using _ instead of - now

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -0,0 +1,13 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+    add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	UnixFileGuard.cpp
+	utility.cpp
+)
+
+add_subdirectory(gpio)
+add_subdirectory(spi)
+add_subdirectory(i2c)
+add_subdirectory(uart)

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -0,0 +1,33 @@
+#include "fsfw-hal/linux/UnixFileGuard.h"
+
+UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
+        std::string diagnosticPrefix):
+        fileDescriptor(fileDescriptor) {
+    if(fileDescriptor == nullptr) {
+        return;
+    }
+    *fileDescriptor = open(device.c_str(), flags);
+    if (*fileDescriptor < 0) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
+                "." << std::endl;
+        sif::warning << "Error description: " << strerror(errno) << std::endl;
+#else
+        sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
+        sif::printWarning("Error description: %s\n", strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        openStatus = OPEN_FILE_FAILED;
+    }
+}
+
+UnixFileGuard::~UnixFileGuard() {
+    if(fileDescriptor != nullptr) {
+        close(*fileDescriptor);
+    }
+}
+
+ReturnValue_t UnixFileGuard::getOpenResult() const {
+    return openStatus;
+}

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -0,0 +1,33 @@
+#ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
+#define LINUX_UTILITY_UNIXFILEGUARD_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <string>
+
+#include <fcntl.h>
+#include <unistd.h>
+
+
+class UnixFileGuard {
+public:
+    static constexpr int READ_WRITE_FLAG = O_RDWR;
+    static constexpr int READ_ONLY_FLAG = O_RDONLY;
+    static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
+
+    static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
+
+    UnixFileGuard(std::string device, int* fileDescriptor, int flags,
+            std::string diagnosticPrefix = "");
+
+    virtual~ UnixFileGuard();
+
+    ReturnValue_t getOpenResult() const;
+private:
+    int* fileDescriptor = nullptr;
+    ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
+};
+
+
+
+#endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

hal/src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -0,0 +1,12 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    LinuxLibgpioIF.cpp
+)
+
+# This abstraction layer requires the gpiod library. You can install this library
+# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
+# to install the package before syncing the sysroot to your host computer.
+find_library(LIB_GPIO gpiod REQUIRED)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${LIB_GPIO}
+)

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -0,0 +1,305 @@
+#include "fsfw-hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw-hal/common/gpio/gpioDefinitions.h"
+#include "fsfw-hal/common/gpio/GpioCookie.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include <utility>
+#include <unistd.h>
+#include <gpiod.h>
+
+LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
+}
+
+LinuxLibgpioIF::~LinuxLibgpioIF() {
+    for(auto& config: gpioMap) {
+        delete(config.second);
+    }
+}
+
+ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
+    ReturnValue_t result;
+    if(gpioCookie == nullptr) {
+        sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
+        return RETURN_FAILED;
+    }
+
+    GpioMap mapToAdd = gpioCookie->getGpioMap();
+
+    /* Check whether this ID already exists in the map and remove duplicates */
+    result = checkForConflicts(mapToAdd);
+    if (result != RETURN_OK){
+        return result;
+    }
+
+    result = configureGpios(mapToAdd);
+    if (result != RETURN_OK) {
+        return RETURN_FAILED;
+    }
+
+    /* Register new GPIOs in gpioMap */
+    gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
+
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
+    for(auto& gpioConfig: mapToAdd) {
+        switch(gpioConfig.second->gpioType) {
+        case(gpio::GpioTypes::NONE): {
+            return GPIO_INVALID_INSTANCE;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR): {
+            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureRegularGpio(gpioConfig.first, regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
+            if(gpioCallback->callback == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
+                    gpioCallback->initValue, gpioCallback->callbackArgs);
+        }
+        }
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
+    std::string chipname;
+    unsigned int lineNum;
+    struct gpiod_chip *chip;
+    gpio::Direction direction;
+    std::string consumer;
+    struct gpiod_line *lineHandle;
+    int result = 0;
+
+    chipname = regularGpio->chipname;
+    chip = gpiod_chip_open_by_name(chipname.c_str());
+    if (!chip) {
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+
+    lineNum = regularGpio->lineNum;
+    lineHandle = gpiod_chip_get_line(chip, lineNum);
+    if (!lineHandle) {
+        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+                ", chipname: " << chipname << std::endl;
+        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
+        gpiod_chip_close(chip);
+        return RETURN_FAILED;
+    }
+
+    direction = regularGpio->direction;
+    consumer = regularGpio->consumer;
+    /* Configure direction and add a description to the GPIO */
+    switch (direction) {
+    case(gpio::OUT): {
+        result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+                regularGpio->initValue);
+        if (result < 0) {
+            sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
+                    " from GPIO instance with ID: " << gpioId << std::endl;
+            gpiod_line_release(lineHandle);
+            return RETURN_FAILED;
+        }
+        break;
+    }
+    case(gpio::IN): {
+        result = gpiod_line_request_input(lineHandle, consumer.c_str());
+        if (result < 0) {
+            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
+                    << lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
+            gpiod_line_release(lineHandle);
+            return RETURN_FAILED;
+        }
+        break;
+    }
+    default: {
+        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
+                << std::endl;
+        return GPIO_INVALID_INSTANCE;
+    }
+
+    }
+    /**
+     * Write line handle to GPIO configuration instance so it can later be used to set or
+     * read states of GPIOs.
+     */
+    regularGpio->lineHandle = lineHandle;
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()) {
+        sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                1, gpioCallback->callbackArgs);
+        return RETURN_OK;
+    }
+    return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()) {
+        sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                0, gpioCallback->callbackArgs);
+        return RETURN_OK;
+    }
+    return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
+        GpiodRegular* regularGpio, unsigned int logicLevel) {
+    if(regularGpio == nullptr) {
+        return GPIO_TYPE_FAILURE;
+    }
+
+    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
+    if (result < 0) {
+        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
+                " to logic level " << logicLevel << std::endl;
+        return DRIVE_GPIO_FAILURE;
+    }
+
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()){
+        sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
+    }
+    else {
+
+    }
+
+
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    for(auto& gpioConfig: mapToAdd) {
+        switch(gpioConfig.second->gpioType) {
+        case(gpio::GpioTypes::GPIO_REGULAR): {
+            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+            if(regularGpio == nullptr)  {
+                return GPIO_TYPE_FAILURE;
+            }
+            /* Check for conflicts and remove duplicates if necessary */
+            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+            if(callbackGpio == nullptr)  {
+                return GPIO_TYPE_FAILURE;
+            }
+            /* Check for conflicts and remove duplicates if necessary */
+            result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            break;
+        }
+        default: {
+
+        }
+        }
+    }
+    return status;
+}
+
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
+        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
+    /* Cross check with private map */
+    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    if(gpioMapIter != gpioMap.end()) {
+        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+            mapToAdd.erase(gpioIdToCheck);
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        if(ownRegularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+
+        /* Remove element from map to add because a entry for this GPIO
+        already exists */
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+                << " detected. Duplicate will be removed from map to add." << std::endl;
+        mapToAdd.erase(gpioIdToCheck);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
+        GpioCallback *callbackGpio, GpioMap& mapToAdd) {
+    /* Cross check with private map */
+    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    if(gpioMapIter != gpioMap.end()) {
+        if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+            mapToAdd.erase(gpioIdToCheck);
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        /* Remove element from map to add because a entry for this GPIO
+        already exists */
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+                << " detected. Duplicate will be removed from map to add." << std::endl;
+        mapToAdd.erase(gpioIdToCheck);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -0,0 +1,77 @@
+#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
+#define LINUX_GPIO_LINUXLIBGPIOIF_H_
+
+#include "../../common/gpio/GpioIF.h"
+#include <returnvalues/classIds.h>
+#include <fsfw/objectmanager/SystemObject.h>
+
+class GpioCookie;
+
+/**
+ * @brief	This class implements the GpioIF for a linux based system. The
+ * 			implementation is based on the libgpiod lib which requires linux 4.8
+ * 			or higher.
+ * @note	The Petalinux SDK from Xilinx supports libgpiod since Petalinux
+ * 			2019.1.
+ */
+class LinuxLibgpioIF : public GpioIF, public SystemObject {
+public:
+
+    static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
+
+    static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+    static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+    static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+    static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+
+	LinuxLibgpioIF(object_id_t objectId);
+	virtual ~LinuxLibgpioIF();
+
+	ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
+	ReturnValue_t pullHigh(gpioId_t gpioId) override;
+	ReturnValue_t pullLow(gpioId_t gpioId) override;
+	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
+
+private:
+	/* Holds the information and configuration of all used GPIOs */
+	GpioUnorderedMap gpioMap;
+	GpioUnorderedMapIter gpioMapIter;
+
+	/**
+	 * @brief	This functions drives line of a GPIO specified by the GPIO ID.
+	 *
+	 * @param gpioId	The GPIO ID of the GPIO to drive.
+	 * @param logiclevel	The logic level to set. O or 1.
+	 */
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
+
+	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+
+	/**
+	 * @brief	This function checks if GPIOs are already registered and whether
+	 * 			there exists a conflict in the GPIO configuration. E.g. the
+	 * 			direction.
+	 *
+	 * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
+	 *
+	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED
+	 */
+	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
+
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	        GpioMap& mapToAdd);
+    ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
+            GpioMap& mapToAdd);
+
+	/**
+	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
+	 */
+	ReturnValue_t configureGpios(GpioMap& mapToAdd);
+
+};
+
+#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

