cmake                        |  13 ++
 docs/CMakeLists.txt                           |  66 +++++++
 docs/Doxyfile.in                              |   7 +
 docs/Makefile                                 |  20 ++
 {doc => docs}/README-config.md                |   0
 {doc => docs}/README-controllers.md           |   0
 {doc => docs}/README-core.md                  |   0
 {doc => docs}/README-devicehandlers.md        |   0
 {doc => docs}/README-highlevel.md             |   0
 {doc => docs}/README-localpools.md            |   4 +-
 {doc => docs}/README-osal.md                  |   0
 {doc => docs}/README-pus.md                   |   0
 docs/api.rst                                  |  16 ++
 docs/api/action.rst                           |  15 ++
 docs/api/controller.rst                       |  16 ++
 docs/api/devicehandler.rst                    |  16 ++
 docs/api/event.rst                            |   6 +
 docs/api/health.rst                           |   9 +
 docs/api/ipc.rst                              |   9 +
 docs/api/modes.rst                            |  10 +
 docs/api/objectmanager.rst                    |  30 +++
 docs/api/returnvalue.rst                      |  10 +
 docs/api/task.rst                             |   8 +
 docs/conf.py                                  |  56 ++++++
 docs/config.rst                               |  41 ++++
 docs/controllers.rst                          |   2 +
 docs/core.rst                                 |  70 +++++++
 docs/devicehandlers.rst                       |   3 +
 {doc => docs}/doxy/.gitignore                 |   0
 {doc => docs}/doxy/OPUS.doxyfile              |   0
 docs/getting_started.rst                      | 115 +++++++++++
 docs/highlevel.rst                            | 149 ++++++++++++++
 {doc => docs}/images/PoolArchitecture.png     | Bin
 docs/index.rst                                |  69 +++++++
 docs/localpools.rst                           | 181 ++++++++++++++++++
 docs/make.bat                                 |  35 ++++
 docs/osal.rst                                 |  63 ++++++
 docs/pus.rst                                  |   2 +
 misc/defaultcfg/fsfwconfig/CMakeLists.txt     |  60 ++++--
 .../fsfwconfig/objects/FsfwFactory.cpp        |   4 +-
 scripts/coverage.py                           |  83 --------
 scripts/gen-unittest.sh                       |   3 -
 scripts/helper.py                             | 181 ++++++++++++++++++
 .../integration/task/CMakeLists.txt           |   2 +-
 46 files changed, 1290 insertions(+), 120 deletions(-)
 create mode 100644 cmake/FindSphinx.cmake
 create mode 100644 docs/CMakeLists.txt
 create mode 100644 docs/Doxyfile.in
 create mode 100644 docs/Makefile
 rename {doc => docs}/README-config.md (100%)
 rename {doc => docs}/README-controllers.md (100%)
 rename {doc => docs}/README-core.md (100%)
 rename {doc => docs}/README-devicehandlers.md (100%)
 rename {doc => docs}/README-highlevel.md (100%)
 rename {doc => docs}/README-localpools.md (98%)
 rename {doc => docs}/README-osal.md (100%)
 rename {doc => docs}/README-pus.md (100%)
 create mode 100644 docs/api.rst
 create mode 100644 docs/api/action.rst
 create mode 100644 docs/api/controller.rst
 create mode 100644 docs/api/devicehandler.rst
 create mode 100644 docs/api/event.rst
 create mode 100644 docs/api/health.rst
 create mode 100644 docs/api/ipc.rst
 create mode 100644 docs/api/modes.rst
 create mode 100644 docs/api/objectmanager.rst
 create mode 100644 docs/api/returnvalue.rst
 create mode 100644 docs/api/task.rst
 create mode 100644 docs/conf.py
 create mode 100644 docs/config.rst
 create mode 100644 docs/controllers.rst
 create mode 100644 docs/core.rst
 create mode 100644 docs/devicehandlers.rst
 rename {doc => docs}/doxy/.gitignore (100%)
 rename {doc => docs}/doxy/OPUS.doxyfile (100%)
 create mode 100644 docs/getting_started.rst
 create mode 100644 docs/highlevel.rst
 rename {doc => docs}/images/PoolArchitecture.png (100%)
 create mode 100644 docs/index.rst
 create mode 100644 docs/localpools.rst
 create mode 100644 docs/make.bat
 create mode 100644 docs/osal.rst
 create mode 100644 docs/pus.rst
 delete mode 100755 scripts/coverage.py
 delete mode 100755 scripts/gen-unittest.sh
 create mode 100755 scripts/helper.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e78e8929..bb3d48b8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,6 +4,9 @@ set(FSFW_VERSION 2)
 set(FSFW_SUBVERSION 0)
 set(FSFW_REVISION 0)
 
+# Add the cmake folder so the FindSphinx module is found
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+
 option(FSFW_GENERATE_SECTIONS
     "Generate function and data sections. Required to remove unused code" ON
 )
@@ -12,6 +15,7 @@ if(FSFW_GENERATE_SECTIONS)
 endif()
 
 option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
     option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
@@ -36,7 +40,9 @@ option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
 set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
+set(FSFW_DUMMY_TGT fsfw-dummy)
 
+project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
 if(FSFW_BUILD_UNITTESTS)
@@ -59,7 +65,6 @@ if(FSFW_BUILD_UNITTESTS)
     set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
     configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
     configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in OBSWConfig.h)
 
     project(${FSFW_TEST_TGT} CXX C)
     add_executable(${FSFW_TEST_TGT})
@@ -147,7 +152,7 @@ else()
     set(OS_FSFW "host")
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS)
     configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
     configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
 else()
@@ -163,6 +168,9 @@ if(FSFW_ADD_HAL)
     add_subdirectory(hal)
 endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_DOCS)
+    add_subdirectory(docs)
+endif()
 
 if(FSFW_BUILD_UNITTESTS)
     if(FSFW_TESTS_GEN_COV)
@@ -234,9 +242,11 @@ endif()
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
 # If this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-    message(WARNING "Flight Software Framework configuration path not set!")
     set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
-    message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+    if(NOT FSFW_BUILD_DOCS)
+        message(WARNING "Flight Software Framework configuration path not set!")
+        message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+    endif()
     add_subdirectory(${DEF_CONF_PATH})
     set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
diff --git a/README.md b/README.md
index 312bc077..0facfc9a 100644
--- a/README.md
+++ b/README.md
@@ -42,7 +42,7 @@ There are some functions like `printChar` which are different depending on the t
 and need to be implemented by the mission developer.
 
 A template configuration folder was provided and can be copied into the project root to have
-a starting point. The [configuration section](doc/README-config.md#top) provides more specific 
+a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
 ## Adding the library
@@ -109,14 +109,14 @@ The `coverage.py` script located in the `script` folder can also be used to do t
 
 ## Index
 
-[1. High-level overview](doc/README-highlevel.md#top) <br>
-[2. Core components](doc/README-core.md#top) <br>
-[3. Configuration](doc/README-config.md#top) <br>
-[4. OSAL overview](doc/README-osal.md#top) <br>
-[5. PUS services](doc/README-pus.md#top) <br>
-[6. Device Handler overview](doc/README-devicehandlers.md#top) <br>
-[7. Controller overview](doc/README-controllers.md#top) <br>
-[8. Local Data Pools](doc/README-localpools.md#top) <br>
+[1. High-level overview](docs/README-highlevel.md#top) <br>
+[2. Core components](docs/README-core.md#top) <br>
+[3. Configuration](docs/README-config.md#top) <br>
+[4. OSAL overview](docs/README-osal.md#top) <br>
+[5. PUS services](docs/README-pus.md#top) <br>
+[6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
+[7. Controller overview](docs/README-controllers.md#top) <br>
+[8. Local Data Pools](docs/README-localpools.md#top) <br>
 
