Merge pull request 'Increased TM stack robustness' (#501) from eive/fsfw:mueller/tm-stack-robustness-cherry-picked into master

Reviewed-on: fsfw/fsfw#501
Reviewed-by: Ulrich Mohr <mohr@irs.uni-stuttgart.de>

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -1,13 +1,15 @@
-#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "GyroL3GD20Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 
+#include <cmath>
+
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs):
+        CookieIF *comCookie, uint32_t transitionDelayMs):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) {
+        transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(5);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
@@ -215,11 +217,32 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
         PoolReadGuard readSet(&dataset);
         if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+            if(std::abs(angVelocX) < this->absLimitX) {
                 dataset.angVelocX = angVelocX;
+                dataset.angVelocX.setValid(true);
+            }
+            else {
+                dataset.angVelocX.setValid(false);
+            }
+
+            if(std::abs(angVelocY) < this->absLimitY) {
                 dataset.angVelocY = angVelocY;
+                dataset.angVelocY.setValid(true);
+            }
+            else {
+                dataset.angVelocY.setValid(false);
+            }
+
+            if(std::abs(angVelocZ) < this->absLimitZ) {
                 dataset.angVelocZ = angVelocZ;
+                dataset.angVelocZ.setValid(true);
+            }
+            else {
+                dataset.angVelocZ.setValid(false);
+            }
+
             dataset.temperature = temperature;
-            dataset.setValidity(true, true);
+            dataset.temperature.setValid(true);
         }
         break;
     }
@@ -234,7 +257,7 @@ uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
     return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
     this->goNormalModeImmediately = true;
 }
 
@@ -256,3 +279,9 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
 void GyroHandlerL3GD20H::modeChanged() {
     internalState = InternalState::NONE;
 }
+
+void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
+    this->absLimitX = limitX;
+    this->absLimitY = limitY;
+    this->absLimitZ = limitZ;
+}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -19,13 +19,22 @@
 class GyroHandlerL3GD20H: public DeviceHandlerBase {
 public:
     GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000);
+            CookieIF* comCookie, uint32_t transitionDelayMs);
     virtual ~GyroHandlerL3GD20H();
 
+    /**
+     * Set the absolute limit for the values on the axis in degrees per second.
+     * The dataset values will be marked as invalid if that limit is exceeded
+     * @param xLimit
+     * @param yLimit
+     * @param zLimit
+     */
+    void setAbsoluteLimits(float limitX, float limitY, float limitZ);
+
     /**
      * @brief   Configure device handler to go to normal mode immediately
      */
-    void setGoNormalModeAtStartup();
+    void setToGoToNormalMode(bool enable);
 protected:
 
     /* DeviceHandlerBase overrides */
@@ -40,20 +49,23 @@ protected:
             size_t commandDataLen) override;
     ReturnValue_t scanForReply(const uint8_t *start, size_t len,
             DeviceCommandId_t *foundId, size_t *foundLen) override;
-    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
 
     void fillCommandAndReplyMap() override;
     void modeChanged() override;
-    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
     ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
             LocalDataPoolManager &poolManager) override;
 
 private:
-    uint8_t switchId = 0;
     uint32_t transitionDelayMs = 0;
     GyroPrimaryDataset dataset;
 
+    float absLimitX = L3GD20H::RANGE_DPS_00;
+    float absLimitY = L3GD20H::RANGE_DPS_00;
+    float absLimitZ = L3GD20H::RANGE_DPS_00;
+
     enum class InternalState {
         NONE,
         CONFIGURE,

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -5,14 +5,16 @@
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #endif
 
+#include <cmath>
+
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay):
+        CookieIF* comCookie, uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         dataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(5);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
-    /* Set to default values right away. */
+    // Set to default values right away
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
     registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
     registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@@ -291,7 +293,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Magnetic field strength in"
                     " microtesla:" << std::endl;
@@ -308,10 +309,29 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 #endif /* OBSW_VERBOSE_LEVEL >= 1 */
         PoolReadGuard readHelper(&dataset);
         if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+            if(std::abs(mgmX) < absLimitX) {
                 dataset.fieldStrengthX = mgmX;
+                dataset.fieldStrengthX.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthX.setValid(false);
+            }
+
+            if(std::abs(mgmY) < absLimitY) {
                 dataset.fieldStrengthY = mgmY;
+                dataset.fieldStrengthY.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthY.setValid(false);
+            }
+
+            if(std::abs(mgmZ) < absLimitZ) {
                 dataset.fieldStrengthZ = mgmZ;
-            dataset.setValidity(true, true);
+                dataset.fieldStrengthZ.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthZ.setValid(false);
+            }
         }
         break;
     }
@@ -321,7 +341,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
         float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
     #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->check()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
                     std::endl;
@@ -444,16 +463,6 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
 }
 
 void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
-    /*
-     * Regarding ArduinoBoard:
-     * Actually SPI answers directly, but as commanding ArduinoBoard the
-     * communication could be delayed
-     * SPI always has to be triggered, so there could be no periodic answer of
-     * the device, the device has to asked with a command, so periodic is zero.
-     *
-     * We dont read single registers, we just expect special
-     * reply from he Readall_MGM
-     */
     insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
     insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
     insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
@@ -475,7 +484,7 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
     rawPacket = commandBuffer;
     rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
 
-    /* We dont have to check if this is working because we just did it */
+    // We dont have to check if this is working because we just did i
     return RETURN_OK;
 }
 
@@ -503,3 +512,9 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
             new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
+    this->absLimitX = xLimit;
+    this->absLimitY = yLimit;
+    this->absLimitZ = zLimit;
+}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -31,9 +31,17 @@ public:
     static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
 
     MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
-            uint8_t switchId, uint32_t transitionDelay = 10000);
+            uint32_t transitionDelay);
     virtual ~MgmLIS3MDLHandler();
 
+    /**
+     * Set the absolute limit for the values on the axis in microtesla. The dataset values will
+     * be marked as invalid if that limit is exceeded
+     * @param xLimit
+     * @param yLimit
+     * @param zLimit
+     */
+    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
     void setToGoToNormalMode(bool enable);
 
 protected:
@@ -42,7 +50,7 @@ protected:
     void doShutDown() override;
     void doStartUp() override;
     void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
     ReturnValue_t buildCommandFromCommand(
             DeviceCommandId_t deviceCommand, const uint8_t *commandData,
             size_t commandDataLen) override;
@@ -52,7 +60,14 @@ protected:
             DeviceCommandId_t *id) override;
     ReturnValue_t scanForReply(const uint8_t *start, size_t len,
             DeviceCommandId_t *foundId, size_t *foundLen) override;
-    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+    /**
+     * This implementation is tailored towards space applications and will flag values larger
+     * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
+     * @param id
+     * @param packet
+     * @return
+     */
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
     void fillCommandAndReplyMap() override;
     void modeChanged(void) override;
@@ -61,15 +76,19 @@ protected:
 
 private:
     MGMLIS3MDL::MgmPrimaryDataset dataset;
-    //Length a sindgle command SPI answer
+    //Length a single command SPI answer
     static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
 
     uint32_t transitionDelay;
-    //Single SPIcommand has 2 bytes, first for adress, second for content
+    // Single SPI command has 2 bytes, first for adress, second for content
     size_t singleComandSize = 2;
-    //has the size for all adresses of the lis3mdl + the continous write bit
+    // Has the size for all adresses of the lis3mdl + the continous write bit
     uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
 
+    float absLimitX = 100;
+    float absLimitY = 100;
+    float absLimitZ = 150;
+
     /**
      * We want to save the registers we set, so we dont have to read the
      * registers when we want to change something.