hal/src/fsfw_hal/linux/i2c/CMakeLists.txt

@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    I2cComIF.cpp
+    I2cCookie.cpp
+)
+
+
+
+

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -0,0 +1,205 @@
+#include "fsfw-hal/linux/i2c/I2cComIF.h"
+#include "fsfw-hal/linux/utility.h"
+#include "fsfw-hal/linux/UnixFileGuard.h"
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/i2c-dev.h>
+#include <errno.h>
+
+#include <cstring>
+
+
+I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
+}
+
+I2cComIF::~I2cComIF() {}
+
+ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
+
+    address_t i2cAddress;
+    std::string deviceFile;
+
+    if(cookie == nullptr) {
+        sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+    if(i2cCookie == nullptr) {
+        sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    i2cAddress = i2cCookie->getAddress();
+
+    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+    if(i2cDeviceMapIter == i2cDeviceMap.end()) {
+        size_t maxReplyLen = i2cCookie->getMaxReplyLen();
+        I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
+        auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
+        if (not statusPair.second) {
+            sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
+                    i2cAddress << "to I2C device " << "map" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
+            "already in use" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
+        const uint8_t *sendData, size_t sendLen) {
+
+    ReturnValue_t result;
+    int fd;
+    std::string deviceFile;
+
+    if(sendData == nullptr) {
+        sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
+                << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    if(sendLen == 0) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+    if(i2cCookie == nullptr) {
+        sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    address_t i2cAddress = i2cCookie->getAddress();
+    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+        sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
+                << "registered in i2cDeviceMap" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    deviceFile = i2cCookie->getDeviceFile();
+    UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return fileHelper.getOpenResult();
+    }
+    result = openDevice(deviceFile, i2cAddress, &fd);
+    if (result != HasReturnvaluesIF::RETURN_OK){
+        return result;
+    }
+
+    if (write(fd, sendData, sendLen) != (int)sendLen) {
+        sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
+                "device with error code " << errno << ". Error description: "
+                << strerror(errno) << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
+        size_t requestLen) {
+    ReturnValue_t result;
+    int fd;
+    std::string deviceFile;
+
+    if (requestLen == 0) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+    if(i2cCookie == nullptr) {
+        sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
+        i2cDeviceMapIter->second.replyLen = 0;
+        return NULLPOINTER;
+    }
+
+    address_t i2cAddress = i2cCookie->getAddress();
+    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+        sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
+                << "registered in i2cDeviceMap" << std::endl;
+        i2cDeviceMapIter->second.replyLen = 0;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    deviceFile = i2cCookie->getDeviceFile();
+    UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return fileHelper.getOpenResult();
+    }
+    result = openDevice(deviceFile, i2cAddress, &fd);
+    if (result != HasReturnvaluesIF::RETURN_OK){
+        i2cDeviceMapIter->second.replyLen = 0;
+        return result;
+    }
+
+    uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
+
+    int readLen = read(fd, replyBuffer, requestLen);
+    if (readLen != static_cast<int>(requestLen)) {
+#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
+                << "device failed with error code " << errno <<". Description"
+                << " of error: " << strerror(errno) << std::endl;
+        sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
+                << requestLen << " bytes" << std::endl;
+#endif
+        i2cDeviceMapIter->second.replyLen = 0;
+        sif::debug << "I2cComIF::requestReceiveMessage: Read "  << readLen << " of " << requestLen << " bytes" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    i2cDeviceMapIter->second.replyLen = requestLen;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
+        uint8_t **buffer, size_t* size) {
+    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+    if(i2cCookie == nullptr) {
+        sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    address_t i2cAddress = i2cCookie->getAddress();
+    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+        sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
+                << "found in i2cDeviceMap" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    *buffer = i2cDeviceMapIter->second.replyBuffer.data();
+    *size = i2cDeviceMapIter->second.replyLen;
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
+        address_t i2cAddress, int* fileDescriptor) {
+
+    if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
+                << std::endl;
+        sif::warning << "Error description " << strerror(errno) << std::endl;
+#else
+        sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
+        sif::printWarning("Error description: %s\n", strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/i2c/I2cComIF.h

@@ -0,0 +1,61 @@
+#ifndef LINUX_I2C_I2COMIF_H_
+#define LINUX_I2C_I2COMIF_H_
+
+#include "I2cCookie.h"
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+
+#include <unordered_map>
+#include <vector>
+
+/**
+ * @brief 	This is the communication interface for I2C devices connected
+ * 			to a system running a Linux OS.
+ *
+ * @note    The Xilinx Linux kernel might not support to read more than 255 bytes at once.
+ *
+ * @author 	J. Meier
+ */
+class I2cComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+	I2cComIF(object_id_t objectId);
+
+	virtual ~I2cComIF();
+
+	ReturnValue_t initializeInterface(CookieIF * cookie) override;
+	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+			size_t sendLen) override;
+	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+	        size_t requestLen) override;
+	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) override;
+
+private:
+
+	struct I2cInstance {
+		std::vector<uint8_t> replyBuffer;
+		size_t replyLen;
+	};
+
+	using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
+	using I2cDeviceMapIter = I2cDeviceMap::iterator;
+
+	/* In this map all i2c devices will be registered with their address and
+	 * the appropriate file descriptor will be stored */
+	I2cDeviceMap i2cDeviceMap;
+	I2cDeviceMapIter i2cDeviceMapIter;
+
+	/**
+	 * @brief	This function opens an I2C device and binds the opened file
+	 * 			to a specific I2C address.
+	 * @param deviceFile	The name of the device file. E.g. i2c-0
+	 * @param i2cAddress	The address of the i2c slave device.
+	 * @param fileDescriptor	Pointer to device descriptor.
+	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
+	 */
+	ReturnValue_t openDevice(std::string deviceFile,
+			address_t i2cAddress, int* fileDescriptor);
+};
+
+#endif /* LINUX_I2C_I2COMIF_H_ */

hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp

@@ -0,0 +1,20 @@
+#include "fsfw-hal/linux/i2c/I2cCookie.h"
+
+I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+		std::string deviceFile_) :
+		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
+}
+
+address_t I2cCookie::getAddress() const {
+	return i2cAddress;
+}
+
+size_t I2cCookie::getMaxReplyLen() const {
+	return maxReplyLen;
+}
+
+std::string I2cCookie::getDeviceFile() const {
+	return deviceFile;
+}
+
+I2cCookie::~I2cCookie() {}

hal/src/fsfw_hal/linux/i2c/I2cCookie.h

@@ -0,0 +1,38 @@
+#ifndef LINUX_I2C_I2CCOOKIE_H_
+#define LINUX_I2C_I2CCOOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <string>
+
+/**
+ * @brief   Cookie for the i2cDeviceComIF.
+ *
+ * @author 	J. Meier
+ */
+class I2cCookie: public CookieIF {
+public:
+
+	/**
+	 * @brief	Constructor for the I2C cookie.
+	 * @param i2cAddress_	The i2c address of the target device.
+	 * @param maxReplyLen_	The maximum expected length of a reply from the
+	 * 						target device.
+	 * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
+	 */
+	I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+			std::string deviceFile_);
+
+	virtual ~I2cCookie();
+
+	address_t getAddress() const;
+	size_t getMaxReplyLen() const;
+	std::string getDeviceFile() const;
+
+private:
+
+	address_t i2cAddress = 0;
+	size_t maxReplyLen = 0;
+	std::string deviceFile;
+};
+
+#endif /* LINUX_I2C_I2CCOOKIE_H_ */

hal/src/fsfw_hal/linux/rpi/CMakeLists.txt

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

hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -0,0 +1,38 @@
+#include "fsfw/FSFW.h"
+
+#include "fsfw-hal/linux/rpi/GpioRPi.h"
+#include "fsfw-hal/common/gpio/GpioCookie.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+
+ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
+        std::string consumer, gpio::Direction direction, int initValue) {
+    if(cookie == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    GpiodRegular* config = new GpiodRegular();
+    /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
+    will not need this */
+    config->chipname = "gpiochip0";
+
+    config->consumer = consumer;
+    config->direction = direction;
+    config->initValue = initValue;
+
+    /* Sanity check for the BCM pins before assigning it */
+    if(bcmPin > 27) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
+#else
+        sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    config->lineNum = bcmPin;
+    cookie->addGpio(gpioId, config);
+    return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/rpi/GpioRPi.h

@@ -0,0 +1,26 @@
+#ifndef BSP_RPI_GPIO_GPIORPI_H_
+#define BSP_RPI_GPIO_GPIORPI_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../common/gpio/gpioDefinitions.h"
+
+class GpioCookie;
+
+namespace gpio {
+
+/**
+ * Create a GpioConfig_t. This function does a sanity check on the BCM pin number and fails if the
+ * BCM pin is invalid.
+ * @param cookie    Adds the configuration to this cookie directly
+ * @param gpioId    ID which identifies the GPIO configuration
+ * @param bcmPin    Raspberry Pi BCM pin
+ * @param consumer  Information string
+ * @param direction GPIO direction
+ * @param initValue Intial value for output pins, 0 for low, 1 for high
+ * @return
+ */
+ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
+        std::string consumer, gpio::Direction direction, int initValue);
+}
+
+#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

hal/src/fsfw_hal/linux/spi/CMakeLists.txt

@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    SpiComIF.cpp
+    SpiCookie.cpp
+)
+
+
+
+