 
 
diff --git a/cmake/FindSphinx.cmake b/cmake/FindSphinx.cmake
new file mode 100644
index 00000000..4a5b0700
--- /dev/null
+++ b/cmake/FindSphinx.cmake
@@ -0,0 +1,13 @@
+# Look for an executable called sphinx-build
+find_program(SPHINX_EXECUTABLE
+             NAMES sphinx-build
+             DOC "Path to sphinx-build executable")
+
+include(FindPackageHandleStandardArgs)
+
+# Handle standard arguments to find_package like REQUIRED and QUIET
+find_package_handle_standard_args(
+    Sphinx
+    "Failed to find sphinx-build executable"
+    SPHINX_EXECUTABLE
+)
\ No newline at end of file
diff --git a/docs/CMakeLists.txt b/docs/CMakeLists.txt
new file mode 100644
index 00000000..fa5790db
--- /dev/null
+++ b/docs/CMakeLists.txt
@@ -0,0 +1,66 @@
+# This is based on this excellent posting provided by Sy: 
+# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/
+find_package(Doxygen REQUIRED)
+find_package(Sphinx REQUIRED)
+
+get_target_property(LIB_FSFW_PUBLIC_HEADER_DIRS ${LIB_FSFW_NAME} INTERFACE_INCLUDE_DIRECTORIES)
+# TODO: Add HAL as well
+file(GLOB_RECURSE LIB_FSFW_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/src/*.h)
+file(GLOB_RECURSE RST_DOC_FILES ${PROJECT_SOURCE_DIR}/docs/*.rst)
+
+set(DOXYGEN_INPUT_DIR ${PROJECT_SOURCE_DIR}/src)
+set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen)
+set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
+set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
+set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+# Replace variables inside @@ with the current values
+configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
+
+# Doxygen won't create this for us
+file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
+
+# Only regenerate Doxygen when the Doxyfile or public headers change
+add_custom_command(
+  OUTPUT ${DOXYGEN_INDEX_FILE}
+  DEPENDS ${LIB_FSFW_PUBLIC_HEADERS}
+  COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
+  MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
+  COMMENT "Generating docs"
+  VERBATIM
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
+
+set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
+set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
+set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
+
+# Only regenerate Sphinx when:
+# - Doxygen has rerun
+# - Our doc files have been updated
+# - The Sphinx config has been updated
+add_custom_command(
+  OUTPUT ${SPHINX_INDEX_FILE}
+  COMMAND
+    ${SPHINX_EXECUTABLE} -b html
+    # Tell Breathe where to find the Doxygen output
+    -Dbreathe_projects.fsfw=${DOXYGEN_OUTPUT_DIR}/xml
+  ${SPHINX_SOURCE} ${SPHINX_BUILD}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  DEPENDS
+  # Other docs files you want to track should go here (or in some variable)
+  ${RST_DOC_FILES}
+  ${DOXYGEN_INDEX_FILE}
+  MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
+  COMMENT "Generating documentation with Sphinx"
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
+
+# Add an install target to install the docs
+include(GNUInstallDirs)
+install(DIRECTORY ${SPHINX_BUILD}
+DESTINATION ${CMAKE_INSTALL_DOCDIR})
diff --git a/docs/Doxyfile.in b/docs/Doxyfile.in
new file mode 100644
index 00000000..3d01d126
--- /dev/null
+++ b/docs/Doxyfile.in
@@ -0,0 +1,7 @@
+INPUT = "@DOXYGEN_INPUT_DIR@"
+
+RECURSIVE = YES
+
+OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
+
+GENERATE_XML = YES
diff --git a/docs/Makefile b/docs/Makefile
new file mode 100644
index 00000000..d4bb2cbb
--- /dev/null
+++ b/docs/Makefile
@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/doc/README-config.md b/docs/README-config.md
similarity index 100%
rename from doc/README-config.md
rename to docs/README-config.md
diff --git a/doc/README-controllers.md b/docs/README-controllers.md
similarity index 100%
rename from doc/README-controllers.md
rename to docs/README-controllers.md
diff --git a/doc/README-core.md b/docs/README-core.md
similarity index 100%
rename from doc/README-core.md
rename to docs/README-core.md
diff --git a/doc/README-devicehandlers.md b/docs/README-devicehandlers.md
similarity index 100%
rename from doc/README-devicehandlers.md
rename to docs/README-devicehandlers.md
diff --git a/doc/README-highlevel.md b/docs/README-highlevel.md
similarity index 100%
rename from doc/README-highlevel.md
rename to docs/README-highlevel.md
diff --git a/doc/README-localpools.md b/docs/README-localpools.md
similarity index 98%
rename from doc/README-localpools.md
rename to docs/README-localpools.md
index 96ae2d0a..2ee75189 100644
--- a/doc/README-localpools.md
+++ b/docs/README-localpools.md
@@ -31,7 +31,9 @@ cohesive pool variables. These sets simply iterator over the list of variables a
 `read` and `commit` functions of each variable. The following diagram shows the
 high-level architecture of the local data pools.
 
