Merge branch 'meier/fixMgmLIS3MDLHandler' into meier/gpioOpenByLineName

Reviewed-on: #17

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -26,7 +26,9 @@ enum GpioOperation {
 
 enum GpioTypes {
     NONE,
-    GPIO_REGULAR,
+    GPIO_REGULAR_BY_CHIP,
+    GPIO_REGULAR_BY_LABEL,
+    GPIO_REGULAR_BY_LINE_NAME,
     CALLBACK
 };
 
@@ -68,40 +70,84 @@ public:
     int initValue = 0;
 };
 
-class GpiodRegular: public GpioBase {
+class GpiodRegularBase: public GpioBase {
 public:
-    GpiodRegular() :
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
+            int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
-    }
+            lineNum(lineNum) {
-    ;
-
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
-            chipname(chipname_), lineNum(lineNum_) {
     }
 
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
+    // line number will be configured at a later point for the open by line name configuration
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            chipname(chipname_), lineNum(lineNum_) {
+            int initValue): GpioBase(gpioType, consumer, direction, initValue) {
     }
 
-    GpiodRegular(std::string consumer_, gpio::Direction direction_, int initValue_,
-            std::string label_, int lineNum_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_), label(
-                    label_), lineNum(lineNum_) {
-    }
-
-    GpiodRegular(std::string consumer_, std::string label_, int lineNum_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0), label(
-                    label_), lineNum(lineNum_) {
-    }
-    std::string chipname = "NONE";
-    std::string label = "NONE";
     int lineNum = 0;
     struct gpiod_line* lineHandle = nullptr;
 };
 
+class GpiodRegularByChip: public GpiodRegularBase {
+public:
+    GpiodRegularByChip() :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    consumer_, direction_, initValue_, lineNum_),
+            chipname(chipname_){
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            chipname(chipname_) {
+    }
+
+    std::string chipname;
+};
+
+class GpiodRegularByLabel: public GpiodRegularBase {
+public:
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    direction_, initValue_, lineNum_),
+            label(label_) {
+    }
+
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            label(label_) {
+    }
+
+    std::string label;
+};
+
+/**
+ * @brief   Passing this GPIO configuration to the GPIO IF object will try to open the GPIO by its
+ *          line name. This line name can be set in the device tree and must be unique. Otherwise
+ *          the driver will open the first line with the given name.
+ */
+class GpiodRegularByLineName: public GpiodRegularBase {
+public:
+    GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
+            int initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
+                    initValue_), lineName(lineName_) {
+    }
+
+    GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
+                    gpio::LOW), lineName(lineName_) {
+    }
+
+    std::string lineName;
+};
+
 class GpioCallback: public GpioBase {
 public:
     GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -3,11 +3,11 @@
 #include "fsfw/datapool/PoolReadGuard.h"
 
 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 +215,32 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
         PoolReadGuard readSet(&dataset);
         if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            dataset.angVelocX = angVelocX;
+            if(std::abs(angVelocX) < this->absLimitX) {
-            dataset.angVelocY = angVelocY;
+                dataset.angVelocX = angVelocX;
-            dataset.angVelocZ = angVelocZ;
+                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 +255,7 @@ 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 +277,9 @@ 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 */
@@ -40,12 +49,12 @@ 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;
 
@@ -54,6 +63,10 @@ private:
     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

@@ -6,13 +6,13 @@
 #endif
 
 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;
@@ -71,7 +71,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
     switch (internalState) {
     case(InternalState::STATE_NONE):
     case(InternalState::STATE_NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
+        return DeviceHandlerBase::NOTHING_TO_SEND;
     }
     case(InternalState::STATE_FIRST_CONTACT): {
         *id = MGMLIS3MDL::IDENTIFY_DEVICE;
@@ -291,7 +291,6 @@ 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 +307,29 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 #endif /* OBSW_VERBOSE_LEVEL >= 1 */
         PoolReadGuard readHelper(&dataset);
         if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            dataset.fieldStrengthX = mgmX;
+            if(std::abs(mgmX) < absLimitX) {
-            dataset.fieldStrengthY = mgmY;
+                dataset.fieldStrengthX = mgmX;
-            dataset.fieldStrengthZ = mgmZ;
+                dataset.fieldStrengthX.setValid(true);
-            dataset.setValidity(true, 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.fieldStrengthZ.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthZ.setValid(false);
+            }
         }
         break;
     }
@@ -321,7 +339,6 @@ 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 +461,6 @@ 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 +482,7 @@ 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 +510,9 @@ 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

@@ -8,12 +8,11 @@
 
 
 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(1);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
@@ -322,13 +321,7 @@ 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) {