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -0,0 +1,398 @@
+#include "fsfw/FSFW.h"
+#include "fsfw-hal/linux/spi/SpiComIF.h"
+#include "fsfw-hal/linux/spi/SpiCookie.h"
+#include "fsfw-hal/linux/utility.h"
+#include "fsfw-hal/linux/UnixFileGuard.h"
+
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+
+#include <linux/spi/spidev.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+
+#include <cerrno>
+#include <cstring>
+
+/* Can be used for low-level debugging of the SPI bus */
+#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING                  0
+#endif
+
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
+        SystemObject(objectId), gpioComIF(gpioComIF) {
+    if(gpioComIF == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
+#else
+        sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    }
+
+    spiMutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
+    int retval = 0;
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return NULLPOINTER;
+    }
+
+    address_t spiAddress = spiCookie->getSpiAddress();
+
+    auto iter = spiDeviceMap.find(spiAddress);
+    if(iter == spiDeviceMap.end()) {
+        size_t bufferSize = spiCookie->getMaxBufferSize();
+        SpiInstance spiInstance(bufferSize);
+        auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
+        if (not statusPair.second) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+                    spiAddress << "to SPI device map" << std::endl;
+#else
+            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        /* Now we emplaced the read buffer in the map, we still need to assign that location
+        to the SPI driver transfer struct */
+        spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
+    }
+    else {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
+#else
+        sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    /* Pull CS high in any case to be sure that device is inactive */
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullHigh(gpioId);
+    }
+
+    size_t spiSpeed = 0;
+    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+
+    SpiCookie::UncommonParameters params;
+    spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
+
+    int fileDescriptor = 0;
+    UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+            "SpiComIF::initializeInterface: ");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return fileHelper.getOpenResult();
+    }
+
+    /* These flags are rather uncommon */
+    if(params.threeWireSpi or params.noCs or params.csHigh) {
+        uint32_t currentMode = 0;
+        retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
+        }
+
+        if(params.threeWireSpi) {
+            currentMode |= SPI_3WIRE;
+        }
+        if(params.noCs) {
+            /* Some drivers like the Raspberry Pi ignore this flag in any case */
+            currentMode |= SPI_NO_CS;
+        }
+        if(params.csHigh) {
+            currentMode |= SPI_CS_HIGH;
+        }
+        /* Write adapted mode */
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
+        }
+    }
+    if(params.lsbFirst) {
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
+        }
+    }
+    if(params.bitsPerWord != 8) {
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initializeInterface: "
+                    "Could not write bits per word!");
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+
+    if(spiCookie == nullptr) {
+        return NULLPOINTER;
+    }
+
+    if(sendLen > spiCookie->getMaxBufferSize()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
+                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
+#else
+        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
+                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
+                static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return DeviceCommunicationIF::TOO_MUCH_DATA;
+    }
+
+    if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
+        result = performRegularSendOperation(spiCookie, sendData, sendLen);
+    }
+    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+        spi::send_callback_function_t sendFunc = nullptr;
+        void* funcArgs = nullptr;
+        spiCookie->getCallback(&sendFunc, &funcArgs);
+        if(sendFunc != nullptr) {
+            result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
+        }
+    }
+    return result;
+}
+
+ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
+        size_t sendLen) {
+    address_t spiAddress = spiCookie->getSpiAddress();
+    auto iter = spiDeviceMap.find(spiAddress);
+    if(iter != spiDeviceMap.end()) {
+        spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
+    }
+
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    int retval = 0;
+    /* Prepare transfer */
+    int fileDescriptor = 0;
+    std::string device = spiCookie->getSpiDevice();
+    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return OPENING_FILE_FAILED;
+    }
+    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+    uint32_t spiSpeed = 0;
+    spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    spiCookie->assignWriteBuffer(sendData);
+    spiCookie->assignTransferSize(sendLen);
+
+    bool fullDuplex = spiCookie->isFullDuplex();
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+
+    /* Pull SPI CS low. For now, no support for active high given  */
+    if(gpioId != gpio::NO_GPIO) {
+        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+#endif
+            return result;
+        }
+        gpioComIF->pullLow(gpioId);
+    }
+
+    /* Execute transfer */
+    if(fullDuplex) {
+        /* Initiate a full duplex SPI transfer. */
+        retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
+        if(retval < 0) {
+            utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+            result = FULL_DUPLEX_TRANSFER_FAILED;
+        }
+#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
+        performSpiWiretapping(spiCookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+    }
+    else {
+        /* We write with a blocking half-duplex transfer here */
+        if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
+                    std::endl;
+#else
+            sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            result = HALF_DUPLEX_TRANSFER_FAILED;
+        }
+    }
+
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullHigh(gpioId);
+        result = spiMutex->unlockMutex();
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
+#endif
+            return result;
+        }
+    }
+    return result;
+}
+
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return NULLPOINTER;
+    }
+
+    if(spiCookie->isFullDuplex()) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    return performHalfDuplexReception(spiCookie);
+}
+
+
+ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    std::string device = spiCookie->getSpiDevice();
+    int fileDescriptor = 0;
+    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
+            "SpiComIF::requestReceiveMessage: ");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return OPENING_FILE_FAILED;
+    }
+
+    uint8_t* rxBuf = nullptr;
+    size_t readSize = spiCookie->getCurrentTransferSize();
+    result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+    if(gpioId != gpio::NO_GPIO) {
+        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
+#endif
+            return result;
+        }
+        gpioComIF->pullLow(gpioId);
+    }
+
+    if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
+#else
+        sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        result = HALF_DUPLEX_TRANSFER_FAILED;
+    }
+
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullHigh(gpioId);
+        result = spiMutex->unlockMutex();
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
+#endif
+            return result;
+        }
+    }
+
+    return result;
+}
+
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    uint8_t* rxBuf = nullptr;
+    ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    *buffer = rxBuf;
+    *size = spiCookie->getCurrentTransferSize();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
+    if(timeoutType != nullptr) {
+        *timeoutType = this->timeoutType;
+    }
+    if(timeoutMs != nullptr) {
+        *timeoutMs = this->timeoutMs;
+    }
+    return spiMutex;
+}
+
+void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
+    if(spiCookie == nullptr) {
+        return;
+    }
+    size_t dataLen = spiCookie->getTransferStructHandle()->len;
+    uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "Sent SPI data: " << std::endl;
+    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+    sif::info << "Received SPI data: " << std::endl;
+#else
+    sif::printInfo("Sent SPI data: \n");
+    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+    sif::printInfo("Received SPI data: \n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+    dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
+    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+}
+
+ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
+    if(buffer == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    auto iter = spiDeviceMap.find(spiAddress);
+    if(iter == spiDeviceMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    *buffer = iter->second.replyBuffer.data();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+GpioIF* SpiComIF::getGpioInterface() {
+    return gpioComIF;
+}
+
+void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
+    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+    }
+
+    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+    }
+}

hal/src/fsfw_hal/linux/spi/SpiComIF.h

@@ -0,0 +1,90 @@
+#ifndef LINUX_SPI_SPICOMIF_H_
+#define LINUX_SPI_SPICOMIF_H_
+
+#include "spiDefinitions.h"
+#include "returnvalues/classIds.h"
+#include "fsfw-hal/common/gpio/GpioIF.h"
+
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+
+#include <vector>
+#include <unordered_map>
+
+class SpiCookie;
+
+/**
+ * @brief   Encapsulates access to linux SPI driver for FSFW objects
+ * @details
+ * Right now, only full-duplex SPI is supported. Most device specific transfer properties
+ * are contained in the SPI cookie.
+ * @author  R. Mueller
+ */
+class SpiComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+    static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
+    static constexpr ReturnValue_t OPENING_FILE_FAILED =
+            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+    /* Full duplex (ioctl) transfer failure */
+    static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
+            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+    /* Half duplex (read/write) transfer failure */
+    static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
+            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+
+    SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
+
+    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+            size_t sendLen) override;
+    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+            size_t requestLen) override;
+    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+            size_t *size) override;
+
+    /**
+     * @brief   This function returns the mutex which can be used to protect the spi bus when
+     *          the chip select must be driven from outside of the com if.
+     */
+    MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
+
+    /**
+     * Perform a regular send operation using Linux iotcl. This is public so it can be used
+     * in functions like a user callback if special handling is only necessary for certain commands.
+     * @param spiCookie
+     * @param sendData
+     * @param sendLen
+     * @return
+     */
+    ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
+            size_t sendLen);
+
+    GpioIF* getGpioInterface();
+    void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
+    void performSpiWiretapping(SpiCookie* spiCookie);
+
+    ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
+
+private:
+
+    struct SpiInstance {
+        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+        std::vector<uint8_t> replyBuffer;
+    };
+
+    GpioIF* gpioComIF = nullptr;
+
+    MutexIF* spiMutex = nullptr;
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    uint32_t timeoutMs = 20;
+
+    using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
+    using SpiDeviceMapIter = SpiDeviceMap::iterator;
+
+    SpiDeviceMap spiDeviceMap;
+
+    ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
+};
+
+#endif /* LINUX_SPI_SPICOMIF_H_ */

