Merge branch 'meier/sequenceCount' into meier/develop

2022-05-11 16:54:06 +02:00
465 changed files with 2962 additions and 5873 deletions
@@ -1,17 +1,6 @@
-# PyCharm and CLion
-/.idea/*
-!/.idea/runConfigurations
-!/.idea/cmake.xml
-!/.idea/codeStyles
-
-# Eclipse
 .cproject
 .project
 .settings
 .metadata

-# VSCode
-.vscode
-
 /build*
-/cmake-build*
@@ -1,14 +0,0 @@
-<component name="ProjectCodeStyleConfiguration">
-  <code_scheme name="Project" version="173">
-    <clangFormatSettings>
-      <option name="ENABLED" value="true" />
-    </clangFormatSettings>
-    <codeStyleSettings language="CMake">
-      <indentOptions>
-        <option name="INDENT_SIZE" value="2" />
-        <option name="CONTINUATION_INDENT_SIZE" value="0" />
-        <option name="TAB_SIZE" value="2" />
-      </indentOptions>
-    </codeStyleSettings>
-  </code_scheme>
-</component>
@@ -1,5 +0,0 @@
-<component name="ProjectCodeStyleConfiguration">
-  <state>
-    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
-  </state>
-</component>
@@ -8,30 +8,25 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-## Added
-
- Add new `UnsignedByteField` class
-
-# [v5.0.0] 25.07.2022
+# [v5.0.0]

 ## Changes

- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
-  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
-  compiler supports it
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
-  Buffer and rejects such writeData calls with `HasReturnvaluesIF::RETURN_FAILED`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
+- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 - Major update for version handling, using `git describe` to fetch version information with git.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
+  - Place `Version` class outside of `fsfw` namespace. It is generic
  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
    manually now. Those should not change too often and only a small subset is needed
  - Separate folder for easier update and for distinction
@@ -47,74 +42,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
  creation call. It allows passing context information and an arbitrary user argument into
  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
-  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
-
-### Task Module Refactoring
-
-PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
-
-**Refactoring general task code**
-
- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
-  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
-
-**Refactor PeriodicTaskIF**
-
- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
-  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
-  the operation code passed to `performOperation`. Updated API taking
-  an `ExecutableObjectIF` accordingly
-
-**Refactor FixedTimeslotTaskIF**
-
- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
-
-**Refactor FixedSequenceSlot**
-
- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
-  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
-  for the custom checker
-
-**Linux Task Module**
-
- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
-  member of the class
-
-### HAL
-
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
-  and mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
-  name clashes with Windows defines.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
-
-### Time
-
-PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
-https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
-
- `timeval` to `TimeOfDay_t`
- Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
- Moved the statics used by Clock in ClockCommon.cpp to this file
- Better check for leap seconds
- Added Unittests for Clock (only getter)
-
-### Power 
-
- `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
-  also specify a `ReturnValue_t` return type
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
-  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
+- Clock: 
+  - `timeval` to `TimeOfDay_t`
+  - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
+  - Moved the statics used by Clock in ClockCommon.cpp to this file
+  - Better check for leap seconds
+  - Added Unittests for Clock (only getter)

 ## Removed

@@ -124,62 +57,15 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593

 ## Additions

- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
-  This is also the new default constructor for scalar value with 0 as an initial value
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
-  whether it is running in CI/CD
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
- Basic `clion` support: Update `.gitignore` and add some basic run configurations
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
-  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
-  can make good use of it and it usually makes the code faster and/or smaller.
-  After some more research:
-  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
-  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
-  because if an application linking against the FSFW does not use LTO, there can be compile
-  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
-  can be seen in the multiple CMake issues for it: 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
-    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
-  Easiest solution for now: Keep this option OFF by default.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
  inside `fsfw/version.h`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
- Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
-  (ETL) dependency.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
 - Added ETL dependency and improved library dependency management
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- New typedef for switcher type
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
- `Subsystem`: New API to add table and sequence entries
-
-## HAL
-
- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
- SPI: Getter functions for SPI speed and mode.
- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.

 ## Fixed

- TCP TMTC Server: `MutexGuard` was not created properly in
-  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
- Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
-  Is not currently used right now but might be used in the future
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
- Move some CMake directives further up top so they are not ignored
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
 - Small bugfix in STM32 HAL for SPI
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
 - HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
@@ -1,115 +1,43 @@
 cmake_minimum_required(VERSION 3.13)
+project(${LIB_FSFW_NAME})

-set(MSG_PREFIX "fsfw |")
-
-# Add the cmake folder so the FindSphinx module is found
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-list(APPEND CMAKE_MODULE_PATH
-     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
-list(APPEND CMAKE_MODULE_PATH
-     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
-
-# ##############################################################################
-# Version file handling  #
-# ##############################################################################
-
-set(FSFW_VERSION_IF_GIT_FAILS 5)
+set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)

-set(FSFW_GIT_VER_HANDLING_OK FALSE)
-# Version handling
-if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
-  message(STATUS "${MSG_PREFIX} Determining version information with git")
-  include(FsfwHelpers)
-  determine_version_with_git("--exclude" "docker_*")
-  if(GIT_INFO)
-    set(FSFW_GIT_INFO
-        ${GIT_INFO}
-        CACHE STRING "Version information retrieved with git describe")
-    list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
-    list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
-    list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
-    list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
-    if(NOT FSFW_VERSION)
-      set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-    endif()
-    if(NOT FSFW_SUBVERSION)
-      set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-    endif()
-    if(NOT FSFW_REVISION)
-      set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
-    endif()
-    set(FSFW_GIT_VER_HANDLING_OK TRUE)
-  else()
-    set(FSFW_GIT_VER_HANDLING_OK FALSE)
-  endif()
-endif()
-if(NOT FSFW_GIT_VER_HANDLING_OK)
-  set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
-  set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
-  set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
-endif()
+# Add the cmake folder so the FindSphinx module is found
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" )
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules")
+set(MSG_PREFIX "fsfw |")

-set(LIB_FSFW_NAME fsfw)
-project(${LIB_FSFW_NAME}
-        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
+set(FSFW_ETL_LIB_MAJOR_VERSION 20 CACHE STRING
+    "ETL library major version requirement"
+)
+set(FSFW_ETL_LIB_VERSION ${FSFW_ETL_LIB_MAJOR_VERSION}.27.3 CACHE STRING
+    "ETL library exact version requirement"
+)
+set(FSFW_ETL_LINK_TARGET etl::etl)

-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED True)
-elseif(${CMAKE_CXX_STANDARD} LESS 17)
-  message(
-    FATAL_ERROR
-      "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
-endif()
-
-set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
+set(FSFW_CATCH2_LIB_MAJOR_VERSION 3 CACHE STRING
+    "Catch2 library major version requirement"
+)
+set(FSFW_CATCH2_LIB_VERSION v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5 CACHE STRING
+    "Catch2 library exact version requirement"
+)

 set(FSFW_ETL_LIB_NAME etl)
-set(FSFW_ETL_LINK_TARGET etl::etl)
-set(FSFW_ETL_LIB_MAJOR_VERSION
-    20
-    CACHE STRING "ETL library major version requirement")
-set(FSFW_ETL_LIB_VERSION
-    ${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
-    CACHE STRING "ETL library exact version requirement")
-set(FSFW_ETL_LINK_TARGET etl::etl)
-
-set(FSFW_CATCH2_LIB_MAJOR_VERSION
-    3
-    CACHE STRING "Catch2 library major version requirement")
-set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
-    CACHE STRING "Catch2 library exact version requirement")
-
-# Keep this off by default for now. See PR:
-# https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
-# keeping this on by default is problematic
-option(
-  FSFW_ENABLE_IPO
-  "Enable interprocedural optimization or link-time optimization if available"
-  OFF)
-if(FSFW_ENABLE_IPO)
-  include(CheckIPOSupported)
-  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
-  if(NOT IPO_SUPPORTED)
-    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
-  endif()
-endif()

 option(FSFW_GENERATE_SECTIONS
-       "Generate function and data sections. Required to remove unused code" ON)
+    "Generate function and data sections. Required to remove unused code" ON
+)
 if(FSFW_GENERATE_SECTIONS)
-  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()

