Merge pull request 'Release v3.0.0' (#532) from development into master

Reviewed-on: fsfw/fsfw#532

CMakeLists.txt

@@ -56,7 +56,7 @@ if(FSFW_BUILD_UNITTESTS)
         FetchContent_Declare(
             Catch2
             GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        v3.0.0-preview4
+            GIT_TAG        v3.0.0-preview3
         )
 
         FetchContent_MakeAvailable(Catch2)
@@ -90,7 +90,7 @@ set(FSFW_CORE_INC_PATH "inc")
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
-# For configure files
+# Configure Files
 target_include_directories(${LIB_FSFW_NAME} PRIVATE
     ${CMAKE_CURRENT_BINARY_DIR}
 )
@@ -152,8 +152,13 @@ else()
     set(OS_FSFW "host")
 endif()
 
-configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
-configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
+if(FSFW_BUILD_UNITTESTS OR FSFW_BUILD_DOCS)
+    configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
+    configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
+else()
+    configure_file(src/fsfw/FSFW.h.in FSFW.h)
+    configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
+endif()
 
 message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 
@@ -192,13 +197,13 @@ if(FSFW_BUILD_UNITTESTS)
                     "--exclude-unreachable-branches"
                 )
                 set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
+                    "/c/msys64/mingw64/*"
                 )
             elseif(UNIX)
                 set(COVERAGE_EXCLUDES
                     "/usr/include/*" "/usr/bin/*" "Catch2/*"
                     "/usr/local/include/*" "*/fsfw_tests/*"
-                    "*/catch2-src/*" "*/fsfw_hal/*"
+                    "*/catch2-src/*"
                 )
             endif()
 

README.md

@@ -91,7 +91,7 @@ You can use the following commands inside the `fsfw` folder to set up the build
 
 ```sh
 mkdir build-Unittest && cd build-Unittest
-cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
 ```
 
 You can also use `-DFSFW_OSAL=linux` on Linux systems.

automation/Dockerfile

@@ -5,10 +5,4 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping
-
-RUN git clone https://github.com/catchorg/Catch2.git && \
-	cd Catch2 && \
-	git checkout v3.0.0-preview4 && \
-	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-	cmake --build build/ --target install
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano

automation/Jenkinsfile

@@ -1,23 +1,28 @@
 pipeline {
+    agent any
     environment {
-        BUILDDIR = 'build-tests'
+        BUILDDIR = 'build-unittests'
     }
+    stages {
+        stage('Create Docker') {
             agent {
                 dockerfile {
                     dir 'automation'
-            //force docker to redownload base image and rebuild all steps instead of caching them
-            //this way, we always get an up to date docker image one each build
-            additionalBuildArgs  '--no-cache --pull'
+                    additionalBuildArgs  '--no-cache'
                     reuseNode true
                 }
             }
-    stages {
-        stage('Clean') {
             steps {
                 sh 'rm -rf $BUILDDIR'
             }
         }
         stage('Configure') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    reuseNode true
+                }
+            }
             steps {
                 dir(BUILDDIR) {
                     sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
@@ -25,6 +30,12 @@ pipeline {
             }
         }
         stage('Build') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    reuseNode true
+                }
+            }
             steps {
                 dir(BUILDDIR) {
                     sh 'cmake --build . -j'
@@ -32,6 +43,12 @@ pipeline {
             }
         }
         stage('Unittests') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    reuseNode true
+                }
+            }
             steps {
                 dir(BUILDDIR) {
                     sh 'cmake --build . -- fsfw-tests_coverage -j'
@@ -39,6 +56,12 @@ pipeline {
             }
         }
         stage('Valgrind') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    reuseNode true
+                }
+            }
             steps {
                 dir(BUILDDIR) {
                     sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'

hal/CMakeLists.txt

@@ -3,14 +3,7 @@ cmake_minimum_required(VERSION 3.13)
 # Can also be changed by upper CMakeLists.txt file
 find_library(LIB_FSFW_NAME fsfw REQUIRED)
 
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
-# On by default for now because I did not have an issue including and compiling those files
-# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
-# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
-# but CMake is able to determine whether this library is installed with find_library.
-option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
-option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
-
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF)
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
 option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

hal/src/fsfw_hal/CMakeLists.txt

@@ -1,7 +1,7 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
 
-if(UNIX)
+if(FSFW_HAL_ADD_LINUX)
     add_subdirectory(linux)
 endif()
 

hal/src/fsfw_hal/common/gpio/GpioCookie.cpp

@@ -1,8 +1,8 @@
 #include "fsfw_hal/common/gpio/GpioCookie.h"
-
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-GpioCookie::GpioCookie() {}
+GpioCookie::GpioCookie() {
+}
 
 ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
     if (gpioConfig == nullptr) {
@@ -14,13 +14,13 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     auto gpioMapIter = gpioMap.find(gpioId);
-  if (gpioMapIter == gpioMap.end()) {
+    if(gpioMapIter == gpioMap.end()) {
         auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
         if (statusPair.second == false) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
-                   << std::endl;
+            sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
+                    " to GPIO map" << std::endl;
 #else
             sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
 #endif
@@ -39,10 +39,12 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
     return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
+GpioMap GpioCookie::getGpioMap() const {
+    return gpioMap;
+}
 