hal/src/fsfw_hal/linux/spi/SpiCookie.cpp

@@ -0,0 +1,144 @@
+#include "fsfw-hal/linux/spi/SpiCookie.h"
+
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
+        SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {
+
+}
+
+SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
+        spi::SpiModes spiMode, uint32_t spiSpeed):
+                SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
+}
+
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+        spi::send_callback_function_t callback, void *args):
+		        SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
+		                spiMode, spiSpeed, callback, args) {
+}
+
+SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+        std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+        spi::send_callback_function_t callback, void* args):
+                spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
+                comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
+                sendCallback(callback), callbackArgs(args) {
+}
+
+spi::SpiComIfModes SpiCookie::getComIfMode() const {
+    return this->comIfMode;
+}
+
+void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
+        UncommonParameters* parameters) const {
+    spiMode = this->spiMode;
+    spiSpeed = this->spiSpeed;
+
+    if(parameters != nullptr) {
+        parameters->threeWireSpi = uncommonParameters.threeWireSpi;
+        parameters->lsbFirst = uncommonParameters.lsbFirst;
+        parameters->noCs = uncommonParameters.noCs;
+        parameters->bitsPerWord = uncommonParameters.bitsPerWord;
+        parameters->csHigh = uncommonParameters.csHigh;
+    }
+}
+
+gpioId_t SpiCookie::getChipSelectPin() const {
+    return chipSelectPin;
+}
+
+size_t SpiCookie::getMaxBufferSize() const {
+    return maxSize;
+}
+
+address_t SpiCookie::getSpiAddress() const {
+    return spiAddress;
+}
+
+std::string SpiCookie::getSpiDevice() const {
+    return spiDevice;
+}
+
+void SpiCookie::setThreeWireSpi(bool enable) {
+    uncommonParameters.threeWireSpi = enable;
+}
+
+void SpiCookie::setLsbFirst(bool enable) {
+    uncommonParameters.lsbFirst = enable;
+}
+
+void SpiCookie::setNoCs(bool enable) {
+    uncommonParameters.noCs = enable;
+}
+
+void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
+    uncommonParameters.bitsPerWord = bitsPerWord;
+}
+
+void SpiCookie::setCsHigh(bool enable) {
+    uncommonParameters.csHigh = enable;
+}
+
+void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
+    spiTransferStruct.cs_change = deselectCs;
+    spiTransferStruct.delay_usecs = delayUsecs;
+}
+
+void SpiCookie::assignReadBuffer(uint8_t* rx) {
+    if(rx != nullptr) {
+        spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
+    }
+}
+
+void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
+    if(tx != nullptr) {
+        spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
+    }
+}
+
+void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
+        void *args) {
+    this->comIfMode = spi::SpiComIfModes::CALLBACK;
+    this->sendCallback = callback;
+    this->callbackArgs = args;
+}
+
+void SpiCookie::setCallbackArgs(void *args) {
+    this->callbackArgs = args;
+}
+
+spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
+    return &spiTransferStruct;
+}
+
+void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
+    this->halfDuplex = halfDuplex;
+}
+
+bool SpiCookie::isFullDuplex() const {
+    return not this->halfDuplex;
+}
+
+void SpiCookie::assignTransferSize(size_t transferSize) {
+    spiTransferStruct.len = transferSize;
+}
+
+size_t SpiCookie::getCurrentTransferSize() const {
+    return spiTransferStruct.len;
+}
+
+void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
+    this->spiSpeed = newSpeed;
+}
+
+void SpiCookie::setSpiMode(spi::SpiModes newMode) {
+    this->spiMode = newMode;
+}
+
+void SpiCookie::getCallback(spi::send_callback_function_t *callback,
+        void **args) {
+    *callback = this->sendCallback;
+    *args = this->callbackArgs;
+}

hal/src/fsfw_hal/linux/spi/SpiCookie.h

@@ -0,0 +1,185 @@
+#ifndef LINUX_SPI_SPICOOKIE_H_
+#define LINUX_SPI_SPICOOKIE_H_
+
+#include "spiDefinitions.h"
+#include "../../common/gpio/gpioDefinitions.h"
+
+#include <fsfw/devicehandlers/CookieIF.h>
+
+#include <linux/spi/spidev.h>
+
+/**
+ * @brief   This cookie class is passed to the SPI communication interface
+ * @details
+ * This cookie contains device specific properties like speed and SPI mode or the SPI transfer
+ * struct required by the Linux SPI driver. It also contains a handle to a GPIO interface
+ * to perform slave select switching when necessary.
+ *
+ * The user can specify gpio::NO_GPIO as the GPIO ID or use a custom send callback to meet
+ * special requirements like expander slave select switching (e.g. GPIO or I2C expander)
+ * or special timing related requirements.
+ */
+class SpiCookie: public CookieIF {
+public:
+    /**
+     * Each SPI device will have a corresponding cookie. The cookie is used by the communication
+     * interface and contains device specific information like the largest expected size to be
+     * sent and received and the GPIO pin used to toggle the SPI slave select pin.
+     * @param spiAddress
+     * @param chipSelect    Chip select. gpio::NO_GPIO can be used for hardware slave selects.
+     * @param spiDev
+     * @param maxSize
+     */
+    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
+
+    /**
+     * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
+     * slave select or if CS logic is performed with decoders.
+     */
+    SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);
+
+    /**
+     * Use the callback mode of the SPI communication interface. The user can pass the callback
+     * function here or by using the setter function #setCallbackMode
+     */
+    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
+            void *args);
+
+    /**
+     * Get the callback function
+     * @param callback
+     * @param args
+     */
+    void getCallback(spi::send_callback_function_t* callback, void** args);
+
+    address_t getSpiAddress() const;
+    std::string getSpiDevice() const;
+    gpioId_t getChipSelectPin() const;
+    size_t getMaxBufferSize() const;
+
+    spi::SpiComIfModes getComIfMode() const;
+
+    /** Enables changing SPI speed at run-time */
+    void setSpiSpeed(uint32_t newSpeed);
+    /** Enables changing the SPI mode at run-time */
+    void setSpiMode(spi::SpiModes newMode);
+
+    /**
+     * Set the SPI to callback mode and assigns the user supplied callback and an argument
+     * passed to the callback.
+     * @param callback
+     * @param args
+     */
+    void setCallbackMode(spi::send_callback_function_t callback, void* args);
+
+    /**
+	 * Can be used to set the callback arguments and a later point than initialization.
+	 * @param args
+	 */
+	void setCallbackArgs(void* args);
+
+    /**
+     * True if SPI transfers should be performed in full duplex mode
+     * @return
+     */
+    bool isFullDuplex() const;
+
+    /**
+     * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
+     * ressembling common SPI hardware implementation with shift registers, where read and writes
+     * happen simultaneosly.
+     * @param fullDuplex
+     */
+    void setFullOrHalfDuplex(bool halfDuplex);
+
+    /**
+     * This needs to be called to specify where the SPI driver writes to or reads from.
+     * @param readLocation
+     * @param writeLocation
+     */
+    void assignReadBuffer(uint8_t* rx);
+    void assignWriteBuffer(const uint8_t* tx);
+    /**
+     * Assign size for the next transfer.
+     * @param transferSize
+     */
+    void assignTransferSize(size_t transferSize);
+    size_t getCurrentTransferSize() const;
+
+    struct UncommonParameters {
+        uint8_t bitsPerWord = 8;
+        bool noCs = false;
+        bool csHigh = false;
+        bool threeWireSpi = false;
+        /* MSB first is more common */
+        bool lsbFirst = false;
+    };
+
+    /**
+     * Can be used to explicitely disable hardware chip select.
+     * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
+     * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
+     * @param enable
+     */
+    void setNoCs(bool enable);
+    void setThreeWireSpi(bool enable);
+    void setLsbFirst(bool enable);
+    void setCsHigh(bool enable);
+    void setBitsPerWord(uint8_t bitsPerWord);
+
+    void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
+            UncommonParameters* parameters = nullptr) const;
+
+    /**
+     * See spidev.h cs_change and delay_usecs
+     * @param deselectCs
+     * @param delayUsecs
+     */
+    void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
+
+    spi_ioc_transfer* getTransferStructHandle();
+private:
+
+    /**
+     * Internal constructor which initializes every field
+     * @param spiAddress
+     * @param chipSelect
+     * @param spiDev
+     * @param maxSize
+     * @param spiMode
+     * @param spiSpeed
+     * @param callback
+     * @param args
+     */
+    SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            spi::send_callback_function_t callback, void* args);
+
+    size_t currentTransferSize = 0;
+
+    address_t spiAddress;
+    gpioId_t chipSelectPin;
+    std::string spiDevice;
+
+    spi::SpiComIfModes comIfMode;
+
+    // Required for regular mode
+    const size_t maxSize;
+    spi::SpiModes spiMode;
+    uint32_t spiSpeed;
+    bool halfDuplex = false;
+
+    // Required for callback mode
+    spi::send_callback_function_t sendCallback = nullptr;
+    void* callbackArgs = nullptr;
+
+    struct spi_ioc_transfer spiTransferStruct = {};
+    UncommonParameters uncommonParameters;
+};
+
+
+
+#endif /* LINUX_SPI_SPICOOKIE_H_ */