-option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
-       OFF)
-option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
+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_TESTS)
-  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
+if(FSFW_BUILD_UNITTESTS)
+    option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()

 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
@@ -118,12 +46,6 @@ option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
 option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)

-if(UNIX)
-  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
-         OFF)
-  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
-endif()
-
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
@@ -136,95 +58,111 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
 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)

 add_library(${LIB_FSFW_NAME})

-if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-                                                TRUE)
+set(FSFW_GIT_VER_HANDLING_OK FALSE)
+# Version handling
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
+    message(STATUS "${MSG_PREFIX} Determining version information with git")
+    include(FsfwHelpers)
+    determine_version_with_git("--exclude" "docker_*")
+    if(GIT_INFO)
+        set(FSFW_GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
+        list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
+        list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
+        list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
+        list(GET FSFW_GIT_INFO 4 FSFW_VERSION_CST_GIT_SHA1)
+        if(NOT FSFW_VERSION)
+            set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
+        endif()
+        if(NOT FSFW_SUBVERSION)
+            set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
+        endif()
+        if(NOT FSFW_REVISION)
+            set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
+        endif()
+        set(FSFW_GIT_VER_HANDLING_OK TRUE)
+   else()
+        set(FSFW_GIT_VER_HANDLING_OK FALSE)
+   endif()
+endif()
+if(NOT FSFW_GIT_VER_HANDLING_OK)
+    set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
+    set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
+    set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
 endif()

-if(FSFW_BUILD_TESTS)
-  message(
-    STATUS
-      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
-  )
-  # Check whether the user has already installed Catch2 first
-  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
-  # Not installed, so use FetchContent to download and provide Catch2
-  if(NOT Catch2_FOUND)
-    message(
-      STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
-    )
-    include(FetchContent)
+if(FSFW_BUILD_UNITTESTS)
+    message(STATUS "${MSG_PREFIX} Building the FSFW unittests in addition to the static library")
+    # Check whether the user has already installed Catch2 first
+    find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+    # Not installed, so use FetchContent to download and provide Catch2
+    if(NOT Catch2_FOUND)
+        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+        include(FetchContent)

-    FetchContent_Declare(
-      Catch2
-      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
+        FetchContent_Declare(
+            Catch2
+            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+        )

-    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
-  endif()
+        list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
+    endif()

-  set(FSFW_CONFIG_PATH unittests/testcfg)
-  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+    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)

-  project(${FSFW_TEST_TGT} CXX C)
-  add_executable(${FSFW_TEST_TGT})
-  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
-    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
-                                                  TRUE)
-  endif()
+    project(${FSFW_TEST_TGT} CXX C)
+    add_executable(${FSFW_TEST_TGT})

-  if(FSFW_TESTS_GEN_COV)
-    message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
-    message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
-                   "will be compiled with coverage data as well")
-    set(CMAKE_BUILD_TYPE "Debug")
-    include(CodeCoverage)
-  endif()
+    if(FSFW_TESTS_GEN_COV)
+        message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
+        message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
+            "will be compiled with coverage data as well"
+        )
+        set(CMAKE_BUILD_TYPE "Debug")
+        include(CodeCoverage)
+    endif()
 endif()

-message(
-  STATUS
-    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
-)
+message(STATUS "Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}")

 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
-  message(
-    STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
-      "etl with FindPackage")
-  include(FetchContent)
-
-  FetchContent_Declare(
-    ${FSFW_ETL_LIB_NAME}
-    GIT_REPOSITORY https://github.com/ETLCPP/etl
-    GIT_TAG ${FSFW_ETL_LIB_VERSION})
-
-  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
+    message(STATUS
+        "No ETL installation was found with find_package. Installing and providing "
+        "etl with FindPackage"
+    )
+    include(FetchContent)
+    FetchContent_Declare(
+        ${FSFW_ETL_LIB_NAME}
+        GIT_REPOSITORY https://github.com/ETLCPP/etl
+        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+    )
+    list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()

 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
 if(FSFW_FETCH_CONTENT_TARGETS)
-  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
-  if(TARGET ${FSFW_ETL_LIB_NAME})
-    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
-  endif()
-  if(TARGET Catch2)
-    # Fixes regression -preview4, to be confirmed in later releases Related
-    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
-    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-  endif()
+    FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+    if(TARGET ${FSFW_ETL_LIB_NAME})
+        add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
+    endif()
+    if(TARGET Catch2)
+        # Fixes regression -preview4, to be confirmed in later releases
+        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    endif()
 endif()

 set(FSFW_CORE_INC_PATH "inc")
@@ -232,241 +170,275 @@ set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)

 # For configure files
-target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
-target_include_directories(${LIB_FSFW_NAME}
-                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED True)
+elseif(${CMAKE_CXX_STANDARD} LESS 11)
+    message(FATAL_ERROR "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++11 support")
+endif()

 # Backwards comptability
 if(OS_FSFW AND NOT FSFW_OSAL)
-  message(
-    WARNING
-      "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
-  set(FSFW_OSAL OS_FSFW)
+    message(WARNING "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
+    set(FSFW_OSAL OS_FSFW)
 endif()

 if(NOT FSFW_OSAL)
-  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
-  # Assume host OS and autodetermine from OS_FSFW
-  if(UNIX)
-    set(FSFW_OSAL
-        "linux"
-        CACHE STRING "OS abstraction layer used in the FSFW")
-  elseif(WIN32)
-    set(FSFW_OSAL
-        "host"
-        CACHE STRING "OS abstraction layer used in the FSFW")
-  endif()
+	message(STATUS "${MSG_PREFIX} No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+	# Assume host OS and autodetermine from OS_FSFW
+	if(UNIX)
+		set(FSFW_OSAL  "linux" 
+			CACHE STRING 
+			"OS abstraction layer used in the FSFW"
+		)
+	elseif(WIN32)
+		set(FSFW_OSAL  "host" 
+			CACHE STRING "OS abstraction layer used in the FSFW"
+		)
+	endif()
+
 endif()