 GpioCookie::~GpioCookie() {
-  for (auto& config : gpioMap) {
-    delete (config.second);
+    for(auto& config: gpioMap) {
+        delete(config.second);
     }
 }

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

@@ -1,12 +1,12 @@
 #ifndef COMMON_GPIO_GPIOCOOKIE_H_
 #define COMMON_GPIO_GPIOCOOKIE_H_
 
-#include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-
 #include "GpioIF.h"
 #include "gpioDefinitions.h"
 
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
 /**
  * @brief   Cookie for the GpioIF. Allows the GpioIF to determine which
  * 			GPIOs to initialize and whether they should be configured as in- or
@@ -17,8 +17,9 @@
  *
  * @author 	J. Meier
  */
-class GpioCookie : public CookieIF {
- public:
+class GpioCookie: public CookieIF {
+public:
+
     GpioCookie();
 
     virtual ~GpioCookie();
@@ -30,7 +31,7 @@ class GpioCookie : public CookieIF {
      */
     GpioMap getGpioMap() const;
 
- private:
+private:
     /**
      * Returns a copy of the internal GPIO map.
      */

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

@@ -1,10 +1,9 @@
 #ifndef COMMON_GPIO_GPIOIF_H_
 #define COMMON_GPIO_GPIOIF_H_
 
-#include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-
 #include "gpioDefinitions.h"
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/devicehandlers/CookieIF.h>
 
 class GpioCookie;
 
@@ -14,8 +13,9 @@ class GpioCookie;
  * @author	J. Meier
  */
 class GpioIF : public HasReturnvaluesIF {
- public:
-  virtual ~GpioIF(){};
+public:
+
+	virtual ~GpioIF() {};
 
 	/**
 	 * @brief   Called by the GPIO using object.

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

@@ -1,34 +1,44 @@
 #ifndef COMMON_GPIO_GPIODEFINITIONS_H_
 #define COMMON_GPIO_GPIODEFINITIONS_H_
 
-#include <map>
 #include <string>
 #include <unordered_map>
+#include <map>
 
 using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
+enum Levels: uint8_t {
+    LOW = 0,
+    HIGH = 1,
+    NONE = 99
+};
 
-enum Direction : uint8_t { DIR_IN = 0, DIR_OUT = 1 };
+enum Direction: uint8_t {
+    IN = 0,
+    OUT = 1
+};
 
-enum GpioOperation { READ, WRITE };
+enum GpioOperation {
+    READ,
+    WRITE
+};
 
 enum class GpioTypes {
     NONE,
     GPIO_REGULAR_BY_CHIP,
     GPIO_REGULAR_BY_LABEL,
     GPIO_REGULAR_BY_LINE_NAME,
-  TYPE_CALLBACK
+    CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
 
-using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
+using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
         void* args);
 
-}  // namespace gpio
+}
 
 /**
  * @brief   Struct containing information about the GPIO to use. This is
@@ -45,69 +55,76 @@ using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Le
  *                      pointer.
  */
 class GpioBase {
- public:
+public:
+
     GpioBase() = default;
 
     GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-           gpio::Levels initValue)
-      : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
+            gpio::Levels initValue):
+            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
 
-  virtual ~GpioBase(){};
+    virtual~ GpioBase() {};
 
     // Can be used to cast GpioBase to a concrete child implementation
     gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
     std::string consumer;
-  gpio::Direction direction = gpio::Direction::DIR_IN;
+    gpio::Direction direction = gpio::Direction::IN;
     gpio::Levels initValue = gpio::Levels::NONE;
 };
 
-class GpiodRegularBase : public GpioBase {
- public:
+class GpiodRegularBase: public GpioBase {
+public:
     GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-                   gpio::Levels initValue, int lineNum)
-      : GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
+            gpio::Levels initValue, int lineNum):
+            GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
+    }
 
     // line number will be configured at a later point for the open by line name configuration
     GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-                   gpio::Levels initValue)
-      : GpioBase(gpioType, consumer, direction, initValue) {}
+            gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
+    }
 
     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::DIR_IN, gpio::LOW, 0) {}
+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_, gpio::Levels initValue_)
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, direction_, initValue_,
-                         lineNum_),
-        chipname(chipname_) {}
+            gpio::Direction direction_, gpio::Levels 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::DIR_IN,
-                         gpio::LOW, 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:
+class GpiodRegularByLabel: public GpiodRegularBase {
+public:
     GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
-                      gpio::Direction direction_, gpio::Levels initValue_)
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, direction_, initValue_,
-                         lineNum_),
-        label(label_) {}
+            gpio::Direction direction_, gpio::Levels 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::DIR_IN,
-                         gpio::LOW, 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;
 };
@@ -117,34 +134,34 @@ class GpiodRegularByLabel : public GpiodRegularBase {
  *          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:
+class GpiodRegularByLineName: public GpiodRegularBase {
+public:
     GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
-                         gpio::Levels initValue_)
-      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
-                         initValue_),
-        lineName(lineName_) {}
+            gpio::Levels 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::DIR_IN, gpio::LOW),
-        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:
+class GpioCallback: public GpioBase {
+public:
     GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
-               gpio::gpio_cb_t callback, void* callbackArgs)
-      : GpioBase(gpio::GpioTypes::TYPE_CALLBACK, consumer, direction_, initValue_),
-        callback(callback),
-        callbackArgs(callbackArgs) {}
+            gpio::gpio_cb_t callback, void* callbackArgs):
+            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+            callback(callback), callbackArgs(callbackArgs) {}
 
     gpio::gpio_cb_t callback = nullptr;
     void* callbackArgs = nullptr;
 };
 