-<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
 
 An example is shown for using the local data pools with a Gyroscope.
 For example, the following code shows an implementation to access data from a Gyroscope taken
diff --git a/doc/README-osal.md b/docs/README-osal.md
similarity index 100%
rename from doc/README-osal.md
rename to docs/README-osal.md
diff --git a/doc/README-pus.md b/docs/README-pus.md
similarity index 100%
rename from doc/README-pus.md
rename to docs/README-pus.md
diff --git a/docs/api.rst b/docs/api.rst
new file mode 100644
index 00000000..d2ee6c69
--- /dev/null
+++ b/docs/api.rst
@@ -0,0 +1,16 @@
+API
+====
+
+.. toctree::
+   :maxdepth: 4
+
+   api/objectmanager
+   api/task
+   api/ipc
+   api/returnvalue
+   api/event
+   api/modes
+   api/health
+   api/action
+   api/devicehandler
+   api/controller
diff --git a/docs/api/action.rst b/docs/api/action.rst
new file mode 100644
index 00000000..31825b89
--- /dev/null
+++ b/docs/api/action.rst
@@ -0,0 +1,15 @@
+Action Module API
+=================
+
+``ActionHelper``
+-----------------
+
+.. doxygenclass:: ActionHelper
+	:members:
+
+``HasActionsIF``
+-----------------
+
+.. doxygenclass:: HasActionsIF
+	:members:
+	:protected-members:
diff --git a/docs/api/controller.rst b/docs/api/controller.rst
new file mode 100644
index 00000000..27136be6
--- /dev/null
+++ b/docs/api/controller.rst
@@ -0,0 +1,16 @@
+Controller API
+=================
+
+``ControllerBase``
+-------------------------
+
+.. doxygenclass:: ControllerBase
+	:members:
+	:protected-members:
+
+``ExtendedControllerBase``
+-----------------------------
+
+.. doxygenclass:: ExtendedControllerBase
+	:members:
+	:protected-members:
diff --git a/docs/api/devicehandler.rst b/docs/api/devicehandler.rst
new file mode 100644
index 00000000..f709b640
--- /dev/null
+++ b/docs/api/devicehandler.rst
@@ -0,0 +1,16 @@
+Device Handler Base API
+=========================
+
+``DeviceHandlerBase``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerBase
+	:members:
+	:protected-members:
+
+``DeviceHandlerIF``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerIF
+	:members:
+	:protected-members:
diff --git a/docs/api/event.rst b/docs/api/event.rst
new file mode 100644
index 00000000..7553c963
--- /dev/null
+++ b/docs/api/event.rst
@@ -0,0 +1,6 @@
+.. _eventapi:
+
+Event API
+============
+
+.. doxygenfile:: Event.h
diff --git a/docs/api/health.rst b/docs/api/health.rst
new file mode 100644
index 00000000..b1d4c1b2
--- /dev/null
+++ b/docs/api/health.rst
@@ -0,0 +1,9 @@
+Health API
+===========
+
+``HasHealthIF``
+------------------
+
+.. doxygenclass:: HasHealthIF
+	:members:
+	:protected-members:
diff --git a/docs/api/ipc.rst b/docs/api/ipc.rst
new file mode 100644
index 00000000..17a91f00
--- /dev/null
+++ b/docs/api/ipc.rst
@@ -0,0 +1,9 @@
+IPC Module API
+=================
+
+``MessageQueueIF``
+-------------------
+
+.. doxygenclass:: MessageQueueIF
+	:members:
+	:protected-members:
diff --git a/docs/api/modes.rst b/docs/api/modes.rst
new file mode 100644
index 00000000..7b6b0dca
--- /dev/null
+++ b/docs/api/modes.rst
@@ -0,0 +1,10 @@
+Modes API
+=========
+
+
+``HasModesIF``
+---------------
+
+.. doxygenclass:: HasModesIF
+	:members:
+	:protected-members:
diff --git a/docs/api/objectmanager.rst b/docs/api/objectmanager.rst
new file mode 100644
index 00000000..e90deb57
--- /dev/null
+++ b/docs/api/objectmanager.rst
@@ -0,0 +1,30 @@
+Object Manager API
+=========================
+
+``SystemObject``
+--------------------
+
+.. doxygenclass:: SystemObject
+	:members:
+	:protected-members:
+
+``ObjectManager``
+-----------------------
+
+.. doxygenclass:: ObjectManager
+	:members:
+	:protected-members:
+
+``SystemObjectIF``
+--------------------
+
+.. doxygenclass:: SystemObjectIF
+	:members:
+	:protected-members:
+
+``ObjectManagerIF``
+-----------------------
+
+.. doxygenclass:: ObjectManagerIF
+	:members:
+	:protected-members:
diff --git a/docs/api/returnvalue.rst b/docs/api/returnvalue.rst
new file mode 100644
index 00000000..b0d43916
--- /dev/null
+++ b/docs/api/returnvalue.rst
@@ -0,0 +1,10 @@
+.. _retvalapi:
+
+Returnvalue API
+==================
+
+.. doxygenfile:: HasReturnvaluesIF.h
+
+.. _fwclassids:
+
+.. doxygenfile:: FwClassIds.h
diff --git a/docs/api/task.rst b/docs/api/task.rst
new file mode 100644
index 00000000..b218dac1
--- /dev/null
+++ b/docs/api/task.rst
@@ -0,0 +1,8 @@
+Task API
+=========
+
+``ExecutableObjectIF``
+-----------------------
+
+.. doxygenclass:: ExecutableObjectIF
+	:members:
diff --git a/docs/conf.py b/docs/conf.py
new file mode 100644
index 00000000..44fd90c4
--- /dev/null
+++ b/docs/conf.py
@@ -0,0 +1,56 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'Flight Software Framework'
+copyright = '2021, Institute of Space Systems (IRS)'
+author = 'Institute of Space Systems (IRS)'
+
+# The full version, including alpha/beta/rc tags
+release = '2.0.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [ "breathe" ]
+
+breathe_default_project = "fsfw"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'alabaster'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
\ No newline at end of file
diff --git a/docs/config.rst b/docs/config.rst
new file mode 100644
index 00000000..ed317aed
--- /dev/null
+++ b/docs/config.rst
@@ -0,0 +1,41 @@
+Configuring the FSFW
+=====================
+
+The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
+``misc/defaultcfg`` to have a starting point for this. The folder should be added
+to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
+of the available options will be explained in more detail here.
+
+Auto-Translation of Events
+----------------------------
+
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the
+   `fsfwgen Python scripts <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen>`_.
+3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
+   and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
+4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
+   ``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
+
+An example implementations of these translation file generators can be found as part
+of the `SOURCE project here <https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/develop/generators>`_
+or the `FSFW example <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/generators>`_
+
+Configuring the Event Manager
+----------------------------------
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+.. code-block:: cpp
+
+   namespace fsfwconfig {
+   //! Configure the allocated pool sizes for the event manager.
+   static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+   static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+   static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+   }
diff --git a/docs/controllers.rst b/docs/controllers.rst
new file mode 100644
index 00000000..28f57393
--- /dev/null
+++ b/docs/controllers.rst
@@ -0,0 +1,2 @@
+Controllers
+=============
diff --git a/docs/core.rst b/docs/core.rst
new file mode 100644
index 00000000..ef6f6165
--- /dev/null
+++ b/docs/core.rst
@@ -0,0 +1,70 @@
+.. _core:
+
+Core Modules
+=============
+
+The core modules provide the most important functionalities of the Flight Software Framework.
+
+Clock
+------
+
+- This is a class of static functions that can be used at anytime
+- Leap Seconds must be set if any time conversions from UTC to other times is used
+
+Object Manager
+---------------
+
+- Must be created during program startup
+- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
+  component.
+- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
+  framework objects.
+- A reference to an object can be retrieved by calling the ``get`` function of
+  :cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
+  A ``nullptr`` check of the returning pointer must be done. This function is based on
+  run-time type information.
+
+	.. code-block:: cpp
+
+		template <typename T> T* ObjectManagerIF::get(object_id_t id);
+
+- A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
+  produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
+  afterwards.
+
+Event Manager
+---------------
+
+- Component which allows routing of events
+- Other objects can subscribe to specific events, ranges of events or all events of an object.
+- Subscriptions can be done during runtime but should be done during initialization
+- Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
+
+Health Table
+---------------
+
+- A component which holds every health state
+- Provides a thread safe way to access all health states without the need of message exchanges
+
+Stores
+--------------
+
+- The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+- Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
+- All of them should use the Thread Safe Class storagemanager/PoolManager
+
+Tasks
+---------
+
+There are two different types of tasks:
+
+- The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+  insertion to the Tasks.
+- FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+  DeviceHandlers, where polling should be in a defined order. An example can be found in 
+  ``defaultcfg/fsfwconfig/pollingSequence`` folder
+
diff --git a/docs/devicehandlers.rst b/docs/devicehandlers.rst
new file mode 100644
index 00000000..58c2df78
--- /dev/null
+++ b/docs/devicehandlers.rst
@@ -0,0 +1,3 @@
+Device Handlers
+==================
+
diff --git a/doc/doxy/.gitignore b/docs/doxy/.gitignore
similarity index 100%
rename from doc/doxy/.gitignore
rename to docs/doxy/.gitignore
diff --git a/doc/doxy/OPUS.doxyfile b/docs/doxy/OPUS.doxyfile
similarity index 100%
rename from doc/doxy/OPUS.doxyfile
rename to docs/doxy/OPUS.doxyfile
diff --git a/docs/getting_started.rst b/docs/getting_started.rst
new file mode 100644
index 00000000..069e98cd
--- /dev/null
+++ b/docs/getting_started.rst
@@ -0,0 +1,115 @@
+Getting Started
+================
+
+
+Getting started
+----------------
+
+The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
+It is recommended to get started by building and playing around with the demo application.
+There are also other examples provided for all OSALs using the popular embedded platforms
+Raspberry Pi, Beagle Bone Black and STM32H7.
+
+Generally, the FSFW is included in a project by providing
+a configuration folder, building the static library and linking against it. 
+There are some functions like ``printChar`` which are different depending on the target architecture
+and need to be implemented by the mission developer.
+
+A template configuration folder was provided and can be copied into the project root to have
+a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
+information about the possible options.
+
+Adding the library
+-------------------
+
+The following steps show how to add and use FSFW components. It is still recommended to
+try out the example mentioned above to get started, but the following steps show how to
+add and link against the FSFW library in general.
+
+1. Add this repository as a submodule
+
+   .. code-block:: console
+
+      git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
+
+2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
+
+   .. code-block:: cmake
+
+      add_subdirectory(fsfw)
+
+3. Make sure to provide a configuration folder and supply the path to that folder with
+   the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
+   It is also necessary to provide the `printChar` function. You can find an example
+   implementation for a hosted build
+   `here <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c>`_.
+
+4. Link against the FSFW library
+
+   .. code-block:: cmake
+
+      target_link_libraries(<YourProjectName> PRIVATE fsfw)
+
+
+5. It should now be possible use the FSFW as a static library from the user code.
+
+Building the unittests
+-------------------------
+
+The FSFW also has unittests which use the `Catch2 library`_.
+These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
+from your project `CMakeLists.txt` file or from the command line.
+
+The fsfw-tests binary will be built as part of the static library and dropped alongside it.
+If the unittests are built, the library and the tests will be built with coverage information by
+default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
+
+You can use the following commands inside the ``fsfw`` folder to set up the build system
+
+.. code-block:: console
+
+   mkdir build-tests && cd build-tests
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+
+
+You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
+
+Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
+To build the unittests, run them and then generare the coverage data in this format,
+the following command can be used inside the build directory after the build system was set up
+
+.. code-block:: console
+
+   cmake --build . -- fsfw-tests_coverage -j
+
+
+The ``helper.py`` script located in the ``script`` folder can also be used to create, build
+and open the unittests conveniently. Try ``helper.py -h`` for more information.
+
+Building the documentation
+----------------------------
+
+The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
+instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a
+documentation build system using the following commands
+
+.. code-block:: bash
+
+   mkdir build-docs && cd build-docs
+   cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
+
+Then you can generate the documentation using
+
+.. code-block:: bash
+
+   cmake --build . -j
+
+You can find the generated documentation inside the ``docs/sphinx`` folder inside the build
+folder. Simply open the ``index.html`` in the webbrowser of your choice.
+
+The ``helper.py`` script located in the ``script`` folder can also be used to create, build
+and open the documentation conveniently. Try ``helper.py -h`` for more information.
+
+.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
+.. _`Catch2 library`: https://github.com/catchorg/Catch2
+.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master
diff --git a/docs/highlevel.rst b/docs/highlevel.rst
new file mode 100644
index 00000000..08f44777
--- /dev/null
+++ b/docs/highlevel.rst
@@ -0,0 +1,149 @@
+.. _highlevel:
+
+High-level overview
+===================
+
+Structure
+----------
+
+The general structure is driven by the usage of interfaces provided by objects.
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
+This simplifies the instantiation of objects and allows the usage of some standard containers.
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
+
+Failure Handling
+-----------------
+
+Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
+or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
+See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
+``fsfwconfig`` folder.
+
+OSAL
+------------
+
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
+The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
+The :ref:`OSAL README <osal>` provides more detailed information on provided components
+and how to use them.
+
+Core Components
+----------------
+
+The FSFW has following core components. More detailed informations can be found in the
+:ref:`core component section <core>`:
+
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
+   with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
+4. Clock: This module provided common time related functions
+5. EventManager: This module allows routing of events generated by `SystemObjects`
+6. HealthTable: A component which stores the health states of objects
+
+Static IDs in the framework
+--------------------------------
+
+Some parts of the framework use a static routing address for communication.
+An example setup of IDs can be found in the example config in ``misc/defaultcfg/fsfwconfig/objects``