 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)

 if(FSFW_OSAL MATCHES host)
-  set(FSFW_OS_NAME "Host")
-  set(FSFW_OSAL_HOST ON)
+    set(FSFW_OS_NAME "Host")
+    set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
-  set(FSFW_OS_NAME "Linux")
-  set(FSFW_OSAL_LINUX ON)
+    set(FSFW_OS_NAME "Linux")
+    set(FSFW_OSAL_LINUX ON)
 elseif(FSFW_OSAL MATCHES freertos)
-  set(FSFW_OS_NAME "FreeRTOS")
-  set(FSFW_OSAL_FREERTOS ON)
-  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
+    set(FSFW_OS_NAME "FreeRTOS")
+    set(FSFW_OSAL_FREERTOS ON)
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_OS_NAME}
+    )
 elseif(FSFW_OSAL STREQUAL rtems)
-  set(FSFW_OS_NAME "RTEMS")
-  set(FSFW_OSAL_RTEMS ON)
+    set(FSFW_OS_NAME "RTEMS")
+    set(FSFW_OSAL_RTEMS ON)
 else()
-  message(
-    WARNING
-      "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
-  )
-  set(FSFW_OS_NAME "Host")
-  set(OS_FSFW "host")
+    message(WARNING
+        "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
+    )
+    set(FSFW_OS_NAME "Host")
+    set(OS_FSFW "host")
 endif()

 configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
 configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)

-message(
-  STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
-)
+message(STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system")

 add_subdirectory(src)
+add_subdirectory(tests)
+if(FSFW_ADD_HAL)
+    add_subdirectory(hal)
+endif()
 add_subdirectory(contrib)
-if(FSFW_BUILD_TESTS)
-  add_subdirectory(unittests)
-endif()
 if(FSFW_BUILD_DOCS)
-  add_subdirectory(docs)
+    add_subdirectory(docs)
 endif()

-if(FSFW_BUILD_TESTS)
-  if(FSFW_TESTS_GEN_COV)
-    if(CMAKE_COMPILER_IS_GNUCXX)
-      include(CodeCoverage)
+if(FSFW_BUILD_UNITTESTS)
+    if(FSFW_TESTS_GEN_COV)
+        if(CMAKE_COMPILER_IS_GNUCXX)
+            include(CodeCoverage)

-      # Remove quotes.
-      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
-                         "${COVERAGE_COMPILER_FLAGS}")
+            # Remove quotes.
+            separate_arguments(COVERAGE_COMPILER_FLAGS
+                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
+            )

-      # Add compile options manually, we don't want coverage for Catch2
-      target_compile_options(${FSFW_TEST_TGT}
-                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
-      target_compile_options(${LIB_FSFW_NAME}
-                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
+            # Add compile options manually, we don't want coverage for Catch2
+            target_compile_options(${FSFW_TEST_TGT} PRIVATE
+                "${COVERAGE_COMPILER_FLAGS}"
+            )
+            target_compile_options(${LIB_FSFW_NAME} PRIVATE
+                "${COVERAGE_COMPILER_FLAGS}"
+            )

-      # Exclude directories here
-      if(WIN32)
-        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
-                                  "--exclude-unreachable-branches")
-        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
-      elseif(UNIX)
-        set(COVERAGE_EXCLUDES
-            "/usr/include/*"
-            "/usr/bin/*"
-            "Catch2/*"
-            "/usr/local/include/*"
-            "*/fsfw_tests/*"
-            "*/catch2-src/*"
-            "*/fsfw_hal/*")
-      endif()
+            # Exclude directories here
+            if(WIN32)
+                set(GCOVR_ADDITIONAL_ARGS
+                    "--exclude-throw-branches"
+                    "--exclude-unreachable-branches"
+                )
+                set(COVERAGE_EXCLUDES
+                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
+                )
+            elseif(UNIX)
+                set(COVERAGE_EXCLUDES
+                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+                    "/usr/local/include/*" "*/fsfw_tests/*"
+                    "*/catch2-src/*" "*/fsfw_hal/*"
+                )
+            endif()

-      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
-                          -ftest-coverage)
-      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
-                          -ftest-coverage)
-      # Need to specify this as an interface, otherwise there will the compile
-      # issues
-      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
-                          -ftest-coverage)
+            target_link_options(${FSFW_TEST_TGT} PRIVATE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+            target_link_options(${LIB_FSFW_NAME} PRIVATE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+            # Need to specify this as an interface, otherwise there will the compile issues
+            target_link_options(${LIB_FSFW_NAME} INTERFACE
+                -fprofile-arcs
+                -ftest-coverage
+            )

-      if(WIN32)
-        setup_target_for_coverage_gcovr_html(
-          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
-      else()
-        setup_target_for_coverage_lcov(
-          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
-      endif()
+            if(WIN32)
+                setup_target_for_coverage_gcovr_html(
+                    NAME ${FSFW_TEST_TGT}_coverage
+                    EXECUTABLE ${FSFW_TEST_TGT}
+                    DEPENDENCIES ${FSFW_TEST_TGT}
+                )
+            else()
+                setup_target_for_coverage_lcov(
+                    NAME ${FSFW_TEST_TGT}_coverage
+                    EXECUTABLE ${FSFW_TEST_TGT}
+                    DEPENDENCIES ${FSFW_TEST_TGT}
+                )
+            endif()
+        endif()
    endif()
-  endif()
-  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
-                                                 ${LIB_FSFW_NAME})
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
 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.
+# 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)
-  set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
-  if(NOT FSFW_BUILD_DOCS)
-    message(
-      WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path not set")
-    message(
-      WARNING
-        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
-  endif()
-  add_subdirectory(${DEF_CONF_PATH})
-  set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
+    set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
+    if(NOT FSFW_BUILD_DOCS)
+        message(WARNING "${MSG_PREFIX} Flight Software Framework configuration path not set")
+        message(WARNING "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
+    endif()
+    add_subdirectory(${DEF_CONF_PATH})
+    set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()

-# FSFW might be part of a possibly complicated folder structure, so we extract
-# the absolute path of the fsfwconfig folder.
+# FSFW might be part of a possibly complicated folder structure, so we 
+# extract the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
-  set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
+	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
-                         BASE_DIR ${CMAKE_SOURCE_DIR})
+	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
+	)
 endif()

 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
-  if(IS_ABSOLUTE ${INCLUDE_PATH})
-    set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-  else()
-    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
-                           ${CMAKE_SOURCE_DIR})
-  endif()
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()

-  if(CMAKE_VERBOSE)
-    message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-  endif()
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()

-  list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+    list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
 endforeach()

 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  if(NOT DEFINED FSFW_WARNING_FLAGS)
-    set(FSFW_WARNING_FLAGS
-        -Wall
-        -Wextra
-        -Wimplicit-fallthrough=1
-        -Wno-unused-parameter
-        -Wno-psabi
-        -Wduplicated-cond # check for duplicate conditions
-        -Wduplicated-branches # check for duplicate branches
-        -Wlogical-op # Search for bitwise operations instead of logical
-        -Wnull-dereference # Search for NULL dereference
-        -Wundef # Warn if undefind marcos are used
-        -Wformat=2 # Format string problem detection
-        -Wformat-overflow=2 # Formatting issues in printf
-        -Wformat-truncation=2 # Formatting issues in printf
-        -Wformat-security # Search for dangerous printf operations
-        -Wstrict-overflow=3 # Warn if integer overflows might happen
-        -Warray-bounds=2 # Some array bounds violations will be found
-        -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
-        -Wcast-qual # Warn if the constness is cast away
-        -Wstringop-overflow=4
-        # -Wstack-protector # Emits a few false positives for low level access
-        # -Wconversion # Creates many false positives -Warith-conversion # Use
-        # with Wconversion to find more implicit conversions -fanalyzer # Should
-        # be used to look through problems
-    )
-  endif()
+    if(NOT DEFINED FSFW_WARNING_FLAGS)
+	   set(FSFW_WARNING_FLAGS
+		  -Wall
+		  -Wextra
+		  -Wimplicit-fallthrough=1
+		  -Wno-unused-parameter
+		  -Wno-psabi
+          -Wduplicated-cond # check for duplicate conditions
+          -Wduplicated-branches # check for duplicate branches
+          -Wlogical-op # Search for bitwise operations instead of logical 
+          -Wnull-dereference # Search for NULL dereference
+          -Wundef # Warn if undefind marcos are used
+          -Wformat=2 # Format string problem detection
+          -Wformat-overflow=2 # Formatting issues in printf
+          -Wformat-truncation=2 # Formatting issues in printf
+          -Wformat-security # Search for dangerous printf operations
+          -Wstrict-overflow=3 # Warn if integer overflows might happen
+          -Warray-bounds=2 # Some array bounds violations will be found
+          -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
+          -Wcast-qual # Warn if the constness is cast away
+          -Wstringop-overflow=4
+          # -Wstack-protector # Emits a few false positives for low level access
+          # -Wconversion # Creates many false positives
+          # -Warith-conversion # Use with Wconversion to find more implicit conversions
+          # -fanalyzer # Should be used to look through problems
+        )
+    endif()