+
 using GpioMap = std::map<gpioId_t, GpioBase*>;
 using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
 using GpioMapIter = GpioMap::iterator;

hal/src/fsfw_hal/common/spi/spiCommon.h

@@ -5,7 +5,12 @@
 
 namespace spi {
 
-enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
+enum SpiModes: uint8_t {
+    MODE_0,
+    MODE_1,
+    MODE_2,
+    MODE_3
+};
 
 }
 

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -1,39 +1,39 @@
 #include "GyroL3GD20Handler.h"
 
-#include <cmath>
-
 #include "fsfw/datapool/PoolReadGuard.h"
 
+#include <cmath>
+
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-                                       CookieIF *comCookie, uint32_t transitionDelayMs)
-    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-      transitionDelayMs(transitionDelayMs),
-      dataset(this) {
+        CookieIF *comCookie, uint32_t transitionDelayMs):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+        transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
 void GyroHandlerL3GD20H::doStartUp() {
-  if (internalState == InternalState::NONE) {
+    if(internalState == InternalState::NONE) {
         internalState = InternalState::CONFIGURE;
     }
 
-  if (internalState == InternalState::CONFIGURE) {
-    if (commandExecuted) {
+    if(internalState == InternalState::CONFIGURE) {
+        if(commandExecuted) {
             internalState = InternalState::CHECK_REGS;
             commandExecuted = false;
         }
     }
 
-  if (internalState == InternalState::CHECK_REGS) {
-    if (commandExecuted) {
+    if(internalState == InternalState::CHECK_REGS) {
+        if(commandExecuted) {
             internalState = InternalState::NORMAL;
-      if (goNormalModeImmediately) {
+            if(goNormalModeImmediately) {
                 setMode(MODE_NORMAL);
-      } else {
+            }
+            else {
                 setMode(_MODE_TO_ON);
             }
             commandExecuted = false;
@@ -41,17 +41,19 @@ void GyroHandlerL3GD20H::doStartUp() {
     }
 }
 
-void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void GyroHandlerL3GD20H::doShutDown() {
+    setMode(_MODE_POWER_DOWN);
+}
 
 ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-  switch (internalState) {
-    case (InternalState::NONE):
-    case (InternalState::NORMAL): {
+    switch(internalState) {
+    case(InternalState::NONE):
+    case(InternalState::NORMAL): {
         return NOTHING_TO_SEND;
     }
-    case (InternalState::CONFIGURE): {
+    case(InternalState::CONFIGURE): {
         *id = L3GD20H::CONFIGURE_CTRL_REGS;
-      uint8_t command[5];
+        uint8_t command [5];
         command[0] = L3GD20H::CTRL_REG_1_VAL;
         command[1] = L3GD20H::CTRL_REG_2_VAL;
         command[2] = L3GD20H::CTRL_REG_3_VAL;
@@ -59,7 +61,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
         command[4] = L3GD20H::CTRL_REG_5_VAL;
         return buildCommandFromCommand(*id, command, 5);
     }
-    case (InternalState::CHECK_REGS): {
+    case(InternalState::CHECK_REGS): {
         *id = L3GD20H::READ_REGS;
         return buildCommandFromCommand(*id, nullptr, 0);
     }
@@ -67,11 +69,9 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         /* Might be a configuration error. */
         sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                      "Unknown internal state!"
-                   << std::endl;
+                "Unknown internal state!" << std::endl;
 #else
-      sif::printDebug(
-          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
+        sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
                 "Unknown internal state!\n");
 #endif
         return HasReturnvaluesIF::RETURN_OK;
@@ -84,20 +84,20 @@ ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id
     return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-                                                          const uint8_t *commandData,
+ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
+        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
         size_t commandDataLen) {
-  switch (deviceCommand) {
-    case (L3GD20H::READ_REGS): {
+    switch(deviceCommand) {
+    case(L3GD20H::READ_REGS): {
         commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
         std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
         rawPacket = commandBuffer;
         rawPacketLen = L3GD20H::READ_LEN + 1;
         break;
     }
-    case (L3GD20H::CONFIGURE_CTRL_REGS): {
+    case(L3GD20H::CONFIGURE_CTRL_REGS): {
         commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
-      if (commandData == nullptr or commandDataLen != 5) {
+        if(commandData == nullptr or commandDataLen != 5) {
             return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
         }
 
@@ -110,11 +110,13 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
         bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
         bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
 
-      if (not fsH and not fsL) {
+        if(not fsH and not fsL) {
             sensitivity = L3GD20H::SENSITIVITY_00;
-      } else if (not fsH and fsL) {
+        }
+        else if(not fsH and fsL) {
             sensitivity = L3GD20H::SENSITIVITY_01;
-      } else {
+        }
+        else {
             sensitivity = L3GD20H::SENSITIVITY_11;
         }
 