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -8,10 +8,9 @@
 
 
 MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF* comCookie, uint8_t switchId,
+        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
-        uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        primaryDataset(this), switchId(switchId), transitionDelay(transitionDelay) {
+        primaryDataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(3);
 #endif
@@ -90,9 +89,16 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
         break;
     }
     default:
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         // Might be a configuration error
-        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
+        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                std::endl;
+                "Unknown internal state" << std::endl;
+#else
+        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state\n");
+#endif
+#endif
         return HasReturnvaluesIF::RETURN_OK;
     }
 
@@ -322,13 +328,7 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
 }
 
 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 25000;
+    return this->transitionDelay;
-}
-
-ReturnValue_t MgmRM3100Handler::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
-    *switches = &switchId;
-    *numberOfSwitches = 1;
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
@@ -349,12 +349,18 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     if(debugDivider->checkAndIncrement()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::info << "MgmRM3100Handler: Magnetic field strength in"
                 " microtesla:" << std::endl;
-        /* Set terminal to utf-8 if there is an issue with micro printout. */
         sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
         sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
         sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+#else
+        sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+        sif::printInfo("X: %f uT\n", fieldStrengthX);
+        sif::printInfo("Y: %f uT\n", fieldStrengthY);
+        sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+#endif
     }
 #endif
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -2,7 +2,6 @@
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
 #include "fsfw/FSFW.h"
-#include "devices/powerSwitcherList.h"
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
@@ -32,7 +31,7 @@ public:
 			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
 
 	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
-	        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay = 10000);
+	        CookieIF* comCookie, uint32_t transitionDelay);
 	virtual ~MgmRM3100Handler();
 
 	/**
@@ -48,21 +47,16 @@ protected:
 	        DeviceCommandId_t *id) override;
 	void doStartUp() override;
 	void doShutDown() override;
-	ReturnValue_t buildNormalDeviceCommand(
+	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-	        DeviceCommandId_t *id) override;
+	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-	ReturnValue_t buildCommandFromCommand(
+	        const uint8_t *commandData, size_t commandDataLen) override;
-	        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-			size_t commandDataLen) override;
 	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
 			DeviceCommandId_t *foundId, size_t *foundLen) override;
-	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
-	        const uint8_t *packet) override;
-    ReturnValue_t getSwitches(const uint8_t **switches,
-            uint8_t *numberOfSwitches) override;
 
 	void fillCommandAndReplyMap() override;
 	void modeChanged(void) override;
-	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+	virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
 	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
 
@@ -97,7 +91,6 @@ private:
 	float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
 
 	bool goToNormalModeAtStartup = false;
-	uint8_t switchId;
 	uint32_t transitionDelay;
 
 	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h

@@ -154,7 +154,7 @@ enum MgmPoolIds: lp_id_t {
     TEMPERATURE_CELCIUS
 };
 
-class MgmPrimaryDataset: public StaticLocalDataSet<5> {
+class MgmPrimaryDataset: public StaticLocalDataSet<4> {
 public:
     MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
         StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -49,7 +49,7 @@ static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
 
 static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
 static constexpr uint8_t BIST_REGISTER = 0x33;
-static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
+static constexpr uint8_t DATA_READY_VAL = 0b10000000;
 static constexpr uint8_t STATUS_REGISTER = 0x34;
 static constexpr uint8_t REVID_REGISTER = 0x36;
 
@@ -108,7 +108,7 @@ enum MgmPoolIds: lp_id_t {
     FIELD_STRENGTH_Z,
 };
 
-class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
 public:
 	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
         StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}

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

@@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    GpiodRegular* config = new GpiodRegular();
+    auto config = new GpiodRegularByChip();
     /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
     will not need this */
     config->chipname = "gpiochip0";

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

@@ -141,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
-                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
+                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
 #else
         sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                 "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@@ -227,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
-#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
+#if FSFW_HAL_SPI_WIRETAPPING == 1
         performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
     }
@@ -398,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
     int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
     }
 
     retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
     }
 }

src/fsfw/FSFW.h.in

@@ -16,13 +16,9 @@
 #cmakedefine FSFW_ADD_MONITORING
 #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
 
-#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+// Can be used for low-level debugging of the SPI bus
-#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#ifndef FSFW_HAL_SPI_WIRETAPPING
-#endif
+#define FSFW_HAL_SPI_WIRETAPPING      0
-
-/* Can be used for low-level debugging of the SPI bus */
-#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
-#define FSFW_HAL_LINUX_SPI_WIRETAPPING      0
 #endif
 
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG

src/fsfw/FSFWVersion.h

@@ -3,8 +3,8 @@
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION        1
+#define FSFW_VERSION        2
-#define FSFW_SUBVERSION     2
+#define FSFW_SUBVERSION     0
 #define FSFW_REVISION       0
 
 #endif /* FSFW_VERSION_H_ */

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -85,10 +85,9 @@ public:
 	 * Called by DHB in the GET_WRITE doGetWrite().
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
-	 * @return
+	 * @return - @c RETURN_OK if data was sent successfull
-	 *  - @c RETURN_OK if data was sent successfully but a reply is expected
+	 * 		   - Everything else triggers falure event with
-	 *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+	 * 		     returnvalue as parameter 1
-	 *  - Everything else to indicate failure
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -120,8 +120,7 @@ public:
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	//!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 

src/fsfw/events/fwSubsystemIdRanges.h

@@ -29,6 +29,8 @@ enum: uint8_t {
     PUS_SERVICE_9 = 89,
     PUS_SERVICE_17 = 97,
     PUS_SERVICE_23 = 103,
+    MGM_LIS3MDL = 106,
+    MGM_RM3100 = 107,
 
     FW_SUBSYSTEM_ID_RANGE
 };

src/fsfw/globalfunctions/DleEncoder.cpp

@@ -165,11 +165,9 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
     if (sourceStream[encodedIndex++] != STX_CHAR) {
         return DECODING_ERROR;
     }
-    while ((encodedIndex < sourceStreamLen)
+    while ((encodedIndex < sourceStreamLen) and (decodedIndex < maxDestStreamlen)) {
-            and (decodedIndex < maxDestStreamlen)
+        switch(sourceStream[encodedIndex]) {
-            and (sourceStream[encodedIndex] != ETX_CHAR)
+        case(DLE_CHAR): {
-            and (sourceStream[encodedIndex] != STX_CHAR)) {
-        if (sourceStream[encodedIndex] == DLE_CHAR) {
             if(encodedIndex + 1 >= sourceStreamLen) {
                 //reached the end of the sourceStream
                 *readLen = sourceStreamLen;
@@ -197,30 +195,34 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
                 }
             }
             ++encodedIndex;
+            break;
         }
-        else {
+        case(STX_CHAR): {
+            *readLen = encodedIndex;
+            return DECODING_ERROR;
+        }
+        case(ETX_CHAR): {
+            *readLen = ++encodedIndex;
+            *decodedLen = decodedIndex;
+            return RETURN_OK;
+        }
+        default: {
             destStream[decodedIndex] = sourceStream[encodedIndex];
+            break;
+        }
         }
-
         ++encodedIndex;
         ++decodedIndex;
     }
-    if (sourceStream[encodedIndex] != ETX_CHAR) {
+
     if(decodedIndex == maxDestStreamlen) {
         //so far we did not find anything wrong here, so let user try again
         *readLen = 0;
         return STREAM_TOO_SHORT;
-        }
+    } else {
-        else {
+        *readLen = encodedIndex;
-            *readLen = ++encodedIndex;
         return DECODING_ERROR;
     }
-    }
-    else {
-        *readLen = ++encodedIndex;
-        *decodedLen = decodedIndex;
-        return RETURN_OK;
-    }
 }
 
 ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,

src/fsfw/globalfunctions/PeriodicOperationDivider.cpp

@@ -10,11 +10,11 @@ bool PeriodicOperationDivider::checkAndIncrement() {
 	bool opNecessary = check();
 	if(opNecessary) {
 		if(resetAutomatically) {
-            counter = 1;
+			counter = 0;
 		}
 		return opNecessary;
 	}
-    counter++;
+	counter ++;
 	return opNecessary;
 }
 

src/fsfw/memory/HasFileSystemIF.h

@@ -81,7 +81,7 @@ public:
 	 * @param args Any other arguments which an implementation might require
 	 * @return
 	 */
-	virtual ReturnValue_t removeFile(const char* repositoryPath,
+	virtual ReturnValue_t deleteFile(const char* repositoryPath,
 	        const char* filename, void* args = nullptr) = 0;
 
 	/**

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -1,10 +1,8 @@
+#include "fsfw/osal/common/TcpTmTcServer.h"
+#include "fsfw/osal/common/TcpTmTcBridge.h"
+#include "fsfw/osal/common/tcpipHelpers.h"
+
 #include "fsfw/platform.h"
-#include "fsfw/FSFW.h"
-
-#include "TcpTmTcServer.h"
-#include "TcpTmTcBridge.h"
-#include "tcpipHelpers.h"
-
 #include "fsfw/container/SharedRingBuffer.h"
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/ipc/MutexGuard.h"

src/fsfw/osal/linux/CMakeLists.txt

@@ -13,10 +13,8 @@ target_sources(${LIB_FSFW_NAME}
 		QueueFactory.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
-		Timer.cpp
 		tcpipHelpers.cpp
 		unixUtility.cpp
-		CommandExecutor.cpp
 )
 
 find_package(Threads REQUIRED)

src/fsfw/osal/linux/CommandExecutor.cpp

@@ -1,185 +0,0 @@
-#include "CommandExecutor.h"
-
-#include "fsfw/serviceinterface.h"
-#include "fsfw/container/SimpleRingBuffer.h"
-#include "fsfw/container/DynamicFIFO.h"
-
-#include <unistd.h>
-
-#include <cstring>
-
-CommandExecutor::CommandExecutor(const size_t maxSize):
-readVec(maxSize) {
-    waiter.events = POLLIN;
-}
-
-ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
-    if(state == States::PENDING) {
-        return COMMAND_PENDING;
-    }
-
-    currentCmd = command;
-    this->blocking = blocking;
-    this->printOutput = printOutput;
-    if(state == States::IDLE) {
-        state = States::COMMAND_LOADED;
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t CommandExecutor::execute() {
-    if(state == States::IDLE) {
-        return NO_COMMAND_LOADED_OR_PENDING;
-    }
-    else if(state == States::PENDING) {
-        return COMMAND_PENDING;
-    }
-    currentCmdFile = popen(currentCmd.c_str(), "r");
-    if(currentCmdFile == nullptr) {
-        lastError = errno;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    if(blocking) {
-        return executeBlocking();
-    }
-    else {
-        currentFd = fileno(currentCmdFile);
-        waiter.fd = currentFd;
-    }
-    state = States::PENDING;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t CommandExecutor::close() {
-    if(state == States::PENDING) {
-        // Attempt to close process, irrespective of if it is running or not
-        if(currentCmdFile != nullptr) {
-            pclose(currentCmdFile);
-        }
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-void CommandExecutor::printLastError(std::string funcName) const {
-    if(lastError != 0) {
-        sif::error << funcName << " pclose failed with code " <<
-                lastError << ": " << strerror(lastError) << std::endl;
-    }
-}
-
-void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
-        DynamicFIFO<uint16_t>* sizesFifo) {
-    this->ringBuffer = ringBuffer;
-    this->sizesFifo = sizesFifo;
-}
-
-ReturnValue_t CommandExecutor::check(bool& bytesRead) {
-    if(blocking) {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    switch(state) {
-    case(States::IDLE):
-    case(States::COMMAND_LOADED): {
-        return NO_COMMAND_LOADED_OR_PENDING;
-    }
-    case(States::PENDING): {
-        break;
-    }
-    }
-
-    int result = poll(&waiter, 1, 0);
-    switch(result) {
-    case(0): {
-        return HasReturnvaluesIF::RETURN_OK;
-        break;
-    }
-    case(1): {
-        if (waiter.revents & POLLIN) {
-            ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
-            if(readBytes == 0) {
-                // Should not happen
-                sif::warning << "CommandExecutor::check: "
-                        "No bytes read after poll event.." << std::endl;
-                break;
-            }
-            else if(readBytes > 0) {
-                bytesRead = true;
-                if(printOutput) {
-                    // It is assumed the command output is line terminated
-                    sif::info << currentCmd << " | " << readVec.data();
-                }
-                if(ringBuffer != nullptr) {
-                    ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
-                            readVec.data()), readBytes);
-                }
-                if(sizesFifo != nullptr) {
-                    if(not sizesFifo->full()) {
-                        sizesFifo->insert(readBytes);
-                    }
-                }
-                return BYTES_READ;
-            }
-            else {
-                // Should also not happen
-                sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
-                        strerror(errno) << std::endl;
-            }
-        }
-        else if(waiter.revents & POLLERR) {
-            sif::warning << "CommandExecuter::check: Poll error" << std::endl;
-            return COMMAND_ERROR;
-        }
-        else if(waiter.revents & POLLHUP) {
-            int result = pclose(currentCmdFile);
-            if(result != 0) {
-                lastError = result;
-                return HasReturnvaluesIF::RETURN_FAILED;
-            }
-            state = States::IDLE;
-            currentCmdFile = nullptr;
-            currentFd = 0;
-            return EXECUTION_FINISHED;
-        }
-        break;
-    }
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-void CommandExecutor::reset() {
-    CommandExecutor::close();
-    currentCmdFile = nullptr;
-    currentFd = 0;
-    state = States::IDLE;
-}
-
-int CommandExecutor::getLastError() const {
-    return this->lastError;
-}
-
-CommandExecutor::States CommandExecutor::getCurrentState() const {
-    return state;
-}
-
-ReturnValue_t CommandExecutor::executeBlocking() {
-    while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
-        std::string output(readVec.data());
-        if(printOutput) {
-            sif::info << currentCmd << " | " << output;
-        }
-        if(ringBuffer != nullptr) {
-            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
-        }
-        if(sizesFifo != nullptr) {
-            if(not sizesFifo->full()) {
-                sizesFifo->insert(output.size());
-            }
-        }
-    }
-    int result = pclose(currentCmdFile);
-    if(result != 0) {
-        lastError = result;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}