-  if(FSFW_GENERATE_SECTIONS)
-    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
-                                                    "-fdata-sections")
-  endif()
-
-  if(FSFW_REMOVE_UNUSED_CODE)
-    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
-  endif()
-
-  if(FSFW_WARNING_SHADOW_LOCAL_GCC)
-    list(APPEND WARNING_FLAGS "-Wshadow=local")
-  endif()
+    if(FSFW_GENERATE_SECTIONS)
+        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+            "-ffunction-sections"
+            "-fdata-sections"
+        )
+    endif()

+    if(FSFW_REMOVE_UNUSED_CODE)
+        target_link_options(${LIB_FSFW_NAME} PRIVATE
+            "Wl,--gc-sections"
+        )
+    endif()
+  
+    if(FSFW_WARNING_SHADOW_LOCAL_GCC)
+        list(APPEND WARNING_FLAGS "-Wshadow=local")
+    endif()
+	
 endif()

 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  set(COMPILER_FLAGS "/permissive-")
+	set(COMPILER_FLAGS "/permissive-")
 endif()

 # Required include paths to compile the FSFW
-target_include_directories(
-  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
+target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_CORE_INC_PATH}
+	${FSFW_ADD_INC_PATHS_ABS}
+)

-# Includes path required to compile FSFW itself as well We assume that the
-# fsfwconfig folder uses include relative to the project root here!
-target_include_directories(
-  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
-                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
+# Includes path required to compile FSFW itself as well
+# We assume that the fsfwconfig folder uses include relative to the project
+# root here!
+target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_CORE_INC_PATH}
+	${FSFW_ADD_INC_PATHS_ABS}
+)

-target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
-                                                ${COMPILER_FLAGS})
+target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+	${FSFW_WARNING_FLAGS}
+	${COMPILER_FLAGS}
+)

-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_ETL_LINK_TARGET}
+    ${FSFW_ADDITIONAL_LINK_LIBS}
+)

-string(
-  CONCAT
-    POST_BUILD_COMMENT
+string(CONCAT POST_BUILD_COMMENT
    "######################################################################\n"
    "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
    "Target OSAL: ${FSFW_OS_NAME}\n"
-    "######################################################################\n")
+    "######################################################################\n"
+)

 add_custom_command(
-  TARGET ${LIB_FSFW_NAME}
-  POST_BUILD
-  COMMENT ${POST_BUILD_COMMENT})
+   TARGET ${LIB_FSFW_NAME}
+   POST_BUILD
+   COMMENT ${POST_BUILD_COMMENT}
+)
@@ -99,7 +99,7 @@ add and link against the FSFW library in general.

 4. Link against the FSFW library

-   ```sh
+   ```cmake
   target_link_libraries(${YourProjectName} PRIVATE fsfw)
   ```

@@ -131,15 +131,15 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
 You can use the following commands inside the `fsfw` folder to set up the build system

 ```sh
-mkdir build-tests && cd build-tests
-cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+mkdir build-Unittest && cd build-Unittest
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```

 You can also use `-DFSFW_OSAL=linux` on Linux systems.