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -32,7 +32,7 @@ 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 +48,16 @@ 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 +92,6 @@ 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/linux/gpio/LinuxLibgpioIF.cpp

@@ -45,16 +45,33 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     for(auto& gpioConfig: mapToAdd) {
-        switch(gpioConfig.second->gpioType) {
+        auto& gpioType = gpioConfig.second->gpioType;
+        switch(gpioType) {
         case(gpio::GpioTypes::NONE): {
             return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR): {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
-            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
             if(regularGpio == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
-            configureRegularGpio(gpioConfig.first, regularGpio);
+            configureGpioByChip(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLabel(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLineName(gpioConfig.first, *regularGpio);
             break;
         }
         case(gpio::GpioTypes::CALLBACK): {
@@ -70,58 +87,84 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
+ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
-    std::string chipname;
+        GpiodRegularByLabel &gpioByLabel) {
-    std::string label;
+    std::string& label = gpioByLabel.label;
+    struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
+                << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+
+    }
+    std::string failOutput = "label: " + label;
+    return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
+        GpiodRegularByChip &gpioByChip) {
+    std::string& chipname = gpioByChip.chipname;
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "chipname: " + chipname;
+    return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
+        GpiodRegularByLineName &gpioByLineName) {
+    std::string& lineName = gpioByLineName.lineName;
+    char chipname[MAX_CHIPNAME_LENGTH];
+    unsigned int lineOffset;
+
+    int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
+            &lineOffset);
+     if (result != LINE_FOUND) {
+        parseFindeLineResult(result, lineName);
+        return RETURN_FAILED;
+    }
+
+    gpioByLineName.lineNum = static_cast<int>(lineOffset);
+
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
+                << chipname << ". <Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "line name: " + lineName;
+    return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+    GpiodRegularBase& regularGpio, std::string failOutput) {
     unsigned int lineNum;
-    struct gpiod_chip *chip;
     gpio::Direction direction;
     std::string consumer;
     struct gpiod_line *lineHandle;
     int result = 0;
 
-    chipname = regularGpio->chipname;
+    lineNum = regularGpio.lineNum;
-
-    if (chipname != "NONE") {
-        chip = gpiod_chip_open_by_name(chipname.c_str());
-        if (!chip) {
-            sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
-                    << chipname << ". Gpio ID: " << gpioId << std::endl;
-            return RETURN_FAILED;
-        }
-    }
-    else if (label != "NONE") {
-        label = regularGpio->label;
-        chip = gpiod_chip_open_by_label(label.c_str());
-        if (!chip) {
-            sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
-                    << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
-            return RETURN_FAILED;
-        }
-    }
-    else {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: No gpio group specified"
-                << std::endl;
-    }
-
-    lineNum = regularGpio->lineNum;
     lineHandle = gpiod_chip_get_line(chip, lineNum);
     if (!lineHandle) {
-        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
-                ", chipname: " << chipname << std::endl;
+                ", " << failOutput << std::endl;
-        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
+        sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
         gpiod_chip_close(chip);
         return RETURN_FAILED;
     }
 
-    direction = regularGpio->direction;
+    direction = regularGpio.direction;
-    consumer = regularGpio->consumer;
+    consumer = regularGpio.consumer;
     /* Configure direction and add a description to the GPIO */
     switch (direction) {
     case(gpio::OUT): {
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                regularGpio->initValue);
+                regularGpio.initValue);
         if (result < 0) {
             sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
                     " from GPIO instance with ID: " << gpioId << std::endl;
@@ -151,7 +194,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
      * Write line handle to GPIO configuration instance so it can later be used to set or
      * read states of GPIOs.
      */
-    regularGpio->lineHandle = lineHandle;
+    regularGpio.lineHandle = lineHandle;
     return RETURN_OK;
 }
 
@@ -162,8 +205,15 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+    auto gpioType = gpioMapIter->second->gpioType;
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
     }
     else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -184,8 +234,15 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+    auto& gpioType = gpioMapIter->second->gpioType;
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::LOW);
     }
     else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -200,12 +257,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
 }
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
-        GpiodRegular* regularGpio, unsigned int logicLevel) {
+        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
-    if(regularGpio == nullptr) {
+    int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
-        return GPIO_TYPE_FAILURE;
-    }
-
-    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
     if (result < 0) {
         sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
                 " to logic level " << logicLevel << std::endl;
@@ -222,8 +275,11 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+    auto gpioType = gpioMapIter->second->gpioType;
-        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
@@ -242,13 +298,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     for(auto& gpioConfig: mapToAdd) {
         switch(gpioConfig.second->gpioType) {
-        case(gpio::GpioTypes::GPIO_REGULAR): {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
+            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
             if(regularGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
             /* Check for conflicts and remove duplicates if necessary */
-            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+            result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
@@ -276,17 +333,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
 