@@ -128,8 +130,9 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
         rawPacketLen = 6;
         break;
     }
-    case (L3GD20H::READ_CTRL_REGS): {
-      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
+    case(L3GD20H::READ_CTRL_REGS): {
+        commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
+                L3GD20H::READ_MASK;
 
         std::memset(commandBuffer + 1, 0, 5);
         rawPacket = commandBuffer;
@@ -154,30 +157,32 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
         const uint8_t *packet) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  switch (id) {
-    case (L3GD20H::CONFIGURE_CTRL_REGS): {
+    switch(id) {
+    case(L3GD20H::CONFIGURE_CTRL_REGS): {
         commandExecuted = true;
         break;
     }
-    case (L3GD20H::READ_CTRL_REGS): {
-      if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
+    case(L3GD20H::READ_CTRL_REGS): {
+        if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
                 packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
                 packet[5] == ctrlReg5Value) {
             commandExecuted = true;
-      } else {
+        }
+        else {
             // Attempt reconfiguration
             internalState = InternalState::CONFIGURE;
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
         break;
     }
-    case (L3GD20H::READ_REGS): {
-      if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
+    case(L3GD20H::READ_REGS): {
+        if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
                 packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
                 packet[5] != ctrlReg5Value) {
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-      } else {
-        if (internalState == InternalState::CHECK_REGS) {
+        }
+        else {
+            if(internalState == InternalState::CHECK_REGS) {
                 commandExecuted = true;
             }
         }
@@ -194,7 +199,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
         int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
         float temperature = 25.0 + temperaturOffset;
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-      if (debugDivider->checkAndIncrement()) {
+        if(debugDivider->checkAndIncrement()) {
             /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
@@ -211,25 +216,28 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 #endif
 
         PoolReadGuard readSet(&dataset);
-      if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-        if (std::abs(angVelocX) < this->absLimitX) {
+        if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+            if(std::abs(angVelocX) < this->absLimitX) {
                 dataset.angVelocX = angVelocX;
                 dataset.angVelocX.setValid(true);
-        } else {
+            }
+            else {
                 dataset.angVelocX.setValid(false);
             }
 
-        if (std::abs(angVelocY) < this->absLimitY) {
+            if(std::abs(angVelocY) < this->absLimitY) {
                 dataset.angVelocY = angVelocY;
                 dataset.angVelocY.setValid(true);
-        } else {
+            }
+            else {
                 dataset.angVelocY.setValid(false);
             }
 
-        if (std::abs(angVelocZ) < this->absLimitZ) {
+            if(std::abs(angVelocZ) < this->absLimitZ) {
                 dataset.angVelocZ = angVelocZ;
                 dataset.angVelocZ.setValid(true);
-        } else {
+            }
+            else {
                 dataset.angVelocZ.setValid(false);
             }
 
@@ -244,14 +252,17 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
     return result;
 }
 
+
 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
     return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
+    this->goNormalModeImmediately = true;
+}
 
-ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                          LocalDataPoolManager &poolManager) {
+ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
     localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
     localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
     localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
@@ -265,7 +276,9 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
     insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
 }
 
-void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
+void GyroHandlerL3GD20H::modeChanged() {
+    internalState = InternalState::NONE;
+}
 
 void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
     this->absLimitX = limitX;

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -1,12 +1,12 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
+#include "fsfw/FSFW.h"
+#include "devicedefinitions/GyroL3GD20Definitions.h"
+
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
-#include "devicedefinitions/GyroL3GD20Definitions.h"
-#include "fsfw/FSFW.h"
-
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
  *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@@ -16,10 +16,10 @@
  *
  * Data is read big endian with the smallest possible range of 245 degrees per second.
  */
-class GyroHandlerL3GD20H : public DeviceHandlerBase {
- public:
-  GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
-                     uint32_t transitionDelayMs);
+class GyroHandlerL3GD20H: public DeviceHandlerBase {
+public:
+    GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
+            CookieIF* comCookie, uint32_t transitionDelayMs);
     virtual ~GyroHandlerL3GD20H();
 
     /**
@@ -35,18 +35,22 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
      * @brief   Configure device handler to go to normal mode immediately
      */
     void setToGoToNormalMode(bool enable);
+protected:
 
- protected:
     /* DeviceHandlerBase overrides */
-  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+    ReturnValue_t buildTransitionDeviceCommand(
+            DeviceCommandId_t *id) override;
     void doStartUp() override;
     void doShutDown() override;
-  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+    ReturnValue_t buildNormalDeviceCommand(
+            DeviceCommandId_t *id) override;
+    ReturnValue_t buildCommandFromCommand(
+            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;
-  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+            DeviceCommandId_t *foundId, size_t *foundLen) override;
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+            const uint8_t *packet) override;
 
     void fillCommandAndReplyMap() override;
     void modeChanged() override;
@@ -54,7 +58,7 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
     ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
             LocalDataPoolManager &poolManager) override;
 
- private:
+private:
     uint32_t transitionDelayMs = 0;
     GyroPrimaryDataset dataset;
 