 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generate the coverage data in this format,
+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

 ```sh
@@ -188,10 +188,7 @@ and open the documentation conveniently. Try `helper.py -h for more information.

 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 `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
-````sh
-sudo pip install cmakelang
-````
+can run the `apply-clang-format.sh` helper script to format all source files consistently.

 ## Index

@@ -12,9 +12,3 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
 	git checkout v3.0.0-preview5 && \
 	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
 	cmake --build build/ --target install
-
-RUN git clone https://github.com/ETLCPP/etl.git && \
-	cd etl && \
-	git checkout 20.28.0 && \
-	cmake -B build . && \
-	cmake --install build/
@@ -3,7 +3,7 @@ pipeline {
        BUILDDIR = 'build-tests'
    }
    agent {
-        docker { image 'fsfw-ci:d3'}
+        docker { image 'fsfw-ci:d2'}
    }
    stages {
        stage('Clean') {
@@ -14,7 +14,7 @@ pipeline {
        stage('Configure') {
            steps {
                dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
                }
            }
        }
@@ -0,0 +1,141 @@
+# - Returns a version string from Git
+#
+# These functions force a re-configure on each git commit so that you can
+# trust the values of the variables in your build system.
+#
+#  get_git_head_revision(<refspecvar> <hashvar> [<additional arguments to git describe> ...])
+#
+# Returns the refspec and sha hash of the current head revision
+#
+#  git_describe(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe on the source tree, and adjusting
+# the output so that it tests false if an error occurs.
+#
+#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe --exact-match on the source tree,
+# and adjusting the output so that it tests false if there was no exact
+# matching tag.
+#
+# Requires CMake 2.6 or newer (uses the 'function' command)
+#
+# Original Author:
+# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
+# http://academic.cleardefinition.com
+# Iowa State University HCI Graduate Program/VRAC
+#
+# Copyright Iowa State University 2009-2010.
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+if(__get_git_revision_description)
+    return()
+endif()
+set(__get_git_revision_description YES)
+
+# We must run the following at "include" time, not at function call time,
+# to find the path to this module rather than the path to a calling list file
+get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
+
+function(get_git_head_revision _refspecvar _hashvar)
+    set(GIT_PARENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+    set(GIT_DIR "${GIT_PARENT_DIR}/.git")
+    while(NOT EXISTS "${GIT_DIR}")    # .git dir not found, search parent directories
+        set(GIT_PREVIOUS_PARENT "${GIT_PARENT_DIR}")
+        get_filename_component(GIT_PARENT_DIR ${GIT_PARENT_DIR} PATH)
+        if(GIT_PARENT_DIR STREQUAL GIT_PREVIOUS_PARENT)
+            # We have reached the root directory, we are not in git
+            set(${_refspecvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
+            set(${_hashvar} "GITDIR-NOTFOUND" PARENT_SCOPE)
+            return()
+        endif()
+        set(GIT_DIR "${GIT_PARENT_DIR}/.git")
+    endwhile()
+    # check if this is a submodule
+    if(NOT IS_DIRECTORY ${GIT_DIR})
+        file(READ ${GIT_DIR} submodule)
+        string(REGEX REPLACE "gitdir: (.*)\n$" "\\1" GIT_DIR_RELATIVE ${submodule})
+        get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
+
+        if (IS_ABSOLUTE ${GIT_DIR_RELATIVE})
+            set(GIT_DIR ${GIT_DIR_RELATIVE})
+        else()
+            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE} ABSOLUTE)
+        endif()
+
+    endif()
+    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
+    if(NOT EXISTS "${GIT_DATA}")
+        file(MAKE_DIRECTORY "${GIT_DATA}")
+    endif()
+
+    if(NOT EXISTS "${GIT_DIR}/HEAD")
+        return()
+    endif()
+    set(HEAD_FILE "${GIT_DATA}/HEAD")
+    configure_file("${GIT_DIR}/HEAD" "${HEAD_FILE}" COPYONLY)
+
+    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
+        "${GIT_DATA}/grabRef.cmake"
+        @ONLY)
+    include("${GIT_DATA}/grabRef.cmake")
+
+    set(${_refspecvar} "${HEAD_REF}" PARENT_SCOPE)
+    set(${_hashvar} "${HEAD_HASH}" PARENT_SCOPE)
+endfunction()
+
+function(git_describe _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    get_git_head_revision(refspec hash)
+    if(NOT GIT_FOUND)
+        set(${_var} "GIT-NOTFOUND" PARENT_SCOPE)
+        return()
+    endif()
+    if(NOT hash)
+        set(${_var} "HEAD-HASH-NOTFOUND" PARENT_SCOPE)
+        return()
+    endif()
+
+    # TODO sanitize
+    #if((${ARGN}" MATCHES "&&") OR
+    #    (ARGN MATCHES "||") OR
+    #    (ARGN MATCHES "\\;"))
+    #    message("Please report the following error to the project!")
+    #    message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
+    #endif()
+
+    #message(STATUS "Arguments to execute_process: ${ARGN}")
+
+    execute_process(COMMAND
+        ${GIT_EXECUTABLE}
+        describe
+        ${hash}
+        ${ARGN}
+        WORKING_DIRECTORY
+        "${CMAKE_SOURCE_DIR}"
+        RESULT_VARIABLE
+        res
+        OUTPUT_VARIABLE
+        out
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(NOT res EQUAL 0)
+        set(out "${out}-${res}-NOTFOUND")
+    endif()
+
+    set(${_var} "${out}" PARENT_SCOPE)
+endfunction()
+
+function(git_get_exact_tag _var)
+    git_describe(out --exact-match ${ARGN})
+    set(${_var} "${out}" PARENT_SCOPE)
+endfunction()
+
+function(git_get_tag _var)
+    git_describe(out --tags ${ARGN})
+    set(${_var} "${out}" PARENT_SCOPE)
+endfunction()
@@ -1,4 +1,4 @@
-#
+# 
 # Internal file for GetGitRevisionDescription.cmake
 #
 # Requires CMake 2.6 or newer (uses the 'function' command)
@@ -8,12 +8,10 @@
 # http://academic.cleardefinition.com
 # Iowa State University HCI Graduate Program/VRAC
 #
-# Copyright 2009-2012, Iowa State University
-# Copyright 2011-2015, Contributors
+# Copyright Iowa State University 2009-2010.
 # Distributed under the Boost Software License, Version 1.0.
 # (See accompanying file LICENSE_1_0.txt or copy at
 # http://www.boost.org/LICENSE_1_0.txt)
-# SPDX-License-Identifier: BSL-1.0

 set(HEAD_HASH)

@@ -24,13 +22,10 @@ if(HEAD_CONTENTS MATCHES "ref")
    # named branch
    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
-        configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
-    else()
-        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
-        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
-        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
-            set(HEAD_HASH "${CMAKE_MATCH_1}")
-        endif()
+    configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+    elseif(EXISTS "@GIT_DIR@/logs/${HEAD_REF}")
+        configure_file("@GIT_DIR@/logs/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+        set(HEAD_HASH "${HEAD_REF}")
    endif()
 else()
    # detached HEAD
@@ -38,6 +33,6 @@ else()
 endif()

 if(NOT HEAD_HASH)
-    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
-    string(STRIP "${HEAD_HASH}" HEAD_HASH)
+file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
+string(STRIP "${HEAD_HASH}" HEAD_HASH)
 endif()
@@ -1,7 +1,5 @@
-The files in the `bilke` folder were manually copy and pasted from the
+The files in these folder were manually copy and pasted from the
 [cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
 this because only a small subset of its provided functions are needed.

-The files in the `rpavlik` folder were manually copy and pasted from the
-[cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
-this because only a small subset of its provided functions are needed.
+The license file in included here as well.
@@ -1,284 +0,0 @@
-# - Returns a version string from Git
-#
-# These functions force a re-configure on each git commit so that you can
-# trust the values of the variables in your build system.
-#
-#  get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
-#
-# Returns the refspec and sha hash of the current head revision
-#
-#  git_describe(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe on the source tree, and adjusting
-# the output so that it tests false if an error occurs.
-#
-#  git_describe_working_tree(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe on the working tree (--dirty option),
-# and adjusting the output so that it tests false if an error occurs.
-#
-#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
-#
-# Returns the results of git describe --exact-match on the source tree,
-# and adjusting the output so that it tests false if there was no exact
-# matching tag.
-#
-#  git_local_changes(<var>)
-#
-# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
-# Uses the return code of "git diff-index --quiet HEAD --".
-# Does not regard untracked files.
-#
-# Requires CMake 2.6 or newer (uses the 'function' command)
-#
-# Original Author:
-# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
-# http://academic.cleardefinition.com
-#
-# Copyright 2009-2013, Iowa State University.
-# Copyright 2013-2020, Ryan Pavlik
-# Copyright 2013-2020, Contributors
-# SPDX-License-Identifier: BSL-1.0
-# Distributed under the Boost Software License, Version 1.0.
-# (See accompanying file LICENSE_1_0.txt or copy at
-# http://www.boost.org/LICENSE_1_0.txt)
-
-if(__get_git_revision_description)
-    return()
-endif()
-set(__get_git_revision_description YES)
-
-# We must run the following at "include" time, not at function call time,
-# to find the path to this module rather than the path to a calling list file
-get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
-
-# Function _git_find_closest_git_dir finds the next closest .git directory
-# that is part of any directory in the path defined by _start_dir.
-# The result is returned in the parent scope variable whose name is passed
-# as variable _git_dir_var. If no .git directory can be found, the
-# function returns an empty string via _git_dir_var.
-#
-# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
-# neither foo nor bar contain a file/directory .git. This wil return