hal/src/fsfw_hal/linux/spi/spiDefinitions.h

@@ -0,0 +1,28 @@
+#ifndef LINUX_SPI_SPIDEFINITONS_H_
+#define LINUX_SPI_SPIDEFINITONS_H_
+
+#include "../../common/gpio/gpioDefinitions.h"
+#include "../../common/spi/spiCommon.h"
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include <linux/spi/spidev.h>
+
+#include <cstdint>
+
+class SpiCookie;
+class SpiComIF;
+
+namespace spi {
+
+enum SpiComIfModes {
+	REGULAR,
+	CALLBACK
+};
+
+
+using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie,
+        const uint8_t *sendData, size_t sendLen, void* args);
+
+}
+
+#endif /* LINUX_SPI_SPIDEFINITONS_H_ */

hal/src/fsfw_hal/linux/uart/CMakeLists.txt

@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UartComIF.cpp
+	UartCookie.cpp
+)

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -0,0 +1,455 @@
+#include "fsfw-hal/linux/uart/UartComIF.h"
+#include "OBSWConfig.h"
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+#include <cstring>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+
+UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
+}
+
+UartComIF::~UartComIF() {}
+
+ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
+
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+
+    if(cookie == nullptr) {
+        return NULLPOINTER;
+    }
+
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if (uartCookie == nullptr) {
+        sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    deviceFile = uartCookie->getDeviceFile();
+
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    if(uartDeviceMapIter == uartDeviceMap.end()) {
+        int fileDescriptor = configureUartPort(uartCookie);
+        if (fileDescriptor < 0) {
+            return RETURN_FAILED;
+        }
+        size_t maxReplyLen = uartCookie->getMaxReplyLen();
+        UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
+        auto status = uartDeviceMap.emplace(deviceFile, uartElements);
+        if (status.second == false) {
+            sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
+                    deviceFile << "to UART device map" << std::endl;
+            return RETURN_FAILED;
+        }
+    }
+    else {
+        sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
+                " already in use" << std::endl;
+        return RETURN_FAILED;
+    }
+
+    return RETURN_OK;
+}
+
+int UartComIF::configureUartPort(UartCookie* uartCookie) {
+
+    struct termios options = {};
+
+    std::string deviceFile = uartCookie->getDeviceFile();
+    int fd = open(deviceFile.c_str(), O_RDWR);
+
+    if (fd < 0) {
+        sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
+                "with error code " << errno << strerror(errno) << std::endl;
+        return fd;
+    }
+
+    /* Read in existing settings */
+    if(tcgetattr(fd, &options) != 0) {
+        sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
+                << strerror(errno) << std::endl;
+        return fd;
+    }
+
+    setParityOptions(&options, uartCookie);
+    setStopBitOptions(&options, uartCookie);
+    setDatasizeOptions(&options, uartCookie);
+    setFixedOptions(&options);
+    setUartMode(&options, *uartCookie);
+    if(uartCookie->getInputShouldBeFlushed()) {
+        tcflush(fd, TCIFLUSH);
+    }
+
+    /* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
+    options.c_cc[VTIME] = 0;
+    options.c_cc[VMIN] = 0;
+
+    configureBaudrate(&options, uartCookie);
+
+    /* Save option settings */
+    if (tcsetattr(fd, TCSANOW, &options) != 0) {
+        sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
+                errno << ": " << strerror(errno);
+        return fd;
+    }
+    return fd;
+}
+
+void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
+    /* Clear parity bit */
+    options->c_cflag &= ~PARENB;
+    switch (uartCookie->getParity()) {
+    case Parity::EVEN:
+        options->c_cflag |= PARENB;
+        options->c_cflag &= ~PARODD;
+        break;
+    case Parity::ODD:
+        options->c_cflag |= PARENB;
+        options->c_cflag |= PARODD;
+        break;
+    default:
+        break;
+    }
+}
+
+void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
+    /* Clear stop field. Sets stop bit to one bit */
+    options->c_cflag &= ~CSTOPB;
+    switch (uartCookie->getStopBits()) {
+    case StopBits::TWO_STOP_BITS:
+        options->c_cflag |= CSTOPB;
+        break;
+    default:
+        break;
+    }
+}
+
+void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
+    /* Clear size bits */
+    options->c_cflag &= ~CSIZE;
+    switch (uartCookie->getBitsPerWord()) {
+    case 5:
+        options->c_cflag |= CS5;
+        break;
+    case 6:
+        options->c_cflag |= CS6;
+        break;
+    case 7:
+        options->c_cflag |= CS7;
+        break;
+    case 8:
+        options->c_cflag |= CS8;
+        break;
+    default:
+        sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+        break;
+    }
+}
+
+void UartComIF::setFixedOptions(struct termios* options) {
+    /* Disable RTS/CTS hardware flow control */
+    options->c_cflag &= ~CRTSCTS;
+    /* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
+    options->c_cflag |= CREAD | CLOCAL;
+    /* Disable echo */
+    options->c_lflag &= ~ECHO;
+    /* Disable erasure */
+    options->c_lflag &= ~ECHOE;
+    /* Disable new-line echo */
+    options->c_lflag &= ~ECHONL;
+    /* Disable interpretation of INTR, QUIT and SUSP */
+    options->c_lflag &= ~ISIG;
+    /* Turn off s/w flow ctrl */
+    options->c_iflag &= ~(IXON | IXOFF | IXANY);
+    /* Disable any special handling of received bytes */
+    options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
+    /* Prevent special interpretation of output bytes (e.g. newline chars) */
+    options->c_oflag &= ~OPOST;
+    /* Prevent conversion of newline to carriage return/line feed */
+    options->c_oflag &= ~ONLCR;
+}
+
+void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
+    switch (uartCookie->getBaudrate()) {
+    case 50:
+        cfsetispeed(options, B50);
+        cfsetospeed(options, B50);
+        break;
+    case 75:
+        cfsetispeed(options, B75);
+        cfsetospeed(options, B75);
+        break;
+    case 110:
+        cfsetispeed(options, B110);
+        cfsetospeed(options, B110);
+        break;
+    case 134:
+        cfsetispeed(options, B134);
+        cfsetospeed(options, B134);
+        break;
+    case 150:
+        cfsetispeed(options, B150);
+        cfsetospeed(options, B150);
+        break;
+    case 200:
+        cfsetispeed(options, B200);
+        cfsetospeed(options, B200);
+        break;
+    case 300:
+        cfsetispeed(options, B300);