@@ -62,7 +66,12 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
     float absLimitY = L3GD20H::RANGE_DPS_00;
     float absLimitZ = L3GD20H::RANGE_DPS_00;
 
-  enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
+    enum class InternalState {
+        NONE,
+        CONFIGURE,
+        CHECK_REGS,
+        NORMAL
+    };
     InternalState internalState = InternalState::NONE;
     bool commandExecuted = false;
 
@@ -81,8 +90,10 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
     float sensitivity = L3GD20H::SENSITIVITY_00;
 
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-  PeriodicOperationDivider *debugDivider = nullptr;
+    PeriodicOperationDivider* debugDivider = nullptr;
 #endif
 };
 
+
+
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -8,12 +8,11 @@
 #include <cmath>
 
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
-                                     CookieIF *comCookie, uint32_t transitionDelay)
-    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-      dataset(this),
-      transitionDelay(transitionDelay) {
+        CookieIF* comCookie, uint32_t transitionDelay):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+        dataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
     // Set to default values right away
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
@@ -21,35 +20,39 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
     registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
     registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
     registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
+
+}
+
+MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
 }
 
-MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
 
 void MgmLIS3MDLHandler::doStartUp() {
     switch (internalState) {
-    case (InternalState::STATE_NONE): {
+    case(InternalState::STATE_NONE): {
         internalState = InternalState::STATE_FIRST_CONTACT;
         break;
     }
-    case (InternalState::STATE_FIRST_CONTACT): {
+    case(InternalState::STATE_FIRST_CONTACT): {
         /* Will be set by checking device ID (WHO AM I register) */
-      if (commandExecuted) {
+        if(commandExecuted) {
             commandExecuted = false;
             internalState = InternalState::STATE_SETUP;
         }
         break;
     }
-    case (InternalState::STATE_SETUP): {
+    case(InternalState::STATE_SETUP): {
         internalState = InternalState::STATE_CHECK_REGISTERS;
         break;
     }
-    case (InternalState::STATE_CHECK_REGISTERS): {
+    case(InternalState::STATE_CHECK_REGISTERS): {
         /* Set up cached registers which will be used to configure the MGM. */
-      if (commandExecuted) {
+        if(commandExecuted) {
             commandExecuted = false;
-        if (goToNormalMode) {
+            if(goToNormalMode) {
                 setMode(MODE_NORMAL);
-        } else {
+            }
+            else {
                 setMode(_MODE_TO_ON);
             }
         }
@@ -58,38 +61,43 @@ void MgmLIS3MDLHandler::doStartUp() {
     default:
         break;
     }
+
 }
 
-void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void MgmLIS3MDLHandler::doShutDown() {
+    setMode(_MODE_POWER_DOWN);
+}
 
-ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
+        DeviceCommandId_t *id) {
     switch (internalState) {
-    case (InternalState::STATE_NONE):
-    case (InternalState::STATE_NORMAL): {
+    case(InternalState::STATE_NONE):
+    case(InternalState::STATE_NORMAL): {
         return DeviceHandlerBase::NOTHING_TO_SEND;
     }
-    case (InternalState::STATE_FIRST_CONTACT): {
+    case(InternalState::STATE_FIRST_CONTACT): {
         *id = MGMLIS3MDL::IDENTIFY_DEVICE;
         break;
     }
-    case (InternalState::STATE_SETUP): {
+    case(InternalState::STATE_SETUP): {
         *id = MGMLIS3MDL::SETUP_MGM;
         break;
     }
-    case (InternalState::STATE_CHECK_REGISTERS): {
+    case(InternalState::STATE_CHECK_REGISTERS): {
         *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
         break;
     }
     default: {
         /* might be a configuration error. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
-                   << std::endl;
+        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+                std::endl;
 #else
         sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
         return HasReturnvaluesIF::RETURN_OK;
     }
+
     }
     return buildCommandFromCommand(*id, NULL, 0);
 }
@@ -111,6 +119,7 @@ uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
 }
 
 void MgmLIS3MDLHandler::setupMgm() {
+
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
     registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
     registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@@ -120,24 +129,27 @@ void MgmLIS3MDLHandler::setupMgm() {
     prepareCtrlRegisterWrite();
 }
 
-ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
+        DeviceCommandId_t *id) {
     // Data/config register will be read in an alternating manner.
-  if (communicationStep == CommunicationStep::DATA) {
+    if(communicationStep == CommunicationStep::DATA) {
         *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
         communicationStep = CommunicationStep::TEMPERATURE;
         return buildCommandFromCommand(*id, NULL, 0);
-  } else {
+    }
+    else {
         *id = MGMLIS3MDL::READ_TEMPERATURE;
         communicationStep = CommunicationStep::DATA;
         return buildCommandFromCommand(*id, NULL, 0);
     }
+
 }
 
-ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-                                                         const uint8_t *commandData,
+ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
+        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
         size_t commandDataLen) {
-  switch (deviceCommand) {
-    case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
+    switch(deviceCommand) {
+    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
         std::memset(commandBuffer, 0, sizeof(commandBuffer));
         commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
 
@@ -145,7 +157,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
         rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
         return RETURN_OK;
     }
-    case (MGMLIS3MDL::READ_TEMPERATURE): {
+    case(MGMLIS3MDL::READ_TEMPERATURE): {
         std::memset(commandBuffer, 0, 3);
         commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
 