-# C:/bla/.git
-#
-function(_git_find_closest_git_dir _start_dir _git_dir_var)
-    set(cur_dir "${_start_dir}")
-    set(git_dir "${_start_dir}/.git")
-    while(NOT EXISTS "${git_dir}")
-        # .git dir not found, search parent directories
-        set(git_previous_parent "${cur_dir}")
-        get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
-        if(cur_dir STREQUAL git_previous_parent)
-            # We have reached the root directory, we are not in git
-            set(${_git_dir_var}
-                ""
-                PARENT_SCOPE)
-            return()
-        endif()
-        set(git_dir "${cur_dir}/.git")
-    endwhile()
-    set(${_git_dir_var}
-        "${git_dir}"
-        PARENT_SCOPE)
-endfunction()
-
-function(get_git_head_revision _refspecvar _hashvar)
-    _git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
-
-    if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
-        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
-    else()
-        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
-    endif()
-    if(NOT "${GIT_DIR}" STREQUAL "")
-        file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
-             "${GIT_DIR}")
-        if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
-            # We've gone above the CMake root dir.
-            set(GIT_DIR "")
-        endif()
-    endif()
-    if("${GIT_DIR}" STREQUAL "")
-        set(${_refspecvar}
-            "GITDIR-NOTFOUND"
-            PARENT_SCOPE)
-        set(${_hashvar}
-            "GITDIR-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    # Check if the current source dir is a git submodule or a worktree.
-    # In both cases .git is a file instead of a directory.
-    #
-    if(NOT IS_DIRECTORY ${GIT_DIR})
-        # The following git command will return a non empty string that
-        # points to the super project working tree if the current
-        # source dir is inside a git submodule.
-        # Otherwise the command will return an empty string.
-        #
-        execute_process(
-            COMMAND "${GIT_EXECUTABLE}" rev-parse
-                    --show-superproject-working-tree
-            WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-            OUTPUT_VARIABLE out
-            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-        if(NOT "${out}" STREQUAL "")
-            # If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
-            file(READ ${GIT_DIR} submodule)
-            string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
-                                 ${submodule})
-            string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
-            get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
-            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
-                                   ABSOLUTE)
-            set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
-        else()
-            # GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
-            file(READ ${GIT_DIR} worktree_ref)
-            # The .git directory contains a path to the worktree information directory
-            # inside the parent git repo of the worktree.
-            #
-            string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
-                                 ${worktree_ref})
-            string(STRIP ${git_worktree_dir} git_worktree_dir)
-            _git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
-            set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
-        endif()
-    else()
-        set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
-    endif()
-    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
-    if(NOT EXISTS "${GIT_DATA}")
-        file(MAKE_DIRECTORY "${GIT_DATA}")
-    endif()
-
-    if(NOT EXISTS "${HEAD_SOURCE_FILE}")
-        return()
-    endif()
-    set(HEAD_FILE "${GIT_DATA}/HEAD")
-    configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
-
-    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
-                   "${GIT_DATA}/grabRef.cmake" @ONLY)
-    include("${GIT_DATA}/grabRef.cmake")
-
-    set(${_refspecvar}
-        "${HEAD_REF}"
-        PARENT_SCOPE)
-    set(${_hashvar}
-        "${HEAD_HASH}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_describe _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    get_git_head_revision(refspec hash)
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-    if(NOT hash)
-        set(${_var}
-            "HEAD-HASH-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    # TODO sanitize
-    #if((${ARGN}" MATCHES "&&") OR
-    #   (ARGN MATCHES "||") OR
-    #   (ARGN MATCHES "\\;"))
-    #   message("Please report the following error to the project!")
-    #   message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
-    #endif()
-
-    #message(STATUS "Arguments to execute_process: ${ARGN}")
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(NOT res EQUAL 0)
-        set(out "${out}-${res}-NOTFOUND")
-    endif()
-
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_describe_working_tree _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(NOT res EQUAL 0)
-        set(out "${out}-${res}-NOTFOUND")
-    endif()
-
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_get_exact_tag _var)
-    git_describe(out --exact-match ${ARGN})
-    set(${_var}
-        "${out}"
-        PARENT_SCOPE)
-endfunction()
-
-function(git_local_changes _var)
-    if(NOT GIT_FOUND)
-        find_package(Git QUIET)
-    endif()
-    get_git_head_revision(refspec hash)
-    if(NOT GIT_FOUND)
-        set(${_var}
-            "GIT-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-    if(NOT hash)
-        set(${_var}
-            "HEAD-HASH-NOTFOUND"
-            PARENT_SCOPE)
-        return()
-    endif()
-
-    execute_process(
-        COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
-        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
-        RESULT_VARIABLE res
-        OUTPUT_VARIABLE out
-        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(res EQUAL 0)
-        set(${_var}
-            "CLEAN"
-            PARENT_SCOPE)
-    else()
-        set(${_var}
-            "DIRTY"
-            PARENT_SCOPE)
-    endif()
-endfunction()
@@ -1,26 +0,0 @@
-Copyright (c) <year> <owner>. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation
-and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its contributors
-may be used to endorse or promote products derived from this software without
-specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
-USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute, execute,
-and transmit the Software, and to prepare derivative works of the Software,
-and to permit third-parties to whom the Software is furnished to do so, all
-subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer, must
-be included in all copies of the Software, in whole or in part, and all derivative
-works of the Software, unless such copies or derivative works are solely in
-the form of machine-executable object code generated by a source language
-processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
-FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
-COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
-OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
@@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
@@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console

   mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..


 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.13)
+
+# Can also be changed by upper CMakeLists.txt file
+find_library(LIB_FSFW_NAME fsfw REQUIRED)
+
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
+
+option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
+option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
+option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
+
+set(LINUX_HAL_PATH_NAME linux)
+set(STM32H7_PATH_NAME stm32h7)
+
+add_subdirectory(src)
+
+foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
+
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
+
+    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+endforeach()
+
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_ADD_INC_PATHS_ABS}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_DEFINES}
+)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_LINK_LIBS}
+)
@@ -0,0 +1,9 @@
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_subdirectory(fsfw_hal)
@@ -2,9 +2,9 @@ add_subdirectory(devicehandlers)
 add_subdirectory(common)

 if(UNIX)
-  add_subdirectory(linux)
+    add_subdirectory(linux)
 endif()

 if(FSFW_HAL_ADD_STM32H7)
-  add_subdirectory(stm32h7)
+    add_subdirectory(stm32h7)
 endif()
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GpioCookie.cpp
+)
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20Handler.cpp
+    MgmRM3100Handler.cpp
+    MgmLIS3MDLHandler.cpp
+)
@@ -252,7 +252,6 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l
  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
-  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
  return HasReturnvaluesIF::RETURN_OK;
 }

@@ -286,22 +286,26 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons

      PoolReadGuard readHelper(&dataset);
      if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-        if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
-            std::abs(mgmZ) > absLimitZ) {
-          dataset.fieldStrengths.setValid(false);
-        }
        if (std::abs(mgmX) < absLimitX) {
-          dataset.fieldStrengths[0] = mgmX;
+          dataset.fieldStrengthX = mgmX;
+          dataset.fieldStrengthX.setValid(true);
+        } else {
+          dataset.fieldStrengthX.setValid(false);
        }

        if (std::abs(mgmY) < absLimitY) {
-          dataset.fieldStrengths[1] = mgmY;
+          dataset.fieldStrengthY = mgmY;
+          dataset.fieldStrengthY.setValid(true);
+        } else {
+          dataset.fieldStrengthY.setValid(false);
        }

        if (std::abs(mgmZ) < absLimitZ) {
-          dataset.fieldStrengths[2] = mgmZ;
+          dataset.fieldStrengthZ = mgmZ;
+          dataset.fieldStrengthZ.setValid(true);
+        } else {