+inside the function ``Factory::setStaticFrameworkObjectIds``.
+
+Events
+----------------
+
+Events are tied to objects. EventIds can be generated by calling the
+:ref:`macro MAKE_EVENT <eventapi>` or the function :cpp:func:`event::makeEvent`.
+This works analog to the returnvalues. Every object that needs own Event IDs has to get a
+unique ``SUBSYSTEM_ID``. Every :cpp:class:`SystemObject` can call
+:cpp:func:`SystemObject::triggerEvent` from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
+
+Internal Communication
+-------------------------
+
+Components communicate mostly via Messages through Queues.
+Those queues are created by calling the singleton ``QueueFactory::instance()->create`` which
+will create `MessageQueue` instances for the used OSAL.
+
+External Communication
+--------------------------
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used.
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+TMTC Communication
+~~~~~~~~~~~~~~~~~~~
+
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
+files located in ``osal/common``. The FSFW example uses this functionality to allow sending
+telecommands and receiving telemetry using the
+`TMTC commander application <https://github.com/robamu-org/tmtccmd>`_.
+
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+``tmtc_client_cli.py`` or ``tmtc_client_gui.py`` utility in
+the `example tmtc folder <https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc>`_
+while the `fsfw_example` application is running.
+
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic ``TmTcBridge`` class located in ``tmtcservices``. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the ``TmTcBridge`` implementation.
+
+CCSDS Frames, CCSDS Space Packets and PUS
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in ``tcdistribution``.
+If Space Packets are used, a timestamper has to be provided by the user.
+An example can be found in the ``timemanager`` folder, which uses ``CCSDSTime::CDS_short``.
+
+Device Handlers
+--------------------------
+
+DeviceHandlers are another important component of the FSFW. The idea is, to have a software
+counterpart of every physical device to provide a simple mode, health and commanding interface.
+By separating the underlying Communication Interface with
+``DeviceCommunicationIF``, a device handler (DH) can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow
+for FDIR reaction.  Device Handlers can be created by implementing ``DeviceHandlerBase``.
+A standard FDIR component for the DH will be created automatically but can
+be overwritten by the user. More information on DeviceHandlers can be found in the
+related [documentation section](doc/README-devicehandlers.md#top).
+
+Modes and Health
+--------------------
+
+The two interfaces ``HasModesIF`` and ``HasHealthIF`` provide access for commanding and monitoring
+of components. On-board mode management is implement in hierarchy system.
+
+- Device handlers and controllers are the lowest part of the hierarchy.
+- The next layer are assemblies. Those assemblies act as a component which handle
+  redundancies of handlers. Assemblies share a common core with the top level subsystem components
+- The top level subsystem components are used to group assemblies, controllers and device handlers.
+  For example, a spacecraft can have a atttitude control subsystem and a power subsystem.
+
+Those assemblies are intended to act as auto-generated components from a database which describes
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component.
+The target table is used to describe the state that is checked continuously by the subsystem.
+All of this allows System Modes to be generated as Subsystem object as well from the same database.
+This System contains list of subsystem modes in the transition and target tables.
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
+
+The health state represents if the component is able to perform its tasks.
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery.
diff --git a/doc/images/PoolArchitecture.png b/docs/images/PoolArchitecture.png
similarity index 100%
rename from doc/images/PoolArchitecture.png
rename to docs/images/PoolArchitecture.png
diff --git a/docs/index.rst b/docs/index.rst
new file mode 100644
index 00000000..b37c0904
--- /dev/null
+++ b/docs/index.rst
@@ -0,0 +1,69 @@
+.. Flight Software Framework documentation master file, created by
+   sphinx-quickstart on Tue Nov 30 10:56:03 2021.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Flight Software Framework (FSFW) documentation
+================================================
+
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
+The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
+automated systems like Satellites. 
+
+The initial version of the Flight Software Framework was developed during
+the Flying Laptop Project by the University of Stuttgart in cooperation
+with Airbus Defence and Space GmbH.
+
+Quick facts
+---------------
+
+The framework is designed for systems, which communicate with external devices, perform control
+loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
+Therefore, a mode and health system provides control over the states of the software and the
+controlled devices. In addition, a simple mechanism of event based fault detection, isolation and
+recovery is implemented as well.
+
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system
+abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
+also very useful for developers to implement the same application logic on different operating
+systems with a uniform interface.
+
+Currently, the FSFW provides the following OSALs:
+
+- Linux
+- Host 
+- FreeRTOS
+- RTEMS
+
+The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
+memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
+ISISPACE IOBC or a Zynq-7020 SoC. The ``fsfw`` was also successfully run on the
+STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
+satellite mission Flying Laptop.
+
+Index
+-------
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   getting_started
+   highlevel
+   core
+   config
+   osal
+   pus
+   devicehandlers
+   controllers
+   localpools
+   api
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`
diff --git a/docs/localpools.rst b/docs/localpools.rst
new file mode 100644
index 00000000..d2afd0a0
--- /dev/null
+++ b/docs/localpools.rst
@@ -0,0 +1,181 @@
+Local Data Pools
+=========================================
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be
+used by other software objects like controllers as well. If a custom class should have a local
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a ``LocalDataPoolManager`` member object in the custom class
+2. Implement the ``HasLocalDataPoolIF`` with specifies the interface between the local pool
+   manager and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change
+detected by the data creator instead of checking the data manually each cycle. Two important
+framework classes ``DeviceHandlerBase`` and ``ExtendedControllerBase`` already perform the two steps
+shown above so the steps required are altered slightly.
+
+Storing and Accessing pool data
+-------------------------------------
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a ``read`` call. Changed variables can then be written to the local pool with a ``commit`` call.
+The ``read`` and ``commit`` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all
+cohesive pool variables. These sets simply iterator over the list of variables and call the
+``read`` and ``commit`` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+.. image:: ../docs/images/PoolArchitecture.png
+	:alt: Pool Architecture
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+.. code-block:: cpp
+
+	class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+	public:
+	    /**
+	     * Constructor for data users
+	     * @param gyroId
+	     */
+	    GyroPrimaryDataset(object_id_t gyroId):
+	            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+	        setAllVariablesReadOnly();
+	    }
+
+	    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_X, this);
+	    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_Y, this);
+	    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_Z, this);
+	private:
+
+	    friend class GyroHandler;
+	    /**
+	     * Constructor for data creator
+	     * @param hkOwner
+	     */
+	    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+	            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+	};
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the ``GyroHandler``
+as a friend class. Both the atittude controller and the ``GyroHandler`` can now
+use the same class definition to access the pool variables with ``read`` and ``commit`` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a ``DeviceHandlerBase`` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+Using the local data pools in a ``DeviceHandlerBase`` subclass
+--------------------------------------------------------------
+
+It is very common to store data generated by devices like a sensor into a pool which can
+then be used by other objects. Therefore, the ``DeviceHandlerBase`` already has a
+local pool. Using the aforementioned example, the ``GyroHandler`` will now have the set class
+as a member:
+
+.. code-block:: cpp
+
+	class GyroHandler: ... {
+
+	public:
+		...
+	private:
+		...
+		GyroPrimaryDataset gyroData;
+		...
+	};
+
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+.. code-block:: cpp
+
+	GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+	        CookieIF *comCookie, uint8_t switchId):
+	        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+			gyroData(this) {}
+
+
+We need to assign the set to a reply ID used in the ``DeviceHandlerBase``.
+The combination of the ``GyroHandler`` object ID and the reply ID will be the 64-bit structure ID
+``sid_t`` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local
+pool manager can access the custom data sets as well.
+By default, the ``getDataSetHandle`` will take care of this tasks. The default implementation for a
+``DeviceHandlerBase`` subclass will use the internal command map to retrieve
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the ``fillCommandAndReplyMap`` function:
+
+.. code-block:: cpp
+
+	void GyroHandler::fillCommandAndReplyMap() {
+		...
+		this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+		...
+	}
+
+
+Now, we need to create the actual pool entries as well, using the ``initializeLocalDataPool``
+function. Here, we also immediately subscribe for periodic housekeeping packets
+with an interval of 4 seconds. They are still disabled in this example and can be enabled
+with a housekeeping service command.
+
+.. code-block:: cpp
+
+	ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+			LocalDataPoolManager &poolManager) {
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+				new PoolEntry<uint8_t>({0}));
+		localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+				new PoolEntry<uint8_t>({0}));
+
+		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+Now, if we receive some sensor data and converted them into the right format,
+we can write it into the pool like this, using a guard class to ensure the set is commited back
+in any case:
+
+.. code-block:: cpp
+
+	PoolReadGuard readHelper(&gyroData);
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+		if(not gyroData.isValid()) {
+			gyroData.setValidity(true, true);
+		}
+
+		gyroData.angVelocityX = angularVelocityX;
+		gyroData.angVelocityY = angularVelocityY;
+		gyroData.angVelocityZ = angularVelocityZ;
+	}
+
+
+The guard class will commit the changed data on destruction automatically.
+
+Using the local data pools in a ``ExtendedControllerBase`` subclass
+----------------------------------------------------------------------
+
+Coming soon
+
+
diff --git a/docs/make.bat b/docs/make.bat
new file mode 100644
index 00000000..922152e9
--- /dev/null
+++ b/docs/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd
diff --git a/docs/osal.rst b/docs/osal.rst
new file mode 100644
index 00000000..7ac66e47
--- /dev/null
+++ b/docs/osal.rst
@@ -0,0 +1,63 @@
+.. _osal:
+
+Operating System Abstraction Layer (OSAL)
+============================================
+
+Some specific information on the provided OSALs are provided.
+
+Linux
+-------
+
+This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
+embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
+and real-time functionalities. For most UNIX systems, this is done by adding ``-lrt`` and
+``-lpthread`` to the linked libraries in the compilation process. The CMake build support provided
+will do this automatically for the ``fsfw`` target. It should be noted that most UNIX systems need
+to be configured specifically to allow the real-time functionalities required by the FSFW.
+
+Hosted OSAL
+-------------------
+
+This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be
+implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the
+FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike
+the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation).
+Cross-platform serial port (USB) support might be added soon.
+
+FreeRTOS OSAL
+------------------
+
+FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and
+adding the  ``FreeRTOSConfig.h`` file location to the include path. This OSAL has only been tested
+extensively with the pre-emptive scheduler configuration so far but it should in principle also be
+possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme.
+When using newlib (nano), it is also recommended to add ``#define configUSE_NEWLIB_REENTRANT`` to
+the FreeRTOS configuration file to ensure thread-safety.
+
+When using this OSAL, developers also need to provide an implementation for the
+``vRequestContextSwitchFromISR`` function. This has been done because the call to request a context
+switch from an ISR is generally located in the ``portmacro.h`` header and is different depending on
+the target architecture or device.
+
+RTEMS OSAL
+---------------
+
+The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
+
+TCP/IP socket abstraction
+------------------------------
+
+The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets
+have been imlemented. This is very useful to test TMTC handling either on the host computer
+directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending
+TMTC packets via Ethernet.
+
+Example Applications
+----------------------
+
+There are example applications available for each OSAL
+
+- `Hosted OSAL <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted>`_
+- `Linux OSAL for MCUs <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu>`_
+- `FreeRTOS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos>`_
+- `RTEMS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems>`_
diff --git a/docs/pus.rst b/docs/pus.rst
new file mode 100644
index 00000000..8dbb2104
--- /dev/null
+++ b/docs/pus.rst
@@ -0,0 +1,2 @@
+PUS Services
+==============
diff --git a/misc/defaultcfg/fsfwconfig/CMakeLists.txt b/misc/defaultcfg/fsfwconfig/CMakeLists.txt
index 178fc273..3b2064ba 100644
--- a/misc/defaultcfg/fsfwconfig/CMakeLists.txt
+++ b/misc/defaultcfg/fsfwconfig/CMakeLists.txt
@@ -1,23 +1,49 @@
-target_include_directories(${TARGET_NAME} PRIVATE
+if(DEFINED TARGET_NAME) 
+    target_include_directories(${TARGET_NAME} PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_sources(${TARGET_NAME} PRIVATE
-    ipc/missionMessageTypes.cpp
-    pollingsequence/PollingSequenceFactory.cpp
-    objects/FsfwFactory.cpp
-)
-
-# If a special translation file for object IDs exists, compile it.
-if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${TARGET_NAME} PRIVATE
-        objects/translateObjects.cpp
     )
-endif()
 