@@ -153,17 +165,17 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
         rawPacketLen = 3;
         return RETURN_OK;
     }
-    case (MGMLIS3MDL::IDENTIFY_DEVICE): {
+    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
         return identifyDevice();
     }
-    case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
+    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
         return enableTemperatureSensor(commandData, commandDataLen);
     }
-    case (MGMLIS3MDL::SETUP_MGM): {
+    case(MGMLIS3MDL::SETUP_MGM): {
         setupMgm();
         return HasReturnvaluesIF::RETURN_OK;
     }
-    case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
+    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
         return setOperatingMode(commandData, commandDataLen);
     }
     default:
@@ -183,15 +195,16 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
     return RETURN_OK;
 }
 
-ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
-                                              DeviceCommandId_t *foundId, size_t *foundLen) {
+ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
+        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
     *foundLen = len;
     if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
         *foundLen = len;
         *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
         // Check validity by checking config registers
-    if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
-        start[4] != registers[3] or start[5] != registers[4]) {
+        if (start[1] != registers[0] or start[2] != registers[1] or
+                start[3] != registers[2] or start[4] != registers[3] or
+                start[5] != registers[4]) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
@@ -201,51 +214,57 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
 #endif
             return DeviceHandlerIF::INVALID_DATA;
         }
-    if (mode == _MODE_START_UP) {
+        if(mode == _MODE_START_UP) {
             commandExecuted = true;
         }
 
-  } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
+    }
+    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
         *foundLen = len;
         *foundId = MGMLIS3MDL::READ_TEMPERATURE;
-  } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
+    }
+    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
         *foundLen = len;
         *foundId = MGMLIS3MDL::SETUP_MGM;
-  } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
+    }
+    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
         *foundLen = len;
         *foundId = getPendingCommand();
-    if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
-      if (start[1] != MGMLIS3MDL::DEVICE_ID) {
+        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
+            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
                 sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!"
-                     << std::endl;
+                        "Device identification failed!" << std::endl;
 #else
-        sif::printWarning(
-            "MGMHandlerLIS3MDL::scanForReply: "
+                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
                         "Device identification failed!\n");
 #endif
 #endif
                 return DeviceHandlerIF::INVALID_DATA;
             }
 
-      if (mode == _MODE_START_UP) {
+            if(mode == _MODE_START_UP) {
                 commandExecuted = true;
             }
         }
-  } else {
+    }
+    else {
         return DeviceHandlerIF::INVALID_DATA;
     }
 
     /* Data with SPI Interface always has this answer */
     if (start[0] == 0b11111111) {
         return RETURN_OK;
-  } else {
+    }
+    else {
         return DeviceHandlerIF::INVALID_DATA;
     }
+
 }
-ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
+        const uint8_t *packet) {
+
     switch (id) {
     case MGMLIS3MDL::IDENTIFY_DEVICE: {
         break;
@@ -257,27 +276,26 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
         // TODO: Store configuration in new local datasets.
         float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
 
-      int16_t mgmMeasurementRawX =
-          packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
-      int16_t mgmMeasurementRawY =
-          packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
-      int16_t mgmMeasurementRawZ =
-          packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
+        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
+        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
+        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
 
-      // Target value in microtesla
-      float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
-                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-      float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
-                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-      float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
-                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+        /* Target value in microtesla */
+        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-      if (debugDivider->checkAndIncrement()) {
+        if(debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                     " microtesla:"
-                  << std::endl;
+                    " microtesla:" << std::endl;
             sif::info << "X: " << mgmX << " uT" << std::endl;
             sif::info << "Y: " << mgmY << " uT" << std::endl;
             sif::info << "Z: " << mgmZ << " uT" << std::endl;
@@ -290,25 +308,28 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
         }
 #endif /* OBSW_VERBOSE_LEVEL >= 1 */
         PoolReadGuard readHelper(&dataset);
-      if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-        if (std::abs(mgmX) < absLimitX) {
+        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+            if(std::abs(mgmX) < absLimitX) {
                 dataset.fieldStrengthX = mgmX;
                 dataset.fieldStrengthX.setValid(true);
-        } else {
+            }
+            else {
                 dataset.fieldStrengthX.setValid(false);
             }
 
-        if (std::abs(mgmY) < absLimitY) {
+            if(std::abs(mgmY) < absLimitY) {
                 dataset.fieldStrengthY = mgmY;
                 dataset.fieldStrengthY.setValid(true);
-        } else {
+            }
+            else {
                 dataset.fieldStrengthY.setValid(false);
             }
 