src/fsfw/osal/linux/CommandExecutor.h

@@ -1,134 +0,0 @@
-#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
-#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
-
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/returnvalues/FwClassIds.h"
-
-#include <poll.h>
-
-#include <string>
-#include <vector>
-
-class SimpleRingBuffer;
-template <typename T> class DynamicFIFO;
-
-/**
- * @brief   Helper class to execute shell commands in blocking and non-blocking mode
- * @details
- * This class is able to execute processes by using the Linux popen call. It also has the
- * capability of writing the read output of a process into a provided ring buffer.
- *
- * The executor works by first loading the command which should be executed and specifying
- * whether it should be executed blocking or non-blocking. After that, execution can be started
- * with the execute command. In blocking mode, the execute command will block until the command
- * has finished
- */
-class CommandExecutor {
-public:
-    enum class States {
-        IDLE,
-        COMMAND_LOADED,
-        PENDING
-    };
-
-    static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
-
-    //! [EXPORT] : [COMMENT] Execution of the current command has finished
-    static constexpr ReturnValue_t EXECUTION_FINISHED =
-            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
-
-    //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
-    //! to load another command but a command is still pending
-    static constexpr ReturnValue_t COMMAND_PENDING =
-            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
-    //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
-    static constexpr ReturnValue_t BYTES_READ =
-            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
-    //! [EXPORT] : [COMMENT] Command execution failed
-    static constexpr ReturnValue_t COMMAND_ERROR =
-            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
-    //! [EXPORT] : [COMMENT]
-    static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
-            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
-    static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
-            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
-
-    /**
-     * Constructor. Is initialized with maximum size of internal buffer to read data from the
-     * executed process.
-     * @param maxSize
-     */
-    CommandExecutor(const size_t maxSize);
-
-    /**
-     * Load a new command which should be executed
-     * @param command
-     * @param blocking
-     * @param printOutput
-     * @return
-     */
-    ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
-    /**
-     * Execute the loaded command.
-     * @return
-     *  - In blocking mode, it will return RETURN_FAILED if
-     *    the result of the system call was not 0. The error value can be accessed using
-     *    getLastError
-     *  - In non-blocking mode, this call will start
-     *    the execution and then return RETURN_OK
-     */
-    ReturnValue_t execute();
-    /**
-     * Only used in non-blocking mode. Checks the currently running command.
-     * @param bytesRead Will be set to the number of bytes read, if bytes have been read
-     * @return
-     *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
-     *    check again after this
-     *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
-     *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
-     *  - EXECUTION_FINISHED if the process was executed successfully
-     *  - COMMAND_ERROR internal poll error
-     */
-    ReturnValue_t check(bool& bytesRead);
-    /**
-     * Abort the current command. Should normally not be necessary, check can be used to find
-     * out whether command execution was successful
-     * @return RETURN_OK
-     */
-    ReturnValue_t close();
-
-    States getCurrentState() const;
-    int getLastError() const;
-    void printLastError(std::string funcName) const;
-
-    /**
-     * Assign a ring buffer and a FIFO which will be filled by the executor with the output
-     * read from the started process
-     * @param ringBuffer
-     * @param sizesFifo
-     */
-    void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
-
-    /**
-     * Reset the executor. This calls close internally and then reset the state machine so new
-     * commands can be loaded and executed
-     */
-    void reset();
-private:
-    std::string currentCmd;
-    bool blocking = true;
-    FILE* currentCmdFile = nullptr;
-    int currentFd = 0;
-    bool printOutput = true;
-    std::vector<char> readVec;
-    struct pollfd waiter {};
-    SimpleRingBuffer* ringBuffer = nullptr;
-    DynamicFIFO<uint16_t>* sizesFifo = nullptr;
-
-    States state = States::IDLE;
-    int lastError = 0;
-
-    ReturnValue_t executeBlocking();
-};
-
-#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

src/fsfw/osal/linux/MessageQueue.cpp

@@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
             utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "mq_send to " << sendTo << " sent from "
+            sif::warning << "mq_send to: " << sendTo << " sent from "
-                    << sentFrom << " failed" << std::endl;
+                    << sentFrom << "failed" << std::endl;
 #else
-            sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
+            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
 #endif
             return DESTINATION_INVALID;
         }

src/fsfw/osal/linux/Timer.cpp

@@ -1,57 +0,0 @@
-#include "fsfw/osal/linux/Timer.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
-#include <errno.h>
-
-
-Timer::Timer() {
-	sigevent sigEvent;
-	sigEvent.sigev_notify = SIGEV_NONE;
-	sigEvent.sigev_signo = 0;
-	sigEvent.sigev_value.sival_ptr = &timerId;
-	int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId);
-	if(status!=0){
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Timer creation failed with: " << status <<
-				" errno: " << errno << std::endl;
-#endif
-	}
-}
-
-Timer::~Timer() {
-	timer_delete(timerId);
-}
-
-int Timer::setTimer(uint32_t intervalMs) {
-	itimerspec timer;
-	timer.it_value.tv_sec = intervalMs / 1000;
-	timer.it_value.tv_nsec = (intervalMs * 1000000) % (1000000000);
-	timer.it_interval.tv_sec = 0;
-	timer.it_interval.tv_nsec = 0;
-	set = true;
-	return timer_settime(timerId, 0, &timer, NULL);
-}
-
-
-int Timer::getTimer(uint32_t* remainingTimeMs){
-	itimerspec timer;
-	timer.it_value.tv_sec = 0;
-	timer.it_value.tv_nsec = 0;
-	timer.it_interval.tv_sec = 0;
-	timer.it_interval.tv_nsec = 0;
-	int status = timer_gettime(timerId, &timer);
-
-	*remainingTimeMs = timer.it_value.tv_sec * 1000 + timer.it_value.tv_nsec / 1000000;
-
-	return status;
-}
-
-bool Timer::isSet() const {
-    return this->set;
-}
-
-void Timer::resetTimer() {
-    if(not this->set) {
-        set = false;
-    }
-    setTimer(0);
-}

src/fsfw/osal/linux/Timer.h

@@ -1,49 +0,0 @@
-#ifndef FRAMEWORK_OSAL_LINUX_TIMER_H_
-#define FRAMEWORK_OSAL_LINUX_TIMER_H_
-
-#include <signal.h>
-#include <time.h>
-#include <stdint.h>
-
-/**
- * This class is a helper for the creation of a Clock Monotonic timer which does not trigger a signal
- */
-class Timer {
-public:
-	/**
-	 * Creates the Timer sets the timerId Member
-	 */
-	Timer();
-	/**
-	 * Deletes the timer
-	 *
-	 * Careful! According to POSIX documentation:
-	 * The treatment of any pending signal generated by the deleted timer is unspecified.
-	 */
-	virtual ~Timer();
-
-	/**
-	 * Set the timer given in timerId to the given interval
-	 *
-	 * @param intervalMs Interval in ms to be set
-	 * @return 0 on Success 1 else
-	 */
-	int setTimer(uint32_t intervalMs);
-
-	/**
-	 * Get the remaining time of the timer
-	 *
-	 * @param remainingTimeMs Pointer to integer value which is used to return the remaining time
-	 * @return 0 on Success 1 else (see timer_getime documentation of posix function)
-	 */
-	int getTimer(uint32_t* remainingTimeMs);
-
-	bool isSet() const;
-	void resetTimer();
-
-private:
-	bool set = true;
-	timer_t timerId;
-};
-
-#endif /* FRAMEWORK_OSAL_LINUX_TIMER_H_ */

src/fsfw/pus/Service5EventReporting.cpp

@@ -41,7 +41,8 @@ ReturnValue_t Service5EventReporting::performService() {
 	    }
 	}
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::warning <<  "Service5EventReporting::generateEventReport: Too many events" << std::endl;
+	sif::debug <<  "Service5EventReporting::generateEventReport:"
+	        " Too many events" << std::endl;
 #endif
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -63,11 +64,8 @@ ReturnValue_t Service5EventReporting::generateEventReport(
 	        requestQueue->getDefaultDestination(),requestQueue->getId());
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "Service5EventReporting::generateEventReport: "
+		sif::debug << "Service5EventReporting::generateEventReport:"
-		        "Could not send TM packet" << std::endl;
+		        " Could not send TM packet" << std::endl;
-#else
-		sif::printWarning("Service5EventReporting::generateEventReport: "
-                "Could not send TM packet\n");
 #endif
 	}
 	return result;

src/fsfw/pus/Service8FunctionManagement.cpp

@@ -33,8 +33,8 @@ ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
 	if(tcDataLen < sizeof(object_id_t)) {
 		return CommandingServiceBase::INVALID_TC;
 	}
-	// Can't fail, size was checked before
+	SerializeAdapter::deSerialize(objectId, &tcData,
-	SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+			&tcDataLen, SerializeIF::Endianness::BIG);
 
 	return checkInterfaceAndAcquireMessageQueue(id,objectId);
 }

src/fsfw/returnvalues/FwClassIds.h

@@ -77,6 +77,9 @@ enum: uint8_t {
     HAL_UART, //HURT
     HAL_I2C, //HI2C
     HAL_GPIO, //HGIO
+    FIXED_SLOT_TASK_IF, //FTIF
+    MGM_LIS3MDL, //MGMLIS3
+    MGM_RM3100, //MGMRM3100
     FW_CLASS_ID_COUNT // [EXPORT] : [END]
 