-# If a special translation file for events exists, compile it.
-if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
     target_sources(${TARGET_NAME} PRIVATE
-        events/translateEvents.cpp
+        ipc/missionMessageTypes.cpp
+        pollingsequence/PollingSequenceFactory.cpp
+        objects/FsfwFactory.cpp
     )
+
+    # If a special translation file for object IDs exists, compile it.
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+        target_sources(${TARGET_NAME} PRIVATE
+            objects/translateObjects.cpp
+        )
+    endif()
+
+    # If a special translation file for events exists, compile it.
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+        target_sources(${TARGET_NAME} PRIVATE
+            events/translateEvents.cpp
+        )
+    endif()
+else()
+    target_include_directories(${LIB_FSFW_NAME} PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        ipc/missionMessageTypes.cpp
+        pollingsequence/PollingSequenceFactory.cpp
+        objects/FsfwFactory.cpp
+    )
+
+    # If a special translation file for object IDs exists, compile it.
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+        target_sources(${LIB_FSFW_NAME} PRIVATE
+            objects/translateObjects.cpp
+        )
+    endif()
+
+    # If a special translation file for events exists, compile it.
+    if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
+        target_sources(${LIB_FSFW_NAME} PRIVATE
+            events/translateEvents.cpp
+        )
+    endif()
 endif()
diff --git a/misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp b/misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
index 08ad41ec..5aef4980 100644
--- a/misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
+++ b/misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp
@@ -7,7 +7,7 @@
 #include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
-#include <fsfw/internalError/InternalErrorReporter.h>
+#include <fsfw/internalerror/InternalErrorReporter.h>
 