+        cfsetospeed(options, B300);
+        break;
+    case 600:
+        cfsetispeed(options, B600);
+        cfsetospeed(options, B600);
+        break;
+    case 1200:
+        cfsetispeed(options, B1200);
+        cfsetospeed(options, B1200);
+        break;
+    case 1800:
+        cfsetispeed(options, B1800);
+        cfsetospeed(options, B1800);
+        break;
+    case 2400:
+        cfsetispeed(options, B2400);
+        cfsetospeed(options, B2400);
+        break;
+    case 4800:
+        cfsetispeed(options, B4800);
+        cfsetospeed(options, B4800);
+        break;
+    case 9600:
+        cfsetispeed(options, B9600);
+        cfsetospeed(options, B9600);
+        break;
+    case 19200:
+        cfsetispeed(options, B19200);
+        cfsetospeed(options, B19200);
+        break;
+    case 38400:
+        cfsetispeed(options, B38400);
+        cfsetospeed(options, B38400);
+        break;
+    case 57600:
+        cfsetispeed(options, B57600);
+        cfsetospeed(options, B57600);
+        break;
+    case 115200:
+        cfsetispeed(options, B115200);
+        cfsetospeed(options, B115200);
+        break;
+    case 230400:
+        cfsetispeed(options, B230400);
+        cfsetospeed(options, B230400);
+        break;
+    case 460800:
+        cfsetispeed(options, B460800);
+        cfsetospeed(options, B460800);
+        break;
+    default:
+        sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+        break;
+    }
+}
+
+ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
+        const uint8_t *sendData, size_t sendLen) {
+
+    int fd = 0;
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+
+    if(sendData == nullptr) {
+        sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
+        return RETURN_FAILED;
+    }
+
+    if(sendLen == 0) {
+        return RETURN_OK;
+    }
+
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    if (uartDeviceMapIter == uartDeviceMap.end()) {
+        sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
+                "not in UART map" << std::endl;
+        return RETURN_FAILED;
+    }
+
+    fd = uartDeviceMapIter->second.fileDescriptor;
+
+    if (write(fd, sendData, sendLen) != (int)sendLen) {
+        sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
+                errno << ": Error description: " << strerror(errno) << std::endl;
+        return RETURN_FAILED;
+    }
+
+    return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
+    return RETURN_OK;
+}
+
+ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    UartModes uartMode = uartCookie->getUartMode();
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+
+    if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
+        return RETURN_OK;
+    }
+
+    if (uartDeviceMapIter == uartDeviceMap.end()) {
+        sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
+                << " not in uart map" << std::endl;
+        return RETURN_FAILED;
+    }
+
+    if (uartMode == UartModes::CANONICAL) {
+        return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
+    }
+    else if (uartMode == UartModes::NON_CANONICAL) {
+        return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+        size_t requestLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    uint8_t maxReadCycles = uartCookie.getReadCycles();
+    uint8_t currentReadCycles = 0;
+    int bytesRead = 0;
+    size_t currentBytesRead = 0;
+    size_t maxReplySize = uartCookie.getMaxReplyLen();
+    int fd = iter->second.fileDescriptor;
+    auto bufferPtr = iter->second.replyBuffer.data();
+    do {
+        size_t allowedReadSize = 0;
+        if(currentBytesRead >= maxReplySize) {
+            // Overflow risk. Emit warning, trigger event and break. If this happens,
+            // the reception buffer is not large enough or data is not polled often enough.
+#if OBSW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
+                    << std::endl;
+#else
+            sif::printWarning("UartComIF::requestReceiveMessage: "
+                    "Next read would cause overflow!");
+#endif
+#endif
+            result = UART_RX_BUFFER_TOO_SMALL;
+            break;
+        }
+        else {
+            allowedReadSize = maxReplySize - currentBytesRead;
+        }
+
+        bytesRead = read(fd, bufferPtr, allowedReadSize);
+        if (bytesRead < 0) {
+            return RETURN_FAILED;
+        }
+        else if(bytesRead > 0) {
+            iter->second.replyLen += bytesRead;
+            bufferPtr += bytesRead;
+            currentBytesRead += bytesRead;
+        }
+        currentReadCycles++;
+    } while(bytesRead > 0 and currentReadCycles < maxReadCycles);
+    return result;
+}
+
+ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter,
+        size_t requestLen) {
+    int fd = iter->second.fileDescriptor;
+    auto bufferPtr = iter->second.replyBuffer.data();
+    // Size check to prevent buffer overflow
+    if(requestLen > uartCookie.getMaxReplyLen()) {
+#if OBSW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
+                << std::endl;
+#else
+        sif::printWarning("UartComIF::requestReceiveMessage: "
+                "Next read would cause overflow!");
+#endif
+#endif
+        return UART_RX_BUFFER_TOO_SMALL;
+    }
+    int bytesRead = read(fd, bufferPtr, requestLen);
+    if (bytesRead < 0) {
+        return RETURN_FAILED;
+    }
+    else if (bytesRead != static_cast<int>(requestLen)) {
+        if(uartCookie.isReplySizeFixed()) {
+            sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
+                    " of " << requestLen << " bytes" << std::endl;
+            return RETURN_FAILED;
+        }
+    }
+    iter->second.replyLen = bytesRead;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
+        uint8_t **buffer, size_t* size) {
+
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    if (uartDeviceMapIter == uartDeviceMap.end()) {
+        sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
+                " not in uart map" << std::endl;
+        return RETURN_FAILED;
+    }
+
+    *buffer = uartDeviceMapIter->second.replyBuffer.data();
+    *size = uartDeviceMapIter->second.replyLen;
+
+    /* Length is reset to 0 to prevent reading the same data twice */
+    uartDeviceMapIter->second.replyLen = 0;
+
+    return RETURN_OK;
+}
+
+void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
+    UartModes uartMode = uartCookie.getUartMode();
+    if(uartMode == UartModes::NON_CANONICAL) {
+        /* Disable canonical mode */
+        options->c_lflag &= ~ICANON;
+    }
+    else if(uartMode == UartModes::CANONICAL) {
+        options->c_lflag |= ICANON;
+    }
+}