 };

src/fsfw/returnvalues/HasReturnvaluesIF.h

@@ -22,9 +22,9 @@ public:
 	 * @param number
 	 * @return
 	 */
-	static constexpr ReturnValue_t makeReturnCode(uint8_t classId,
+	static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
 			uint8_t number) {
-	    return (static_cast<ReturnValue_t>(classId) << 8) + number;
+	    return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
 	}
 };
 

src/fsfw/tasks/FixedSlotSequence.cpp

@@ -1,4 +1,5 @@
 #include "fsfw/tasks/FixedSlotSequence.h"
+#include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include <cstdlib>
 
@@ -92,10 +93,9 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
 ReturnValue_t FixedSlotSequence::checkSequence() const {
 	if(slotList.empty()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "FixedSlotSequence::checkSequence:"
+		sif::warning << "FixedSlotSequence::checkSequence: Slot list is empty!" << std::endl;
-				<< " Slot list is empty!" << std::endl;
 #endif
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
 	}
 
 	if(customCheckFunction != nullptr) {

src/fsfw/tasks/FixedSlotSequence.h

@@ -2,7 +2,7 @@
 #define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
 
 #include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObject.h"
+#include "fsfw/objectmanager/SystemObject.h"
 
 #include <set>
 
@@ -136,6 +136,7 @@ public:
 	 * @details
 	 * Checks if timing is ok (must be ascending) and if all handlers were found.
 	 * @return
+	 *  - SLOT_LIST_EMPTY if the slot list is empty
 	 */
 	ReturnValue_t checkSequence() const;
 
@@ -147,6 +148,7 @@ public:
 	 * The general check will be continued for now if the custom check function
 	 * fails but a diagnostic debug output will be given.
 	 * @param customCheckFunction
+	 *
 	 */
 	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
 

src/fsfw/tasks/FixedTimeslotTaskIF.h

@@ -2,7 +2,8 @@
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
 #include "PeriodicTaskIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
 
 /**
  * @brief Following the same principle as the base class IF.
@@ -12,6 +13,8 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
 
+	static constexpr ReturnValue_t SLOT_LIST_EMPTY = HasReturnvaluesIF::makeReturnCode(
+	        CLASS_ID::FIXED_SLOT_TASK_IF, 0);
 	/**
 	 * Add an object with a slot time and the execution step to the task.
 	 * The execution step will be passed to the object (e.g. as an operation

src/fsfw/timemanager/Countdown.cpp

@@ -6,16 +6,14 @@ Countdown::Countdown(uint32_t initialTimeout): timeout(initialTimeout) {
 Countdown::~Countdown() {
 }
 
-ReturnValue_t Countdown::setTimeout(uint32_t miliseconds) {
+ReturnValue_t Countdown::setTimeout(uint32_t milliseconds) {
-	ReturnValue_t return_value = Clock::getUptime( &startTime );
+	ReturnValue_t returnValue = Clock::getUptime( &startTime );
-	timeout = miliseconds;
+	timeout = milliseconds;
-	return return_value;
+	return returnValue;
 }
 
 bool Countdown::hasTimedOut() const {
-	uint32_t current_time;
+	if ( uint32_t( this->getCurrentTime() - startTime) >= timeout) {
-	Clock::getUptime( &current_time );
-	if ( uint32_t(current_time - startTime) >= timeout) {
 		return true;
 	} else {
 		return false;
@@ -31,7 +29,23 @@ ReturnValue_t Countdown::resetTimer() {
 }
 
 void Countdown::timeOut() {
-	uint32_t current_time;
+	startTime = this->getCurrentTime() - timeout;
-		Clock::getUptime( &current_time );
+}
-	startTime= current_time - timeout;
+
+uint32_t Countdown::getRemainingMillis() const {
+	// We fetch the time before the if-statement
+	// to be sure that the return is in
+	// range 0 <= number <= timeout
+	uint32_t currentTime = this->getCurrentTime();
+	if (this->hasTimedOut()){
+		return 0;
+	}else{
+		return (startTime + timeout) - currentTime;
+	}
+}
+
+uint32_t Countdown::getCurrentTime() const {
+	uint32_t currentTime;
+	Clock::getUptime( &currentTime );
+	return currentTime;
 }

src/fsfw/timemanager/Countdown.h

@@ -4,28 +4,77 @@
 #include "Clock.h"
 
 /**
- * @brief	This file defines the Countdown class.
+ *
- * @author	baetz
+ * Countdown keeps track of a timespan.
+ *
+ * Countdown::resetTimer restarts the timer.
+ * Countdown::setTimeout sets a new countdown duration and resets.
+ *
+ * Can be checked with Countdown::hasTimedOut or
+ * Countdown::isBusy.
+ *
+ * Countdown::timeOut will force the timer to time out.
+ *
  */
 class Countdown {
 public:
-	uint32_t timeout;
+	/**
+	 * Constructor which sets the countdown duration in milliseconds
+	 *
+	 * It does not start the countdown!
+	 * Call resetTimer or setTimeout before usage!
+	 * Otherwise a call to hasTimedOut might return True.
+	 *
+	 * @param initialTimeout Countdown duration in milliseconds
+	 */
 	Countdown(uint32_t initialTimeout = 0);
 	~Countdown();
-	ReturnValue_t setTimeout(uint32_t miliseconds);
+	/**
-
+	 * Call to set a new countdown duration.
+	 *
+	 * Resets the countdown!
+	 *
+	 * @param milliseconds new countdown duration in milliseconds
+	 * @return Returnvalue from Clock::getUptime
+	 */
+	ReturnValue_t setTimeout(uint32_t milliseconds);
+	/**
+	 * Returns true if the countdown duration has passed.
+	 *
+	 * @return True if the countdown has passed
+	 * 		   False if it is still running
+	 */
 	bool hasTimedOut() const;
-
+	/**
+	 * Complementary to hasTimedOut.
+	 *
+	 * @return True if the countdown is till running
+	 * 		   False if it is still running
+	 */
 	bool isBusy() const;
-
+	/**
-	//!< Use last set timeout value and restart timer.
+	 *  Uses last set timeout value and restarts timer.
+	 */
 	ReturnValue_t resetTimer();
-
+	/**
-	//!< Make hasTimedOut() return true
+	 * Returns the remaining milliseconds (0 if timeout)
+	 */
+	uint32_t getRemainingMillis() const;
+	/**
+	 * Makes hasTimedOut() return true
+	 */
 	void timeOut();
-
+	/**
+	 * Internal countdown duration in milliseconds
+	 */
+	uint32_t timeout;
 private:
+	/**
+	 * Last time the timer was started (uptime)
+	 */
 	uint32_t startTime = 0;
+
+	uint32_t getCurrentTime() const;
 };
 
 #endif /* FSFW_TIMEMANAGER_COUNTDOWN_H_ */

src/fsfw/tmtcpacket/SpacePacket.h

@@ -19,7 +19,8 @@ public:
 	/**
 	 * The constructor initializes the packet and sets all header information
 	 * according to the passed parameters.
-	 * @param packetDataLength Sets the packet data length field and therefore specifies the size of the packet.
+	 * @param packetDataLength Sets the packet data length field and therefore specifies
+	 * the size of the packet.
 	 * @param isTelecommand Sets the packet type field to either TC (true) or TM (false).
 	 * @param apid Sets the packet's APID field. The default value describes an idle packet.
 	 * @param sequenceCount ets the packet's Source Sequence Count field.