 #include <cstdint>
 
@@ -48,6 +48,6 @@ void Factory::setStaticFrameworkObjectIds() {
 
 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-	TmPacketStored::timeStamperId = objects::NO_OBJECT;
+	TmPacketBase::timeStamperId = objects::NO_OBJECT;
 }
 
diff --git a/scripts/coverage.py b/scripts/coverage.py
deleted file mode 100755
index b5bd7745..00000000
--- a/scripts/coverage.py
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*
-"""Small portable helper script to generate LCOV HTML coverage data"""
-import os
-import platform
-import sys
-import time
-import argparse
-import webbrowser
-from typing import List
-
-
-"""Copy this helper script into your project folder. It will try to determine a CMake build folder
-and then attempt to build your project with coverage information.
-
-See Unittest documentation at https://egit.irs.uni-stuttgart.de/fsfw/fsfw for more
-information how to set up the build folder.
-"""
-def main():
-
-    parser = argparse.ArgumentParser(description="Processing arguments for LCOV helper script.")
-    parser.add_argument(
-        '-o', '--open', action='store_true', help='Open coverage data in webbrowser'
-    )
-    args = parser.parse_args()
-
-    build_dir_list = []
-    if not os.path.isfile('README.md'):
-        os.chdir('..')
-    for directory in os.listdir("."):
-        if os.path.isdir(directory):
-            os.chdir(directory)
-            check_for_cmake_build_dir(build_dir_list)
-            os.chdir("..")
-
-    if len(build_dir_list) == 0:
-        print("No valid CMake build directory found. Trying to set up hosted build")
-        build_directory = 'build-Debug-Host'
-        os.mkdir(build_directory)
-        os.chdir(build_directory)
-        os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
-        os.chdir('..')
-    elif len(build_dir_list) == 1:
-        build_directory = build_dir_list[0]
-    else:
-        print("Multiple build directories found!")
-        build_directory = determine_build_dir(build_dir_list)
-    perform_lcov_operation(build_directory)
-    if os.path.isdir('fsfw-tests_coverage') and args.open:
-        webbrowser.open('fsfw-tests_coverage/index.html')
-
-
-def check_for_cmake_build_dir(build_dir_dict: list):
-    if os.path.isfile("CMakeCache.txt"):
-        build_dir_dict.append(os.getcwd())
-
-
-def perform_lcov_operation(directory):
-    os.chdir(directory)
-    os.system("cmake --build . -- fsfw-tests_coverage -j")
-
-
-def determine_build_dir(build_dir_list: List[str]):
-    build_directory = ""
-    for idx, directory in enumerate(build_dir_list):
-        print(f"{idx + 1}: {directory}")
-    while True:
-        idx = input("Pick the directory to perform LCOV HTML generation by index: ")
-        if not idx.isdigit():
-            print("Invalid input!")
-            continue
-
-        idx = int(idx)
-        if idx > len(build_dir_list) or idx < 1:
-            print("Invalid input!")
-            continue
-        build_directory = build_dir_list[idx - 1]
-        break
-    return build_directory
-
-
-if __name__ == "__main__":
-    main()
diff --git a/scripts/gen-unittest.sh b/scripts/gen-unittest.sh
deleted file mode 100755
index 9ca8c399..00000000
--- a/scripts/gen-unittest.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/sh
-mkdir build-Unittest && cd build-Unittest
-cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
diff --git a/scripts/helper.py b/scripts/helper.py
new file mode 100755
index 00000000..5ceff8c4
--- /dev/null
+++ b/scripts/helper.py
@@ -0,0 +1,181 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*
+"""Small portable helper script to generate test or doc configuration for the
+flight software framework
+"""
+import os
+import argparse
+import webbrowser
+import shutil
+import sys
+from typing import List
+
+
+UNITTEST_FOLDER_NAME = 'build-tests'
+DOCS_FOLDER_NAME = 'build-docs'
+
+
+def main():
+
+    parser = argparse.ArgumentParser(description="FSFW helper script")
+    choices = ('docs', 'tests')
+    parser.add_argument(
+        'type', metavar='type', choices=choices,
+        help=f'Target type. Choices: {choices}'
+    )
+    parser.add_argument(
+        '-a', '--all', action='store_true',
+        help='Create, build and open specified type'
+    )
+    parser.add_argument(
+        '-c', '--create', action='store_true',
+        help='Create docs or test build configuration'
+    )
+    parser.add_argument(
+        '-b', '--build', action='store_true',
+        help='Build the specified type'
+    )
+    parser.add_argument(
+        '-o', '--open', action='store_true',
+        help='Open test or documentation data in webbrowser'
+    )
+
+    args = parser.parse_args()
+    if args.all:
+        args.build = True
+        args.create = True
+        args.open = True
+    elif not args.build and not args.create and not args.open:
+        print(
+            'Please select at least one operation to perform. '
+            'Use helper.py -h for more information'
+        )
+        sys.exit(1)
+
+    # This script can be called from root and from script folder
+    if not os.path.isfile('README.md'):
+        os.chdir('..')
+    build_dir_list = []
+    if not args.create:
+        build_dir_list = build_build_dir_list()
+
+    if args.type == 'tests':
+        handle_tests_type(args, build_dir_list)
+    elif args.type == 'docs':
+        handle_docs_type(args, build_dir_list)
+    else:
+        print('Invalid or unknown type')
+        sys.exit(1)
+
+
+def handle_docs_type(args, build_dir_list: list):
+    if args.create:
+        shutil.rmtree(DOCS_FOLDER_NAME)
+        create_docs_build_cfg()
+        build_directory = DOCS_FOLDER_NAME
+    elif len(build_dir_list) == 0:
+        print('No valid CMake docs build directory found. Trying to set up docs build system')
+        shutil.rmtree(DOCS_FOLDER_NAME)
+        create_docs_build_cfg()
+        build_directory = DOCS_FOLDER_NAME
+    elif len(build_dir_list) == 1:
+        build_directory = build_dir_list[0]
+    else:
+        print("Multiple build directories found!")
+        build_directory = determine_build_dir(build_dir_list)
+    os.chdir(build_directory)
+    if args.build:
+        os.system('cmake --build . -j')
+    if args.open:
+        if not os.path.isfile('docs/sphinx/index.html'):
+            print(
+                "No Sphinx documentation file detected. "
+                "Try to build it first with the -b argument"
+            )
+            sys.exit(1)
+        webbrowser.open('docs/sphinx/index.html')
+
+
+def handle_tests_type(args, build_dir_list: list):
+    if args.create:
+        shutil.rmtree(UNITTEST_FOLDER_NAME)
+        create_tests_build_cfg()
+        build_directory = UNITTEST_FOLDER_NAME
+    elif len(build_dir_list) == 0:
+        print(
+            'No valid CMake tests build directory found. '
+            'Trying to set up test build system'
+        )
+        create_tests_build_cfg()
+        build_directory = UNITTEST_FOLDER_NAME
+    elif len(build_dir_list) == 1:
+        build_directory = build_dir_list[0]
+    else:
+        print("Multiple build directories found!")
+        build_directory = determine_build_dir(build_dir_list)
+    os.chdir(build_directory)
+    if args.build:
+        perform_lcov_operation(build_directory)
+    if args.open:
+        if not os.path.isdir('fsfw-tests_coverage'):
+            print("No Unittest folder detected. Try to build them first with the -b argument")
+            sys.exit(1)
+        webbrowser.open('fsfw-tests_coverage/index.html')
+
+
+def create_tests_build_cfg():
+    os.mkdir(UNITTEST_FOLDER_NAME)
+    os.chdir(UNITTEST_FOLDER_NAME)
+    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
+    os.chdir('..')
+
+
+def create_docs_build_cfg():
+    os.mkdir(DOCS_FOLDER_NAME)
+    os.chdir(DOCS_FOLDER_NAME)
+    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..')
+    os.chdir('..')
+
+
+def build_build_dir_list() -> list:
+    build_dir_list = []
+    for directory in os.listdir("."):
+        if os.path.isdir(directory):
+            os.chdir(directory)
+            build_dir_list = check_for_cmake_build_dir(build_dir_list)
+            os.chdir("..")
+    return build_dir_list
+
+
+def check_for_cmake_build_dir(build_dir_list: list) -> list:
+    if os.path.isfile("CMakeCache.txt"):
+        build_dir_list.append(os.getcwd())
+    return build_dir_list
+
+
+def perform_lcov_operation(directory):
+    os.chdir(directory)
+    os.system("cmake --build . -- fsfw-tests_coverage -j")
+
+
+def determine_build_dir(build_dir_list: List[str]):
+    build_directory = ""
+    for idx, directory in enumerate(build_dir_list):
+        print(f"{idx + 1}: {directory}")
+    while True:
+        idx = input("Pick the directory: ")
+        if not idx.isdigit():
+            print("Invalid input!")
+            continue
+
+        idx = int(idx)
+        if idx > len(build_dir_list) or idx < 1:
+            print("Invalid input!")
+            continue
+        build_directory = build_dir_list[idx - 1]
+        break
+    return build_directory
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tests/src/fsfw_tests/integration/task/CMakeLists.txt b/tests/src/fsfw_tests/integration/task/CMakeLists.txt
index 0402d093..4cd481bf 100644
--- a/tests/src/fsfw_tests/integration/task/CMakeLists.txt
+++ b/tests/src/fsfw_tests/integration/task/CMakeLists.txt
@@ -1,3 +1,3 @@
-target_sources(${TARGET_NAME} PRIVATE
+target_sources(${LIB_FSFW_NAME} PRIVATE
     TestTask.cpp
 )
\ No newline at end of file