-        if (std::abs(mgmZ) < absLimitZ) {
+            if(std::abs(mgmZ) < absLimitZ) {
                 dataset.fieldStrengthZ = mgmZ;
                 dataset.fieldStrengthZ.setValid(true);
-        } else {
+            }
+            else {
                 dataset.fieldStrengthZ.setValid(false);
             }
         }
@@ -318,17 +339,18 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     case MGMLIS3MDL::READ_TEMPERATURE: {
         int16_t tempValueRaw = packet[2] << 8 | packet[1];
         float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-      if (debugDivider->check()) {
+    #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+        if(debugDivider->check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
+            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
+                    std::endl;
 #else
             sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
         }
 #endif
         ReturnValue_t result = dataset.read();
-      if (result == HasReturnvaluesIF::RETURN_OK) {
+        if(result == HasReturnvaluesIF::RETURN_OK) {
             dataset.temperature = tempValue;
             dataset.commit();
         }
@@ -338,6 +360,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     default: {
         return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
+
     }
     return RETURN_OK;
 }
@@ -357,17 +380,17 @@ MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2)
 }
 
 float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
-  switch (sens) {
-    case (MGMLIS3MDL::GAUSS_4): {
+    switch(sens) {
+    case(MGMLIS3MDL::GAUSS_4): {
         return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
     }
-    case (MGMLIS3MDL::GAUSS_8): {
+    case(MGMLIS3MDL::GAUSS_8): {
         return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
     }
-    case (MGMLIS3MDL::GAUSS_12): {
+    case(MGMLIS3MDL::GAUSS_12): {
         return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
     }
-    case (MGMLIS3MDL::GAUSS_16): {
+    case(MGMLIS3MDL::GAUSS_16): {
         return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
     }
     default: {
@@ -377,8 +400,9 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
     }
 }
 
-ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
-                                                         size_t commandDataLen) {
+
+ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
+        const uint8_t *commandData, size_t commandDataLen) {
     triggerEvent(CHANGE_OF_SETUP_PARAMETER);
     uint32_t size = 2;
     commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
@@ -447,7 +471,9 @@ void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
     insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
 }
 
-void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
+void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
+    this->goToNormalMode = enable;
+}
 
 ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
     commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
@@ -463,19 +489,27 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
 }
 
 void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
+
 }
 
-uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
+uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+    return transitionDelay;
+}
 
-void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
+void MgmLIS3MDLHandler::modeChanged(void) {
+    internalState = InternalState::STATE_NONE;
+}
 
-ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
+            new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -1,9 +1,10 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
-#include "devicedefinitions/MgmLIS3HandlerDefs.h"
-#include "events/subsystemIdRanges.h"
 #include "fsfw/FSFW.h"
+#include "events/subsystemIdRanges.h"
+#include "devicedefinitions/MgmLIS3HandlerDefs.h"
+
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 class PeriodicOperationDivider;
@@ -17,16 +18,19 @@ class PeriodicOperationDivider;
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
  * @author  L. Loidold, R. Mueller
  */
-class MgmLIS3MDLHandler : public DeviceHandlerBase {
- public:
-  enum class CommunicationStep { DATA, TEMPERATURE };
+class MgmLIS3MDLHandler: public DeviceHandlerBase {
+public:
+    enum class CommunicationStep {
+        DATA,
+        TEMPERATURE
+    };
 
     static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
     static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
-  // Notifies a command to change the setup parameters
+    //Notifies a command to change the setup parameters
     static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
 
-  MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
+    MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
             uint32_t transitionDelay);
     virtual ~MgmLIS3MDLHandler();
 
@@ -40,18 +44,22 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
     void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
     void setToGoToNormalMode(bool enable);
 
- protected:
+protected:
+
     /** DeviceHandlerBase overrides */
     void doShutDown() override;
     void doStartUp() override;
     void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
     virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+    ReturnValue_t buildCommandFromCommand(
+            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
             size_t commandDataLen) override;
-  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
-  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
-                             size_t *foundLen) override;
+    ReturnValue_t buildTransitionDeviceCommand(
+            DeviceCommandId_t *id) override;
+    ReturnValue_t buildNormalDeviceCommand(
+            DeviceCommandId_t *id) override;
+    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+            DeviceCommandId_t *foundId, size_t *foundLen) override;
     /**
      * 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
@@ -59,15 +67,16 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
      * @param packet
      * @return
      */
-  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+            const uint8_t *packet) override;
     void fillCommandAndReplyMap() override;
     void modeChanged(void) override;
     ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
             LocalDataPoolManager &poolManager) override;
 
- private:
+private:
     MGMLIS3MDL::MgmPrimaryDataset dataset;
-  // Length a single command SPI answer
+    //Length a single command SPI answer
     static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
 
     uint32_t transitionDelay;
@@ -150,14 +159,16 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
      * @param commandData On or Off
      * @param length of the commandData: has to be 1
      */
-  virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
+    virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
+            size_t commandDataLen);
 
     /**
      * Sets the accuracy of the measurement of the axis. The noise is changing.
      * @param commandData LOW, MEDIUM, HIGH, ULTRA
      * @param length of the command, has to be 1
      */
-  virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
+    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
+            size_t commandDataLen);
 
     /**
      * We always update all registers together, so this method updates
@@ -168,7 +179,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
     ReturnValue_t prepareCtrlRegisterWrite();
 
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  PeriodicOperationDivider *debugDivider;
+    PeriodicOperationDivider* debugDivider;
 #endif
 };
 