src/fsfw/tmtcpacket/SpacePacketBase.cpp

@@ -60,8 +60,9 @@ uint16_t SpacePacketBase::getAPID( void ) const {
 }
 
 void SpacePacketBase::setAPID( uint16_t new_apid ) {
-	//Use first three bits of new APID, but keep rest of packet id as it was (see specification).
+    // Use first three bits of new APID, but keep rest of packet id as it was (see specification).
-	this->data->header.packet_id_h = (this->data->header.packet_id_h & 0b11111000) | ( ( new_apid & 0x0700 ) >> 8 );
+    this->data->header.packet_id_h = (this->data->header.packet_id_h & 0b11111000) |
+            ( ( new_apid & 0x0700 ) >> 8 );
     this->data->header.packet_id_l = ( new_apid & 0x00FF );
 }
 
@@ -85,7 +86,8 @@ uint16_t SpacePacketBase::getPacketSequenceCount( void ) const {
 }
 
 void SpacePacketBase::setPacketSequenceCount( uint16_t new_count) {
-	this->data->header.sequence_control_h = ( this->data->header.sequence_control_h & 0b11000000 ) | ( ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x3F00 ) >> 8 );
+    this->data->header.sequence_control_h = ( this->data->header.sequence_control_h & 0b11000000 ) |
+            ( ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x3F00 ) >> 8 );
     this->data->header.sequence_control_l = ( (new_count%LIMIT_SEQUENCE_COUNT) & 0x00FF );
 }
 
@@ -100,7 +102,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
 }
 
 size_t SpacePacketBase::getFullSize() {
-	//+1 is done because size in packet data length field is: size of data field -1
+    // +1 is done because size in packet data length field is: size of data field -1
     return this->getPacketDataLength() + sizeof(this->data->header) + 1;
 }
 

src/fsfw/tmtcpacket/SpacePacketBase.h

@@ -70,7 +70,8 @@ public:
      */
     virtual ~SpacePacketBase();
 
-	//CCSDS Methods:
+    //CCSDS Methods
+
     /**
      * Getter for the packet version number field.
      * @return Returns the highest three bit of the packet in one byte.
@@ -162,7 +163,7 @@ public:
      */
     void setPacketDataLength( uint16_t setLength );
 
-	//Helper methods:
+    // Helper methods
     /**
      * This method returns a raw uint8_t pointer to the packet.
      * @return	A \c uint8_t pointer to the first byte of the CCSDS primary header.

src/fsfw/tmtcpacket/pus/definitions.h

@@ -0,0 +1,16 @@
+#ifndef FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
+#define FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_
+
+#include <cstdint>
+
+namespace pus {
+
+//! Version numbers according to ECSS-E-ST-70-41C p.439
+enum PusVersion: uint8_t {
+    PUS_A_VERSION = 1,
+    PUS_C_VERSION = 2
+};
+
+}
+
+#endif /* FSFW_SRC_FSFW_TMTCPACKET_PUS_TM_DEFINITIONS_H_ */

src/fsfw/tmtcpacket/pus/tc/TcPacketPus.cpp

@@ -1,4 +1,4 @@
-#include "fsfw/tmtcpacket/pus/tc/TcPacketPus.h"
+#include "TcPacketPus.h"
 #include "fsfw/globalfunctions/CRC.h"
 
 #include <cstring>
@@ -8,14 +8,13 @@ TcPacketPus::TcPacketPus(const uint8_t *setData): TcPacketBase(setData) {
 }
 
 void TcPacketPus::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
-        uint8_t ack, uint8_t service, uint8_t subservice, uint16_t sourceId) {
+        uint8_t ack, uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
+        uint16_t sourceId) {
     initSpacePacketHeader(true, true, apid, sequenceCount);
     std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
     setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
-    // Data Field Header:
+    // Data Field Header. For PUS A, the first bit (CCSDS Secondary Header Flag) is zero
-    // Set CCSDS_secondary_header_flag to 0 and version number to 001
+    tcData->dataField.versionTypeAck = pusVersion << 4 | (ack & 0x0F);
-    tcData->dataField.versionTypeAck = 0b00010000;
-    tcData->dataField.versionTypeAck |= (ack & 0x0F);
     tcData->dataField.serviceType = service;
     tcData->dataField.serviceSubtype = subservice;
 #if FSFW_USE_PUS_C_TELECOMMANDS == 1

src/fsfw/tmtcpacket/pus/tc/TcPacketPus.h

@@ -2,6 +2,7 @@
 #define FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
 
 #include "fsfw/FSFW.h"
+#include "../definitions.h"
 #include "fsfw/tmtcpacket/ccsds_header.h"
 #include "TcPacketBase.h"
 
@@ -75,7 +76,8 @@ protected:
      * @param subservice PUS Subservice
      */
     void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
-            uint8_t service, uint8_t subservice, uint16_t sourceId = 0);
+            uint8_t service, uint8_t subservice, pus::PusVersion pusVersion,
+            uint16_t sourceId = 0);
 
     /**
      * A pointer to a structure which defines the data structure of

src/fsfw/tmtcpacket/pus/tc/TcPacketStoredPus.cpp

@@ -23,7 +23,12 @@ TcPacketStoredPus::TcPacketStoredPus(uint16_t apid,  uint8_t service,
         return;
     }
     this->setData(pData);
-    initializeTcPacket(apid, sequenceCount, ack, service, subservice);
+#if FSFW_USE_PUS_C_TELECOMMANDS == 1
+    pus::PusVersion pusVersion = pus::PusVersion::PUS_C_VERSION;
+#else
+    pus::PusVersion pusVersion = pus::PusVersion::PUS_A_VERSION;
+#endif
+    initializeTcPacket(apid, sequenceCount, ack, service, subservice, pusVersion);
     std::memcpy(&tcData->appData, data, size);
     this->setPacketDataLength(
             size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);

src/fsfw/tmtcpacket/pus/tm/TmPacketBase.h

@@ -31,8 +31,6 @@ public:
     //! Maximum size of a TM Packet in this mission.
     //! TODO: Make this dependant on a config variable.
     static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
-    //! First four bits of first byte of secondary header
-    static const uint8_t VERSION_NUMBER_BYTE = 0b00010000;
 
     /**
      * This is the default constructor.

src/fsfw/tmtcpacket/pus/tm/TmPacketPusA.cpp

@@ -1,5 +1,6 @@
-#include "fsfw/tmtcpacket/pus/tm/TmPacketPusA.h"
+#include "../definitions.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
+#include "TmPacketPusA.h"
+#include "TmPacketBase.h"
 
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -62,12 +63,7 @@ void TmPacketPusA::initializeTmPacket(uint16_t apid, uint8_t service,
     //First, set to zero.
     memset(&tmData->data_field, 0, sizeof(tmData->data_field));
 
-    // NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
+    tmData->data_field.version_type_ack = pus::PusVersion::PUS_A_VERSION << 4;
-    // The other 4 bits of the first byte are the spacecraft time reference
-    // status. To change to PUS-C, set 0b00100000.
-    // Set CCSDS_secondary header flag to 0, version number to 001 and ack
-    // to 0000
-    tmData->data_field.version_type_ack = 0b00010000;
     tmData->data_field.service_type = service;
     tmData->data_field.service_subtype = subservice;
     tmData->data_field.subcounter = packetSubcounter;

src/fsfw/tmtcpacket/pus/tm/TmPacketPusC.cpp

@@ -1,5 +1,6 @@
-#include "fsfw/tmtcpacket/pus/tm/TmPacketPusC.h"
+#include "../definitions.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketBase.h"
+#include "TmPacketPusC.h"
+#include "TmPacketBase.h"
 
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -67,7 +68,8 @@ ReturnValue_t TmPacketPusC::initializeTmPacket(uint16_t apid, uint8_t service,
 