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
-        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
+        GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
     /* Cross check with private map */
     gpioMapIter = gpioMap.find(gpioIdToCheck);
     if(gpioMapIter != gpioMap.end()) {
-        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
+        auto& gpioType = gpioMapIter->second->gpioType;
+        if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
+                gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
             sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
                     "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
             mapToAdd.erase(gpioIdToCheck);
             return HasReturnvaluesIF::RETURN_OK;
         }
-        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(ownRegularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
@@ -320,3 +379,21 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToChe
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
+    switch (result) {
+    case LINE_NOT_EXISTS:
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
+            << " does not exist" << std::endl;
+        break;
+    case LINE_ERROR:
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: " << "Line with name "
+                        << lineName << " does not exist" << std::endl;
+        break;
+    default:
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line with "
+            << "name " << lineName << std::endl;
+        break;
+    }
+
+}

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

@@ -6,6 +6,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 
 class GpioCookie;
+class GpiodRegularIF;
 
 /**
  * @brief	This class implements the GpioIF for a linux based system. The
@@ -37,6 +38,12 @@ public:
 	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
 private:
+
+	static const size_t MAX_CHIPNAME_LENGTH = 11;
+	static const int LINE_NOT_EXISTS = 0;
+	static const int LINE_ERROR = -1;
+	static const int LINE_FOUND = 1;
+
 	/* Holds the information and configuration of all used GPIOs */
 	GpioUnorderedMap gpioMap;
 	GpioUnorderedMapIter gpioMapIter;
@@ -47,9 +54,15 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+	        gpio::Levels logicLevel);
 
-	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
+    ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
+            GpiodRegularByLineName &gpioByLineName);
+    ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+            GpiodRegularBase& regularGpio, std::string failOutput);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -62,7 +75,7 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
 	        GpioMap& mapToAdd);
     ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
             GpioMap& mapToAdd);
@@ -72,6 +85,7 @@ private:
 	 */
 	ReturnValue_t configureGpios(GpioMap& mapToAdd);
 
+	void parseFindeLineResult(int result, std::string& lineName);
 };
 
 #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

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),
@@ -197,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     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" << std::endl;
+#else
+            sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+#endif
+#endif
+            return result;
+        }
+        ReturnValue_t result = gpioComIF->pullLow(gpioId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
+#else
+            sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
+#endif
 #endif
             return result;
         }
-        gpioComIF->pullLow(gpioId);
     }
 
     /* Execute transfer */
@@ -384,11 +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/devicehandlers/AssemblyBase.h

@@ -7,7 +7,7 @@
 
 /**
  * @brief   Base class to implement reconfiguration and failure handling for
- *          redundant devices by monitoring their modes health states.
+ *          redundant devices by monitoring their modes and health states.
  * @details
  * Documentation: Dissertation Baetz p.156, 157.
  *

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -334,8 +334,7 @@ protected:
      *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
      *       have been set.
      *  - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
-     *       be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
+     *       be used if no reply is expected
-     *       to finish the command handling.
      *  - Anything else triggers an event with the return code as a parameter as well as a
      *    step reply failed with the return code
      */

src/fsfw/globalfunctions/PeriodicOperationDivider.cpp

@@ -7,14 +7,13 @@ PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
 }
 
 bool PeriodicOperationDivider::checkAndIncrement() {
+    counter++;
     bool opNecessary = check();
     if(opNecessary) {
         if(resetAutomatically) {
-            counter = 1;
+            resetCounter();
         }
-        return opNecessary;
     }
-    counter++;
     return opNecessary;
 }
 

src/fsfw/returnvalues/FwClassIds.h

@@ -77,6 +77,7 @@ enum: uint8_t {
     HAL_UART, //HURT
     HAL_I2C, //HI2C
     HAL_GPIO, //HGIO
+    FIXED_SLOT_TASK_IF, //FTIF
     FW_CLASS_ID_COUNT // [EXPORT] : [END]
 
 };

src/fsfw/subsystem/SubsystemBase.h

@@ -62,7 +62,8 @@ protected:
 	struct ChildInfo {
 		MessageQueueId_t commandQueue;
 		Mode_t mode;
-		Submode_t submode;bool healthChanged;
+		Submode_t submode;
+		bool healthChanged;
 	};
 
 	Mode_t mode;

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