hal/src/fsfw_hal/linux/uart/UartComIF.h

@@ -0,0 +1,110 @@
+#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
+#define BSP_Q7S_COMIF_UARTCOMIF_H_
+
+#include "UartCookie.h"
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+
+#include <unordered_map>
+#include <vector>
+
+/**
+ * @brief 	This is the communication interface to access serial ports on linux based operating
+ *          systems.
+ *
+ * @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
+ *          operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
+ *
+ * @author 	J. Meier
+ */
+class UartComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+    static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
+
+    static constexpr ReturnValue_t UART_READ_FAILURE =
+            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
+    static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
+            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
+    static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
+            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);
+
+    UartComIF(object_id_t objectId);
+
+    virtual ~UartComIF();
+
+    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+            size_t sendLen) override;
+    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+            size_t requestLen) override;
+    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+            size_t *size) override;
+
+private:
+
+    using UartDeviceFile_t = std::string;
+
+    struct UartElements {
+        int fileDescriptor;
+        std::vector<uint8_t> replyBuffer;
+        /** Number of bytes read will be written to this variable */
+        size_t replyLen;
+    };
+
+    using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
+    using UartDeviceMapIter = UartDeviceMap::iterator;
+
+    /**
+     * The uart devie map stores informations of initialized uart ports.
+     */
+    UartDeviceMap uartDeviceMap;
+
+    /**
+     * @brief	This function opens and configures a uart device by using the information stored
+     *          in the uart cookie.
+     * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
+     *                      uart device file, baudrate, parity, stopbits etc.
+     * @return  The file descriptor of the configured uart.
+     */
+    int configureUartPort(UartCookie* uartCookie);
+
+    /**
+     * @brief   This function adds the parity settings to the termios options struct.
+     *
+     * @param options   Pointer to termios options struct which will be modified to enable or disable
+     *                  parity checking.
+     * @param uartCookie    Pointer to uart cookie containing the information about the desired
+     *                      parity settings.
+     *
+     */
+    void setParityOptions(struct termios* options, UartCookie* uartCookie);
+
+    void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
+
+    /**
+     * @brief   This function sets options which are not configurable by the uartCookie.
+     */
+    void setFixedOptions(struct termios* options);
+
+    /**
+     * @brief   With this function the datasize settings are added to the termios options struct.
+     */
+    void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
+
+    /**
+     * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
+     *          struct.
+     */
+    void configureBaudrate(struct termios* options, UartCookie* uartCookie);
+
+    void setUartMode(struct termios* options, UartCookie& uartCookie);
+
+    ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+            size_t requestLen);
+    ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+            size_t requestLen);
+
+};
+
+#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -0,0 +1,97 @@
+#include "fsfw-hal/linux/uart/UartCookie.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+        uint32_t baudrate, size_t maxReplyLen):
+        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), baudrate(baudrate),
+        maxReplyLen(maxReplyLen) {
+}
+
+UartCookie::~UartCookie() {}
+
+uint32_t UartCookie::getBaudrate() const {
+    return baudrate;
+}
+
+size_t UartCookie::getMaxReplyLen() const {
+    return maxReplyLen;
+}
+
+std::string UartCookie::getDeviceFile() const {
+    return deviceFile;
+}
+
+void UartCookie::setParityOdd() {
+    parity = Parity::ODD;
+}
+
+void UartCookie::setParityEven() {
+    parity = Parity::EVEN;
+}
+
+Parity UartCookie::getParity() const {
+    return parity;
+}
+
+void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
+    switch(bitsPerWord_) {
+    case 5:
+    case 6:
+    case 7:
+    case 8:
+        break;
+    default:
+        sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+        return;
+    }
+    bitsPerWord = bitsPerWord_;
+}
+
+uint8_t UartCookie::getBitsPerWord() const {
+    return bitsPerWord;
+}
+
+StopBits UartCookie::getStopBits() const {
+    return stopBits;
+}
+
+void UartCookie::setTwoStopBits() {
+    stopBits = StopBits::TWO_STOP_BITS;
+}
+
+void UartCookie::setOneStopBit() {
+    stopBits = StopBits::ONE_STOP_BIT;
+}
+
+UartModes UartCookie::getUartMode() const {
+    return uartMode;
+}
+
+void UartCookie::setReadCycles(uint8_t readCycles) {
+    this->readCycles = readCycles;
+}
+
+void UartCookie::setToFlushInput(bool enable) {
+    this->flushInput = enable;
+}
+
+uint8_t UartCookie::getReadCycles() const {
+    return readCycles;
+}
+
+bool UartCookie::getInputShouldBeFlushed() {
+    return this->flushInput;
+}
+
+object_id_t UartCookie::getHandlerId() const {
+    return this->handlerId;
+}
+
+void UartCookie::setNoFixedSizeReply() {
+    replySizeFixed = false;
+}
+
+bool UartCookie::isReplySizeFixed() {
+    return replySizeFixed;
+}

hal/src/fsfw_hal/linux/uart/UartCookie.h

@@ -0,0 +1,121 @@
+#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
+#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/objectmanager/SystemObjectIF.h>
+
+#include <string>
+
+enum class Parity {
+    NONE,
+    EVEN,
+    ODD
+};
+
+enum class StopBits {
+    ONE_STOP_BIT,
+    TWO_STOP_BITS
+};
+
+enum class UartModes {
+    CANONICAL,
+    NON_CANONICAL
+};
+
+/**
+ * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
+ *          The constructor only requests for common options like the baudrate. Other options can
+ *          be set by member functions.
+ *
+ * @author 	J. Meier
+ */
+class UartCookie: public CookieIF {
+public:
+
+    /**
+     * @brief	Constructor for the uart cookie.
+     * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
+     * @param uartMode      Specify the UART mode. The canonical mode should be used if the
+     *                      messages are separated by a delimited character like '\n'. See the
+     *                      termios documentation for more information
+     * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
+     *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
+     *                      38400, 57600, 115200, 230400, 460800
+     * @param maxReplyLen   The maximum size an object using this cookie expects
+     * @details
+     * Default configuration: No parity
+     *                        8 databits (number of bits transfered with one uart frame)
+     *                        One stop bit
+     */
+    UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+            uint32_t baudrate, size_t maxReplyLen);
+
+    virtual ~UartCookie();
+
+    uint32_t getBaudrate() const;
+    size_t getMaxReplyLen() const;
+    std::string getDeviceFile() const;
+    Parity getParity() const;
+    uint8_t getBitsPerWord() const;
+    StopBits getStopBits() const;
+    UartModes getUartMode() const;
+    object_id_t getHandlerId() const;
+
+    /**
+     * The UART ComIF will only perform a specified number of read cycles for the canonical mode.
+     * The user can specify how many of those read cycles are performed for one device handler
+     * communication cycle. An example use-case would be to read all available GPS NMEA strings
+     * at once.
+     * @param readCycles
+     */
+    void setReadCycles(uint8_t readCycles);
+    uint8_t getReadCycles() const;
+
+    /**
+     * Allows to flush the data which was received but has not been read yet. This is useful
+     * to discard obsolete data at software startup.
+     */
+    void setToFlushInput(bool enable);
+    bool getInputShouldBeFlushed();
+
+    /**
+     * Functions two enable parity checking.
+     */
+    void setParityOdd();
+    void setParityEven();
+
+    /**
+     * Function two set number of bits per UART frame.
+     */
+    void setBitsPerWord(uint8_t bitsPerWord_);
+
+    /**
+     * Function to specify the number of stopbits.
+     */
+    void setTwoStopBits();
+    void setOneStopBit();
+
+    /**
+     * Calling this function prevents the UartComIF to return failed if not all requested bytes
+     * could be read. This is required by a device handler when the size of a reply is not known.
+     */
+    void setNoFixedSizeReply();
+
+    bool isReplySizeFixed();
+
+private:
+
+    const object_id_t handlerId;
+    std::string deviceFile;
+    const UartModes uartMode;
+    bool flushInput = false;
+    uint32_t baudrate;
+    size_t maxReplyLen = 0;
+    Parity parity = Parity::NONE;
+    uint8_t bitsPerWord = 8;
+    uint8_t readCycles = 1;
+    StopBits stopBits = StopBits::ONE_STOP_BIT;
+    bool replySizeFixed = true;
+};
+
+#endif

hal/src/fsfw_hal/linux/utility.cpp

@@ -0,0 +1,26 @@
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw-hal/linux/utility.h"
+
+#include <cerrno>
+#include <cstring>
+
+void utility::handleIoctlError(const char* const customPrintout) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(customPrintout != nullptr) {
+        sif::warning << customPrintout << std::endl;
+    }
+    sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
+            std::endl;
+#else
+    if(customPrintout != nullptr) {
+        sif::printWarning("%s\n", customPrintout);
+    }
+    sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+
+}
+
+

hal/src/fsfw_hal/linux/utility.h

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