+          dataset.fieldStrengthZ.setValid(false);
        }
-        dataset.fieldStrengths.setValid(true);
      }
      break;
    }
@@ -467,9 +471,10 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE

 ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
-  poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 10.0, false);
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
  return HasReturnvaluesIF::RETURN_OK;
 }

@@ -103,8 +103,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
  CommunicationStep communicationStep = CommunicationStep::DATA;
  bool commandExecuted = false;

-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
-  PoolEntry<float> temperature = PoolEntry<float>();
  /*------------------------------------------------------------------------*/
  /* Device specific commands and variables */
  /*------------------------------------------------------------------------*/
@@ -309,8 +309,9 @@ void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE;

 ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
-  poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 10.0, false);
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
  return HasReturnvaluesIF::RETURN_OK;
 }

@@ -353,9 +354,9 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
  // TODO: Sanity check on values?
  PoolReadGuard readGuard(&primaryDataset);
  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-    primaryDataset.fieldStrengths[0] = fieldStrengthX;
-    primaryDataset.fieldStrengths[1] = fieldStrengthY;
-    primaryDataset.fieldStrengths[2] = fieldStrengthZ;
+    primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengthZ = fieldStrengthZ;
    primaryDataset.setValidity(true, true);
  }
  return RETURN_OK;
@@ -85,7 +85,6 @@ class MgmRM3100Handler : public DeviceHandlerBase {

  bool goToNormalModeAtStartup = false;
  uint32_t transitionDelay;
-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);

  ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
                                              const uint8_t *commandData, size_t commandDataLen);
@@ -139,7 +139,12 @@ static const uint8_t CTRL_REG5_DEFAULT = 0;

 static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;

-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+  TEMPERATURE_CELCIUS
+};

 class MgmPrimaryDataset : public StaticLocalDataSet<4> {
 public:
@@ -147,10 +152,9 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {

  MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}

-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
 };

@@ -101,7 +101,11 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {

 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;

-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+};

 class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
 public:
@@ -109,10 +113,10 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {

  Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}

-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  // Field strengths in micro Tesla.
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
 };

 }  // namespace RM3100
@@ -0,0 +1,25 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+    add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	UnixFileGuard.cpp
+	CommandExecutor.cpp
+	utility.cpp
+)
+
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
+	add_subdirectory(gpio)
+endif()
+	add_subdirectory(uart)
+	# Adding those does not really make sense on Apple systems which
+	# are generally host systems. It won't even compile as the headers
+	# are missing
+	if(NOT APPLE)
+		add_subdirectory(i2c)
+		add_subdirectory(spi)
+	endif()
+endif()
+
+add_subdirectory(uio)
@@ -32,8 +32,6 @@ ReturnValue_t CommandExecutor::execute() {
  } else if (state == States::PENDING) {
    return COMMAND_PENDING;
  }
-  // Reset data in read vector
-  std::memset(readVec.data(), 0, readVec.size());
  currentCmdFile = popen(currentCmd.c_str(), "r");
  if (currentCmdFile == nullptr) {
    lastError = errno;
@@ -207,5 +205,3 @@ ReturnValue_t CommandExecutor::executeBlocking() {
  }
  return HasReturnvaluesIF::RETURN_OK;
 }
-
-const std::vector<char>& CommandExecutor::getReadVector() const { return readVec; }
@@ -109,8 +109,6 @@ class CommandExecutor {
   */
  void reset();

-  const std::vector<char>& getReadVector() const;
-
 private:
  std::string currentCmd;
  bool blocking = true;
@@ -6,7 +6,7 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface.h"

-UnixFileGuard::UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                             std::string diagnosticPrefix)
    : fileDescriptor(fileDescriptor) {
  if (fileDescriptor == nullptr) {
@@ -15,7 +15,7 @@ class UnixFileGuard {

  static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;

-  UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
+  UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                std::string diagnosticPrefix = "");

  virtual ~UnixFileGuard();
@@ -0,0 +1,16 @@
+# This abstraction layer requires the gpiod library. You can install this library
+# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
+# to install the package before syncing the sysroot to your host computer.
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_GPIO}
+    )
+endif()
+
@@ -20,9 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
  ReturnValue_t result;
  if (gpioCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
-#endif
    return RETURN_FAILED;
  }

@@ -98,10 +96,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
  std::string& label = gpioByLabel.label;
  struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
  if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
-#endif
    return RETURN_FAILED;
  }
  std::string failOutput = "label: " + label;
@@ -112,10 +108,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
  std::string& chipname = gpioByChip.chipname;
  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
  if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                 << ". Gpio ID: " << gpioId << std::endl;
-#endif
    return RETURN_FAILED;
  }
  std::string failOutput = "chipname: " + chipname;
@@ -139,10 +133,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,

  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
  if (chip == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                 << ". <Gpio ID: " << gpioId << std::endl;
-#endif
    return RETURN_FAILED;
  }
  std::string failOutput = "line name: " + lineName;
@@ -161,12 +153,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
  lineNum = regularGpio.lineNum;
  lineHandle = gpiod_chip_get_line(chip, lineNum);
  if (!lineHandle) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
    sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
                 << std::endl;
    sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
-#endif
    gpiod_chip_close(chip);
    return RETURN_FAILED;
  }
@@ -185,9 +175,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
      break;
    }
    default: {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
-#endif
      return GPIO_INVALID_INSTANCE;
    }

@@ -216,9 +204,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
  gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
-#endif
    return UNKNOWN_GPIO_ID;
  }

@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    I2cComIF.cpp
+    I2cCookie.cpp
+)
+
+
+
+
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GpioRPi.cpp
+)
@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    SpiComIF.cpp
+    SpiCookie.cpp
+)
+
+
+
+
@@ -15,8 +15,8 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/utility.h"

-SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
-    : SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
+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
@@ -27,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
  }

-  csMutex = MutexFactory::instance()->createMutex();
+  spiMutex = MutexFactory::instance()->createMutex();
 }

 ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
@@ -85,7 +85,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
  spiCookie->getSpiParameters(spiMode, spiSpeed, &params);

  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
+  UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+                           "SpiComIF::initializeInterface");
  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return fileHelper.getOpenResult();
  }
@@ -181,7 +182,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
  int retval = 0;
  /* Prepare transfer */
  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  std::string device = spiCookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return OPENING_FILE_FAILED;
  }
@@ -194,28 +196,21 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const

  bool fullDuplex = spiCookie->isFullDuplex();
  gpioId_t gpioId = spiCookie->getChipSelectPin();
-  bool csLockManual = spiCookie->getCsLockManual();

-  MutexIF::TimeoutType csType;
-  dur_millis_t csTimeout = 0;
-  // Pull SPI CS low. For now, no support for active high given
-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    spiCookie->getMutexParams(csType, csTimeout);
-    result = csMutex->lockMutex(csType, csTimeout);
+  /* 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_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
-                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
-                 << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
 #else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
 #endif
 #endif
      return result;
    }
-    updateLinePolarity(fileDescriptor);
-    result = gpioComIF->pullLow(gpioId);
+    ReturnValue_t result = gpioComIF->pullLow(gpioId);
    if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -226,8 +221,6 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
 #endif
      return result;
    }
-  } else {
-    updateLinePolarity(fileDescriptor);
  }

  /* Execute transfer */
@@ -255,9 +248,9 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
    }
  }

-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+  if (gpioId != gpio::NO_GPIO) {
    gpioComIF->pullHigh(gpioId);
-    result = csMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