     /* Only account for last 4 bytes for time reference field */
     timeRefField &= 0b1111;
-    tmData->dataField.versionTimeReferenceField = VERSION_NUMBER_BYTE | timeRefField;
+    tmData->dataField.versionTimeReferenceField =
+            (pus::PusVersion::PUS_C_VERSION << 4) | timeRefField;
     tmData->dataField.serviceType = service;
     tmData->dataField.serviceSubtype = subservice;
     tmData->dataField.subcounterMsb = packetSubcounter << 8 & 0xff;

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredBase.cpp

@@ -91,4 +91,34 @@ void TmPacketStoredBase::checkAndReportLostTm() {
     }
 }
 
-
+void TmPacketStoredBase::handleStoreFailure(const char *const packetType, ReturnValue_t result,
+        size_t sizeToReserve) {
+    checkAndReportLostTm();
+#if FSFW_VERBOSE_LEVEL >= 1
+    switch(result) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    case(StorageManagerIF::DATA_STORAGE_FULL): {
+        sif::warning << "TmPacketStoredPus" << packetType << ": " <<
+                "Store full for packet with size" << sizeToReserve << std::endl;
+        break;
+    }
+    case(StorageManagerIF::DATA_TOO_LARGE): {
+        sif::warning << "TmPacketStoredPus" << packetType << ": Data with size " <<
+                sizeToReserve << " too large" <<  std::endl;
+        break;
+    }
+#else
+    case(StorageManagerIF::DATA_STORAGE_FULL): {
+        sif::printWarning("TmPacketStoredPus%s: Store full for packet with "
+                "size %d\n", packetType, sizeToReserve);
+        break;
+    }
+    case(StorageManagerIF::DATA_TOO_LARGE): {
+        sif::printWarning("TmPacketStoredPus%s: Data with size "
+                "%d too large\n", packetType, sizeToReserve);
+        break;
+    }
+#endif
+#endif
+    }
+}

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredBase.h

@@ -82,6 +82,9 @@ protected:
     bool checkAndSetStore();
 
     void checkAndReportLostTm();
+
+    void handleStoreFailure(const char* const packetType, ReturnValue_t result,
+            size_t sizeToReserve);
 };
 
 

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusA.cpp

@@ -5,32 +5,32 @@
 
 #include <cstring>
 
-TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress) :
+TmPacketStoredPusA::TmPacketStoredPusA(store_address_t setAddress):
         TmPacketStoredBase(setAddress), TmPacketPusA(nullptr){
 }
 
 TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
         uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
-		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
+        uint32_t size, const uint8_t *headerData, uint32_t headerSize):
 		TmPacketPusA(nullptr) {
     storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
     if (not TmPacketStoredBase::checkAndSetStore()) {
         return;
     }
     uint8_t *pData = nullptr;
+    size_t sizeToReserve = getPacketMinimumSize() + size + headerSize;
     ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-			(getPacketMinimumSize() + size + headerSize), &pData);
+            sizeToReserve, &pData);
 
     if (returnValue != store->RETURN_OK) {
-	    TmPacketStoredBase::checkAndReportLostTm();
+        handleStoreFailure("A", returnValue, sizeToReserve);
         return;
     }
     setData(pData);
     initializeTmPacket(apid, service, subservice, packetSubcounter);
     memcpy(getSourceData(), headerData, headerSize);
     memcpy(getSourceData() + headerSize, data, size);
-	setPacketDataLength(
+    setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
-			size + headerSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
@@ -42,32 +42,33 @@ TmPacketStoredPusA::TmPacketStoredPusA(uint16_t apid, uint8_t service,
         return;
     }
     size_t sourceDataSize = 0;
-	if (content != NULL) {
+    if (content != nullptr) {
         sourceDataSize += content->getSerializedSize();
     }
-	if (header != NULL) {
+    if (header != nullptr) {
         sourceDataSize += header->getSerializedSize();
     }
-	uint8_t *p_data = NULL;
+    uint8_t *pData = nullptr;
+    size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
     ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-			(getPacketMinimumSize() + sourceDataSize), &p_data);
+            sizeToReserve, &pData);
     if (returnValue != store->RETURN_OK) {
-	    TmPacketStoredBase::checkAndReportLostTm();
+        handleStoreFailure("A", returnValue, sizeToReserve);
+        return;
     }
-	setData(p_data);
+    setData(pData);
     initializeTmPacket(apid, service, subservice, packetSubcounter);
     uint8_t *putDataHere = getSourceData();
     size_t size = 0;
-	if (header != NULL) {
+    if (header != nullptr) {
         header->serialize(&putDataHere, &size, sourceDataSize,
                 SerializeIF::Endianness::BIG);
     }
-	if (content != NULL) {
+    if (content != nullptr) {
         content->serialize(&putDataHere, &size, sourceDataSize,
                 SerializeIF::Endianness::BIG);
     }
-	setPacketDataLength(
+    setPacketDataLength(sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
-			sourceDataSize + sizeof(PUSTmDataFieldHeaderPusA) + CRC_SIZE - 1);
 }
 
 uint8_t* TmPacketStoredPusA::getAllTmData() {

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusA.h

@@ -15,7 +15,7 @@
  *	packets in a store with the help of a storeAddress.
  *	@ingroup tmtcpackets
  */
-class TmPacketStoredPusA :
+class TmPacketStoredPusA:
         public TmPacketStoredBase,
         public TmPacketPusA {
 public:

src/fsfw/tmtcpacket/pus/tm/TmPacketStoredPusC.cpp

@@ -19,19 +19,19 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
         return;
     }
     uint8_t *pData = nullptr;
+    size_t sizeToReserve = getPacketMinimumSize() + size + headerSize;
     ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
-            (getPacketMinimumSize() + size + headerSize), &pData);
+            sizeToReserve, &pData);
 
     if (returnValue != store->RETURN_OK) {
-        TmPacketStoredBase::checkAndReportLostTm();
+        handleStoreFailure("C", returnValue, sizeToReserve);
         return;
     }
     setData(pData);
     initializeTmPacket(apid, service, subservice, packetSubcounter, destinationId, timeRefField);
     memcpy(getSourceData(), headerData, headerSize);
     memcpy(getSourceData() + headerSize, data, size);
-    setPacketDataLength(
+    setPacketDataLength(size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
-            size + headerSize + sizeof(PUSTmDataFieldHeaderPusC) + CRC_SIZE - 1);
 }
 
 TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
@@ -53,34 +53,7 @@ TmPacketStoredPusC::TmPacketStoredPusC(uint16_t apid, uint8_t service,
     size_t sizeToReserve = getPacketMinimumSize() + sourceDataSize;
     ReturnValue_t returnValue = store->getFreeElement(&storeAddress, sizeToReserve, &pData);
     if (returnValue != store->RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
+        handleStoreFailure("C", returnValue, sizeToReserve);
-        switch(returnValue) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        case(StorageManagerIF::DATA_STORAGE_FULL): {
-            sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
-                    "size " << sizeToReserve << std::endl;
-            break;
-        }
-        case(StorageManagerIF::DATA_TOO_LARGE): {
-            sif::warning << "TmPacketStoredPusC::TmPacketStoredPusC: Data with size " <<
-                    sizeToReserve << " too large" <<  std::endl;
-            break;
-        }
-#else
-        case(StorageManagerIF::DATA_STORAGE_FULL): {
-            sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Store full for packet with "
-                    "size %d\n", sizeToReserve);
-            break;
-        }
-        case(StorageManagerIF::DATA_TOO_LARGE): {
-            sif::printWarning("TmPacketStoredPusC::TmPacketStoredPusC: Data with size "
-                    "%d too large\n", sizeToReserve);
-            break;
-        }
-#endif
-#endif
-        }
-        TmPacketStoredBase::checkAndReportLostTm();
         return;
     }
     setData(pData);

tests/src/fsfw_tests/internal/InternalUnitTester.cpp

@@ -16,15 +16,18 @@ InternalUnitTester::~InternalUnitTester() {}
 ReturnValue_t InternalUnitTester::performTests(
         const struct InternalUnitTester::TestConfig& testConfig) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::info << "Running internal unit tests.." << std::endl;
+	sif::info << "Running internal unit tests.. Error messages might follow" <<
+	        std::endl;
 #else
 	sif::printInfo("Running internal unit tests..\n");
 #endif
 
 	testserialize::test_serialization();
 	testmq::testMq();
+	if(testConfig.testSemaphores) {
 	    testsemaph::testBinSemaph();
 	    testsemaph::testCountingSemaph();
+	}
 	testmutex::testMutex();
 	if(testConfig.testArrayPrinter) {
 	    arrayprinter::testArrayPrinter();

tests/src/fsfw_tests/internal/InternalUnitTester.h

@@ -18,6 +18,7 @@ class InternalUnitTester: public HasReturnvaluesIF {
 public:
     struct TestConfig {
         bool testArrayPrinter = false;
+        bool testSemaphores = true;
     };
 