From fd7581f8babebdd9eeb13cc4a9800dbb80f893a4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 1 Dec 2021 16:08:28 +0100
Subject: [PATCH 03/14] Added formatting scripts

1. Added .clang-format file which contains information for the
   clang-format tool on how to format source files
2. Added shell helper script to apply all changes on HAL soures,
   test sources and primary sources

The shell script was not applied yet. This should be done shortly
before introducing the release. Also, it might be good idea to provide
instructions on how to set up the formatter for Eclipse
---
 .clang-format                 | 7 +++++++
 scripts/apply-clang-format.sh | 8 ++++++++
 2 files changed, 15 insertions(+)
 create mode 100644 .clang-format
 create mode 100755 scripts/apply-clang-format.sh

diff --git a/.clang-format b/.clang-format
new file mode 100644
index 00000000..a3cf6a1f
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,7 @@
+---
+BasedOnStyle: Google
+IndentWidth: 2
+---
+Language: Cpp
+ColumnWidth: 100
+---
diff --git a/scripts/apply-clang-format.sh b/scripts/apply-clang-format.sh
new file mode 100755
index 00000000..36f5ee92
--- /dev/null
+++ b/scripts/apply-clang-format.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+if [[ ! -f README.md ]]; then
+	cd ..
+fi
+
+find ./src -iname *.h -o -iname *.cpp | xargs clang-format --style=file -i
+find ./hal -iname *.h -o -iname *.cpp | xargs clang-format --style=file -i
+find ./tests -iname *.h -o -iname *.cpp | xargs clang-format --style=file -i

From 15dddd7fc407fa72d752c76c64279944986b2dc1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 1 Dec 2021 16:17:27 +0100
Subject: [PATCH 04/14] small README section for formatting

---
 README.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/README.md b/README.md
index 312bc077..5feda92c 100644
--- a/README.md
+++ b/README.md
@@ -107,6 +107,12 @@ cmake --build . -- fsfw-tests_coverage -j
 
 The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
 
+## Formatting the sources
+
+The formatting is done by the `clang-format` tool. The configuration is contained within the
+`.clang-format` file in the repository root. As long as `clang-format` is installed, you
+can run the `apply-clang-format.sh` helper script to format all source files consistently.
+
 ## Index
 
 [1. High-level overview](doc/README-highlevel.md#top) <br>

From df45f02c393bde14b232d1668f6004256615e68a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 3 Dec 2021 14:55:00 +0100
Subject: [PATCH 05/14] script fixes, odd behaviour

---
 docs/conf.py      |  2 +-
 scripts/helper.py | 20 +++++++++++++-------
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/docs/conf.py b/docs/conf.py
index 44fd90c4..62b17192 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -53,4 +53,4 @@ html_theme = 'alabaster'
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
\ No newline at end of file
+html_static_path = []
\ No newline at end of file
diff --git a/scripts/helper.py b/scripts/helper.py
index 5ceff8c4..5c5c202b 100755
--- a/scripts/helper.py
+++ b/scripts/helper.py
@@ -8,6 +8,7 @@ import argparse
 import webbrowser
 import shutil
 import sys
+import time
 from typing import List
 
 
@@ -70,7 +71,8 @@ def main():
 
 def handle_docs_type(args, build_dir_list: list):
     if args.create:
-        shutil.rmtree(DOCS_FOLDER_NAME)
+        if os.path.exists(DOCS_FOLDER_NAME):
+            shutil.rmtree(DOCS_FOLDER_NAME)
         create_docs_build_cfg()
         build_directory = DOCS_FOLDER_NAME
     elif len(build_dir_list) == 0:
@@ -88,17 +90,21 @@ def handle_docs_type(args, build_dir_list: list):
         os.system('cmake --build . -j')
     if args.open:
         if not os.path.isfile('docs/sphinx/index.html'):
-            print(
-                "No Sphinx documentation file detected. "
-                "Try to build it first with the -b argument"
-            )
-            sys.exit(1)
+            # try again..
+            os.system('cmake --build . -j')
+            if not os.path.isfile('docs/sphinx/index.html'):
+                print(
+                    "No Sphinx documentation file detected. "
+                    "Try to build it first with the -b argument"
+                )
+                sys.exit(1)
         webbrowser.open('docs/sphinx/index.html')
 
 
 def handle_tests_type(args, build_dir_list: list):
     if args.create:
-        shutil.rmtree(UNITTEST_FOLDER_NAME)
+        if os.path.exists(UNITTEST_FOLDER_NAME):
+            shutil.rmtree(UNITTEST_FOLDER_NAME)
         create_tests_build_cfg()
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 0:

From 4a5204d6f614053fea03bc10eea18613222000c0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 6 Dec 2021 14:46:31 +0100
Subject: [PATCH 06/14] small fix for helper script

---
 scripts/helper.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/scripts/helper.py b/scripts/helper.py
index 5c5c202b..0bb430ee 100755
--- a/scripts/helper.py
+++ b/scripts/helper.py
@@ -121,7 +121,7 @@ def handle_tests_type(args, build_dir_list: list):
         build_directory = determine_build_dir(build_dir_list)
     os.chdir(build_directory)
     if args.build:
-        perform_lcov_operation(build_directory)
+        perform_lcov_operation(build_directory, False)
     if args.open:
         if not os.path.isdir('fsfw-tests_coverage'):
             print("No Unittest folder detected. Try to build them first with the -b argument")
@@ -159,8 +159,9 @@ def check_for_cmake_build_dir(build_dir_list: list) -> list:
     return build_dir_list
 
 
-def perform_lcov_operation(directory):
-    os.chdir(directory)
+def perform_lcov_operation(directory: str, chdir: bool):
+    if chdir:
+        os.chdir(directory)
     os.system("cmake --build . -- fsfw-tests_coverage -j")
 
 

From e952a82b6565292d649260b1441383b1d484f706 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 7 Dec 2021 13:14:57 +0100
Subject: [PATCH 07/14] small tweaks and fixes

---
 .clang-format                 | 2 +-
 scripts/apply-clang-format.sh | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.clang-format b/.clang-format
index a3cf6a1f..ec53b72b 100644
--- a/.clang-format
+++ b/.clang-format
@@ -3,5 +3,5 @@ BasedOnStyle: Google
 IndentWidth: 2
 ---
 Language: Cpp
-ColumnWidth: 100
+ColumnLimit: 100
 ---
diff --git a/scripts/apply-clang-format.sh b/scripts/apply-clang-format.sh
index 36f5ee92..27202324 100755
--- a/scripts/apply-clang-format.sh
+++ b/scripts/apply-clang-format.sh
@@ -3,6 +3,6 @@ if [[ ! -f README.md ]]; then
 	cd ..
 fi
 