@@ -285,8 +278,9 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe

 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  std::string device = spiCookie->getSpiDevice();
  int fileDescriptor = 0;
-  UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return OPENING_FILE_FAILED;
  }
@@ -298,22 +292,12 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
    return result;
  }

-  bool csLockManual = spiCookie->getCsLockManual();
  gpioId_t gpioId = spiCookie->getChipSelectPin();
-  MutexIF::TimeoutType csType;
-  dur_millis_t csTimeout = 0;
-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
-    spiCookie->getMutexParams(csType, csTimeout);
-    result = csMutex->lockMutex(csType, csTimeout);
+  if (gpioId != gpio::NO_GPIO) {
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
    if (result != RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
-                 << "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
-                 << std::endl;
-#else
-      sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
-#endif
+      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
 #endif
      return result;
    }
@@ -331,9 +315,9 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
    result = HALF_DUPLEX_TRANSFER_FAILED;
  }

-  if (gpioId != gpio::NO_GPIO and not csLockManual) {
+  if (gpioId != gpio::NO_GPIO) {
    gpioComIF->pullHigh(gpioId);
-    result = csMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
@@ -362,7 +346,15 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
  return HasReturnvaluesIF::RETURN_OK;
 }

-MutexIF* SpiComIF::getCsMutex() { return csMutex; }
+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) {
@@ -409,27 +401,11 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
  if (retval != 0) {
    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
  }
-}
-
-void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
-  uint8_t tmpMode = 0;
-  int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Reading SPI mode failed");
-  }
-  mode = static_cast<spi::SpiModes>(tmpMode);
-
-  retval = ioctl(spiFd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
-  if (retval != 0) {
-    utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
-  }
-}
-
-const std::string& SpiComIF::getSpiDev() const { return dev; }
-
-void SpiComIF::updateLinePolarity(int spiFd) {
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
  clockUpdateTransfer.len = 0;
-  int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
  if (retval != 0) {
    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
  }
@@ -22,17 +22,17 @@ class SpiCookie;
 */
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 public:
-  static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
+  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
  static constexpr ReturnValue_t OPENING_FILE_FAILED =
-      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
  /* Full duplex (ioctl) transfer failure */
  static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
  /* Half duplex (read/write) transfer failure */
  static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);

-  SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
+  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;
@@ -44,8 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
   * @brief   This function returns the mutex which can be used to protect the spi bus when
   *          the chip select must be driven from outside of the com if.
   */
-  MutexIF* getCsMutex();
-  void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
+  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
@@ -60,20 +59,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {

  GpioIF* getGpioInterface();
  void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
-  void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
-
-  /**
-   * This updates the SPI clock default polarity. Only setting the mode does not update
-   * the line state, which can be an issue on mode switches because the clock line will
-   * switch the state after the chip select is pulled low.
-   *
-   * It is recommended to call this function after #setSpiSpeedAndMode and after locking the
-   * CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
-   * @param spiFd
-   */
-  void updateLinePolarity(int spiFd);
-
-  const std::string& getSpiDev() const;
  void performSpiWiretapping(SpiCookie* spiCookie);

  ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
@@ -85,14 +70,10 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
  };

  GpioIF* gpioComIF = nullptr;
-  std::string dev = "";
-  /**
-   * Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
-   * pulled high
-   */
-  MutexIF* csMutex = nullptr;
-  // MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-  // uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
+
+  MutexIF* spiMutex = nullptr;
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 20;
  spi_ioc_transfer clockUpdateTransfer = {};

  using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
@@ -1,25 +1,26 @@
 #include "SpiCookie.h"

-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
+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(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                nullptr, nullptr) {}
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}

-SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
-                     uint32_t spiSpeed)
-    : SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
-
-SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
-                     spi::SpiModes spiMode, uint32_t spiSpeed,
-                     spi::send_callback_function_t callback, void* args)
-    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
-                callback, args) {}
-
-SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+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),
@@ -49,6 +50,8 @@ 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; }
@@ -104,17 +107,3 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
  *callback = this->sendCallback;
  *args = this->callbackArgs;
 }
-
-void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
-
-bool SpiCookie::getCsLockManual() const { return manualCsLock; }
-
-void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
-  csTimeoutType = this->csTimeoutType;
-  csTimeout = this->csTimeout;
-}
-
-void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
-  this->csTimeoutType = csTimeoutType;
-  this->csTimeout = csTimeout;
-}
@@ -2,8 +2,6 @@
 #define LINUX_SPI_SPICOOKIE_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/ipc/MutexIF.h>
-#include <fsfw/timemanager/clockDefinitions.h>
 #include <linux/spi/spidev.h>

 #include "../../common/gpio/gpioDefinitions.h"
@@ -22,8 +20,6 @@
 */
 class SpiCookie : public CookieIF {
 public:
-  static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
-
  /**
   * Each SPI device will have a corresponding cookie. The cookie is used by the communication
   * interface and contains device specific information like the largest expected size to be
@@ -33,22 +29,23 @@ class SpiCookie : public CookieIF {
   * @param spiDev
   * @param maxSize
   */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  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, const size_t maxReplySize, spi::SpiModes spiMode,
-            uint32_t spiSpeed);
+  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, const size_t maxSize, spi::SpiModes spiMode,
-            uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
+  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
@@ -58,6 +55,7 @@ class SpiCookie : public CookieIF {
  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;

@@ -141,42 +139,9 @@ class SpiCookie : public CookieIF {
   */
  void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);

-  void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
-  void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
-
-  void setCsLockManual(bool enable);
-  bool getCsLockManual() const;
-
  spi_ioc_transfer* getTransferStructHandle();

 private:
-  address_t spiAddress;
-  gpioId_t chipSelectPin;
-
-  spi::SpiComIfModes comIfMode;
-
-  // Required for regular mode
-  const size_t maxSize;
-  spi::SpiModes spiMode;
-  /**
-   * If this is set to true, the SPI ComIF will not perform any mutex locking for the
-   * CS mechanism. The user is responsible to locking and unlocking the mutex for the
-   * whole duration of the transfers.
-   */
-  bool manualCsLock = false;
-  uint32_t spiSpeed;
-  bool halfDuplex = false;
-
-  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
-  dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
-
-  // Required for callback mode
-  spi::send_callback_function_t sendCallback = nullptr;
-  void* callbackArgs = nullptr;
-
-  struct spi_ioc_transfer spiTransferStruct = {};
-  UncommonParameters uncommonParameters;
-
  /**
   * Internal constructor which initializes every field
   * @param spiAddress
@@ -189,8 +154,27 @@ class SpiCookie : public CookieIF {
   * @param args
   */
  SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
            spi::send_callback_function_t callback, void* args);
+
+  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_ */
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UartComIF.cpp
+	UartCookie.cpp
+)
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)
@@ -2,4 +2,6 @@ add_subdirectory(spi)
 add_subdirectory(gpio)
 add_subdirectory(devicetest)

-target_sources(${LIB_FSFW_NAME} PRIVATE dma.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    dma.cpp
+)
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20H.cpp
+)
@@ -10,10 +10,6 @@
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"

-#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
-#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
-#endif
-
 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };

 class GyroL3GD20H {
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    gpio.cpp
+)
@@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+)
@@ -0,0 +1,9 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    spiCore.cpp
+    spiDefinitions.cpp
+    spiInterrupts.cpp
+    mspInit.cpp
+    SpiCookie.cpp
+    SpiComIF.cpp
+    stm32h743zi.cpp
+)