 	InternalUnitTester();

tests/src/fsfw_tests/internal/osal/IntTestMutex.cpp

@@ -1,10 +1,12 @@
 #include "fsfw_tests/internal/osal/IntTestMutex.h"
 #include "fsfw_tests/internal/UnittDefinitions.h"
+#include "fsfw/platform.h"
 
 #include <fsfw/ipc/MutexFactory.h>
 
-#if defined(WIN32) || defined(UNIX)
+#if defined PLATFORM_WIN || defined PLATFORM_UNIX
-#include <fsfw/osal/host/Mutex.h>
+#include "fsfw/osal/host/Mutex.h"
+
 #include <thread>
 #include <future>
 #endif
@@ -20,7 +22,7 @@ void testmutex::testMutex() {
 	// timed_mutex from the C++ library specifies undefined behaviour if
 	// the timed mutex is locked twice from the same thread.
     // TODO: we should pass a define like FSFW_OSAL_HOST to the build.
-#if defined(WIN32) || defined(UNIX)
+#if defined PLATFORM_WIN || defined PLATFORM_UNIX
 	// This calls the function from
 	// another thread and stores the returnvalue in a future.
 	auto future = std::async(&MutexIF::lockMutex, mutex, MutexIF::TimeoutType::WAITING, 1);
@@ -37,8 +39,7 @@ void testmutex::testMutex() {
 		unitt::put_error(id);
 	}
 
-	// TODO: we should pass a define like FSFW_OSAL_HOST to the build.
+#if !defined PLATFORM_WIN && !defined PLATFORM_UNIX
-#if !defined(WIN32) && !defined(UNIX)
     result = mutex->unlockMutex();
 	if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) {
 		unitt::put_error(id);

tests/src/fsfw_tests/internal/osal/IntTestSemaphore.cpp

@@ -1,9 +1,10 @@
+#include "fsfw/FSFW.h"
 #include "fsfw_tests/internal/osal/IntTestSemaphore.h"
 #include "fsfw_tests/internal/UnittDefinitions.h"
 
-#include <fsfw/tasks/SemaphoreFactory.h>
+#include "fsfw/tasks/SemaphoreFactory.h"
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include "fsfw/serviceinterface/ServiceInterface.h"
-#include <fsfw/timemanager/Stopwatch.h>
+#include "fsfw/timemanager/Stopwatch.h"
 
 #include <cstdlib>
 
@@ -16,7 +17,7 @@ void testsemaph::testBinSemaph() {
 	}
 	testBinSemaphoreImplementation(binSemaph, id);
 	SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
-#if defined(freeRTOS)
+#if defined FSFW_OSAL_FREERTOS
 	SemaphoreIF* binSemaphUsingTask =
 			SemaphoreFactory::instance()->createBinarySemaphore(1);
 	testBinSemaphoreImplementation(binSemaphUsingTask, id);
@@ -36,7 +37,7 @@ void testsemaph::testCountingSemaph() {
 		}
 		testBinSemaphoreImplementation(countingSemaph, id);
 		SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
-#if defined(freeRTOS)
+#if defined FSFW_OSAL_FREERTOS
 		countingSemaph = SemaphoreFactory::instance()->
 				createCountingSemaphore(1, 1, 1);
 		testBinSemaphoreImplementation(countingSemaph, id);
@@ -50,7 +51,7 @@ void testsemaph::testCountingSemaph() {
 				createCountingSemaphore(3,3);
 		testCountingSemaphImplementation(countingSemaph, id);
 		SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
-#if defined(freeRTOS)
+#if defined FSFW_OSAL_FREERTOS
 		countingSemaph = SemaphoreFactory::instance()->
 				createCountingSemaphore(3, 0, 1);
 		uint8_t semaphCount = countingSemaph->getSemaphoreCounter();

tests/src/fsfw_tests/unit/CMakeLists.txt

@@ -18,4 +18,5 @@ add_subdirectory(serialize)
 add_subdirectory(datapoollocal)
 add_subdirectory(storagemanager)
 add_subdirectory(globalfunctions)
+add_subdirectory(timemanager)
 add_subdirectory(tmtcpacket)

tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp

@@ -103,7 +103,7 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
             for(size_t faultyDestSize = 0; faultyDestSize < expectedVec.size(); faultyDestSize ++) {
                 result = dleEncoder.encode(vecToEncode.data(), vecToEncode.size(),
                         buffer.data(), faultyDestSize, &encodedLen);
-                REQUIRE(result == DleEncoder::STREAM_TOO_SHORT);
+                REQUIRE(result == static_cast<int>(DleEncoder::STREAM_TOO_SHORT));
             }
         };
 
@@ -218,5 +218,10 @@ TEST_CASE("DleEncoder" , "[DleEncoder]") {
         REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
 
         dleEncoder.setEscapeMode(true);
+        testArray1EncodedFaulty = TEST_ARRAY_1_ENCODED_ESCAPED;
+        testArray1EncodedFaulty[5] = 0;
+        result = dleEncoder.decode(testArray1EncodedFaulty.data(), testArray1EncodedFaulty.size(),
+                &readLen, buffer.data(), buffer.size(), &encodedLen);
+        REQUIRE(result == static_cast<int>(DleEncoder::DECODING_ERROR));
     }
 }

tests/src/fsfw_tests/unit/timemanager/CMakeLists.txt

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

tests/src/fsfw_tests/unit/timemanager/TestCountdown.cpp

@@ -0,0 +1,27 @@
+#include "fsfw_tests/unit/CatchDefinitions.h"
+#include <fsfw/timemanager/Countdown.h>
+#include <catch2/catch_test_macros.hpp>
+
+
+TEST_CASE( "Countdown Tests", "[TestCountdown]") {
+	INFO("Countdown Tests");
+	Countdown count(20);
+	REQUIRE(count.timeout == 20);
+	REQUIRE(count.setTimeout(100) == static_cast<uint16_t>(HasReturnvaluesIF::RETURN_OK));
+	REQUIRE(count.timeout == 100);
+	REQUIRE(count.setTimeout(150) == static_cast<uint16_t>(HasReturnvaluesIF::RETURN_OK));
+	REQUIRE(count.isBusy());
+	REQUIRE(not count.hasTimedOut());
+	uint32_t number = count.getRemainingMillis();
+	REQUIRE(number > 0);
+	bool blocked = false;
+	while(not count.hasTimedOut()){
+		blocked = true;
+	};
+	REQUIRE(blocked);
+	number = count.getRemainingMillis();
+	REQUIRE(number==0);
+	count.resetTimer();
+	REQUIRE(not count.hasTimedOut());
+	REQUIRE(count.isBusy());
+}