-find ./src -iname *.h -o -iname *.cpp | xargs clang-format --style=file -i
-find ./hal -iname *.h -o -iname *.cpp | xargs clang-format --style=file -i
-find ./tests -iname *.h -o -iname *.cpp | xargs clang-format --style=file -i
+find ./src -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
+find ./hal -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i
+find ./tests -iname *.h -o -iname *.cpp -o -iname *.c | xargs clang-format --style=file -i

From e4999fe01c0446f9820ceede55be3970aa22bbad Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 8 Dec 2021 17:22:53 +0100
Subject: [PATCH 08/14] fixes for windows

---
 hal/src/fsfw_hal/common/gpio/gpioDefinitions.h | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
index c6f21195..e5446c82 100644
--- a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
+++ b/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
@@ -16,8 +16,8 @@ enum Levels: uint8_t {
 };
 
 enum Direction: uint8_t {
-    IN = 0,
-    OUT = 1
+    DIR_IN = 0,
+    DIR_OUT = 1
 };
 
 enum GpioOperation {
@@ -30,7 +30,7 @@ enum class GpioTypes {
     GPIO_REGULAR_BY_CHIP,
     GPIO_REGULAR_BY_LABEL,
     GPIO_REGULAR_BY_LINE_NAME,
-    CALLBACK
+    TYPE_CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
@@ -68,7 +68,7 @@ public:
     // Can be used to cast GpioBase to a concrete child implementation
     gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
     std::string consumer;
-    gpio::Direction direction = gpio::Direction::IN;
+    gpio::Direction direction = gpio::Direction::DIR_IN;
     gpio::Levels initValue = gpio::Levels::NONE;
 };
 
@@ -92,7 +92,7 @@ class GpiodRegularByChip: public GpiodRegularBase {
 public:
     GpiodRegularByChip() :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
-                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+                    std::string(), gpio::Direction::DIR_IN, gpio::LOW, 0) {
     }
 
     GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
@@ -104,7 +104,7 @@ public:
 
     GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
+                    gpio::Direction::DIR_IN, gpio::LOW, lineNum_),
             chipname(chipname_) {
     }
 
@@ -122,7 +122,7 @@ public:
 
     GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
+                    gpio::Direction::DIR_IN, gpio::LOW, lineNum_),
             label(label_) {
     }
 
@@ -144,7 +144,7 @@ public:
 
     GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
-                    gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
+                    gpio::Direction::DIR_IN, gpio::LOW), lineName(lineName_) {
     }
 
     std::string lineName;
@@ -154,7 +154,7 @@ class GpioCallback: public GpioBase {
 public:
     GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
             gpio::gpio_cb_t callback, void* callbackArgs):
-            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+            GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_),
             callback(callback), callbackArgs(callbackArgs) {}
 
     gpio::gpio_cb_t callback = nullptr;

From bda02b464a2ad00b1a8e373d4c6b80b0a7c8de95 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 9 Dec 2021 13:42:54 +0100
Subject: [PATCH 09/14] linux HAL fixes

---
 hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
index 020ba964..e2e4e46d 100644
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@@ -75,7 +75,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
             configureGpioByLineName(gpioConfig.first, *regularGpio);
             break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+        case(gpio::GpioTypes::TYPE_CALLBACK): {
             auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
             if(gpioCallback->callback == nullptr) {
                 return GPIO_INVALID_INSTANCE;
@@ -163,12 +163,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
     consumer = regularGpio.consumer;
     /* Configure direction and add a description to the GPIO */
     switch (direction) {
-    case(gpio::OUT): {
+    case(gpio::DIR_OUT): {
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
                 regularGpio.initValue);
         break;
     }
-    case(gpio::IN): {
+    case(gpio::DIR_IN): {
         result = gpiod_line_request_input(lineHandle, consumer.c_str());
         break;
     }
@@ -330,7 +330,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
             }
             break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+        case(gpio::GpioTypes::TYPE_CALLBACK): {
             auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
             if(callbackGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
@@ -371,13 +371,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
         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) {
+            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) {
                 eraseDuplicateDifferentType = true;
             }
             break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
-            if(gpioType != gpio::GpioTypes::CALLBACK) {
+        case(gpio::GpioTypes::TYPE_CALLBACK): {
+            if(gpioType != gpio::GpioTypes::TYPE_CALLBACK) {
                 eraseDuplicateDifferentType = true;
             }
         }

From 661b7b44e070f20b0162c530ed315abaa8bcbb41 Mon Sep 17 00:00:00 2001
From: David <d.woodward@gmx.de>
Date: Sun, 12 Dec 2021 18:53:29 +0100
Subject: [PATCH 10/14] improved win32 define

---
 src/fsfw/globalfunctions/timevalOperations.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/fsfw/globalfunctions/timevalOperations.h b/src/fsfw/globalfunctions/timevalOperations.h
index db68f330..41f4e52f 100644
--- a/src/fsfw/globalfunctions/timevalOperations.h
+++ b/src/fsfw/globalfunctions/timevalOperations.h
@@ -2,8 +2,9 @@
 #define TIMEVALOPERATIONS_H_
 
 #include <stdint.h>
+#include <fsfw/platform.h>
 
-#ifdef WIN32
+#ifdef PLATFORM_WIN
 #include <winsock2.h>
 #else
 #include <sys/time.h>

From 54e56ec522f485525de7b17458b22132003c5047 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 15 Dec 2021 11:18:47 +0100
Subject: [PATCH 11/14] LIS3 bugfix

---
 hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
index 1a61bfe2..6176b1bb 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -283,7 +283,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
         int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
                 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
 
-        /* Target value in microtesla */
+        // Target value in microtesla
         float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
                 *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
         float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
@@ -339,7 +339,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
     case MGMLIS3MDL::READ_TEMPERATURE: {
         int16_t tempValueRaw = packet[2] << 8 | packet[1];
         float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-    #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
@@ -489,7 +489,7 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
 }
 
 void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-
+    DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
 }
 
 uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {

From ddcb37a81be135c858b2eb210ad259abef2ad3de Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 15 Dec 2021 14:16:56 +0100
Subject: [PATCH 12/14] more diagnostic output

---
 src/fsfw/datapoollocal/LocalPoolObjectBase.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp b/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
index 96b849c6..644220a5 100644
--- a/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
+++ b/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
@@ -46,11 +46,12 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
     HasLocalDataPoolIF* hkOwner = ObjectManager::instance()->get<HasLocalDataPoolIF>(poolOwner);
     if(hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
-                "interface HasLocalDataPoolIF!" << std::endl;
+        sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex <<
+                poolOwner << " did not implement the correct interface HasLocalDataPoolIF" <<
+                std::endl;
 #else
-        sif::printError( "LocalPoolVariable: The supplied pool owner did not implement the correct "
-                "interface HasLocalDataPoolIF!\n");
+        sif::printError( "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
+                "interface HasLocalDataPoolIF\n", poolOwner);
 #endif
         return;
     }

From a45fb1bb1ff839c487581e1b787db966a1cf80cb Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Wed, 15 Dec 2021 14:19:15 +0100
Subject: [PATCH 13/14] go back to deciaml as well

---
 src/fsfw/datapoollocal/LocalPoolObjectBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp b/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
index 644220a5..ba0f74d7 100644
--- a/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
+++ b/src/fsfw/datapoollocal/LocalPoolObjectBase.cpp
@@ -47,8 +47,8 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
     if(hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex <<
-                poolOwner << " did not implement the correct interface HasLocalDataPoolIF" <<
-                std::endl;
+                poolOwner << std::dec << " did not implement the correct interface " <<
+                "HasLocalDataPoolIF" << std::endl;
 #else
         sif::printError( "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
                 "interface HasLocalDataPoolIF\n", poolOwner);

From e5b568bc2b0b819bfb5c9dc90026d534852df4ff Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 17 Dec 2021 13:46:51 +0100
Subject: [PATCH 14/14] op divider fixes

---
 hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp | 2 +-
 hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp | 2 +-
 hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
index d27351d7..90bf357a 100644
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@@ -9,7 +9,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(10);
 #endif
 }
 
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
index 6176b1bb..b4a951d2 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -12,7 +12,7 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         dataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(10);
 #endif
     // Set to default values right away
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
index db4ea607..78fbdafb 100644
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@@ -12,7 +12,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         primaryDataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(10);
 #endif
 }