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -1,51 +1,52 @@
 #include "MgmRM3100Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
-#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
 #include "fsfw/globalfunctions/bitutility.h"
+#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
-MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
-                                   CookieIF *comCookie, uint32_t transitionDelay)
-    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-      primaryDataset(this),
-      transitionDelay(transitionDelay) {
+
+MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
+        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+        primaryDataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  debugDivider = new PeriodicOperationDivider(10);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
 void MgmRM3100Handler::doStartUp() {
-  switch (internalState) {
-    case (InternalState::NONE): {
+    switch(internalState) {
+    case(InternalState::NONE): {
         internalState = InternalState::CONFIGURE_CMM;
         break;
     }
-    case (InternalState::CONFIGURE_CMM): {
+    case(InternalState::CONFIGURE_CMM): {
         internalState = InternalState::READ_CMM;
         break;
     }
-    case (InternalState::READ_CMM): {
-      if (commandExecuted) {
+    case(InternalState::READ_CMM): {
+        if(commandExecuted) {
             internalState = InternalState::STATE_CONFIGURE_TMRC;
         }
         break;
     }
-    case (InternalState::STATE_CONFIGURE_TMRC): {
-      if (commandExecuted) {
+    case(InternalState::STATE_CONFIGURE_TMRC): {
+        if(commandExecuted) {
             internalState = InternalState::STATE_READ_TMRC;
         }
         break;
     }
-    case (InternalState::STATE_READ_TMRC): {
-      if (commandExecuted) {
+    case(InternalState::STATE_READ_TMRC): {
+        if(commandExecuted) {
             internalState = InternalState::NORMAL;
-        if (goToNormalModeAtStartup) {
+            if(goToNormalModeAtStartup) {
                 setMode(MODE_NORMAL);
-        } else {
+            }
+            else {
                 setMode(_MODE_TO_ON);
             }
         }
@@ -57,30 +58,33 @@ void MgmRM3100Handler::doStartUp() {
     }
 }
 
-void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void MgmRM3100Handler::doShutDown() {
+    setMode(_MODE_POWER_DOWN);
+}
 
-ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
+        DeviceCommandId_t *id) {
     size_t commandLen = 0;
-  switch (internalState) {
-    case (InternalState::NONE):
-    case (InternalState::NORMAL): {
+    switch(internalState) {
+    case(InternalState::NONE):
+    case(InternalState::NORMAL): {
         return NOTHING_TO_SEND;
     }
-    case (InternalState::CONFIGURE_CMM): {
+    case(InternalState::CONFIGURE_CMM): {
         *id = RM3100::CONFIGURE_CMM;
         break;
     }
-    case (InternalState::READ_CMM): {
+    case(InternalState::READ_CMM): {
         *id = RM3100::READ_CMM;
         break;
     }
-    case (InternalState::STATE_CONFIGURE_TMRC): {
+    case(InternalState::STATE_CONFIGURE_TMRC): {
         commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
         commandLen = 1;
         *id = RM3100::CONFIGURE_TMRC;
         break;
     }
-    case (InternalState::STATE_READ_TMRC): {
+    case(InternalState::STATE_READ_TMRC): {
         *id = RM3100::READ_TMRC;
         break;
     }
@@ -89,11 +93,9 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         // Might be a configuration error
         sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                      "Unknown internal state"
-                   << std::endl;
+                "Unknown internal state" << std::endl;
 #else
-      sif::printWarning(
-          "MgmRM3100Handler::buildTransitionDeviceCommand: "
+        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
                 "Unknown internal state\n");
 #endif
 #endif
@@ -104,44 +106,43 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
 }
 
 ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-                                                        const uint8_t *commandData,
-                                                        size_t commandDataLen) {
-  switch (deviceCommand) {
-    case (RM3100::CONFIGURE_CMM): {
+        const uint8_t *commandData, size_t commandDataLen) {
+    switch(deviceCommand) {
+    case(RM3100::CONFIGURE_CMM): {
         commandBuffer[0] = RM3100::CMM_REGISTER;
         commandBuffer[1] = RM3100::CMM_VALUE;
         rawPacket = commandBuffer;
         rawPacketLen = 2;
         break;
     }
-    case (RM3100::READ_CMM): {
+    case(RM3100::READ_CMM): {
         commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
         commandBuffer[1] = 0;
         rawPacket = commandBuffer;
         rawPacketLen = 2;
         break;
     }
-    case (RM3100::CONFIGURE_TMRC): {
+    case(RM3100::CONFIGURE_TMRC): {
         return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
     }
-    case (RM3100::READ_TMRC): {
+    case(RM3100::READ_TMRC): {
         commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
         commandBuffer[1] = 0;
         rawPacket = commandBuffer;
         rawPacketLen = 2;
         break;
     }
-    case (RM3100::CONFIGURE_CYCLE_COUNT): {
+    case(RM3100::CONFIGURE_CYCLE_COUNT): {
         return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
     }
-    case (RM3100::READ_CYCLE_COUNT): {
+    case(RM3100::READ_CYCLE_COUNT): {
         commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
         std::memset(commandBuffer + 1, 0, 6);
         rawPacket = commandBuffer;
         rawPacketLen = 7;
         break;
     }
-    case (RM3100::READ_DATA): {
+    case(RM3100::READ_DATA): {
         commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
         std::memset(commandBuffer + 1, 0,  9);
         rawPacketLen = 10;
@@ -153,13 +154,16 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
     return RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
+        DeviceCommandId_t *id) {
     *id = RM3100::READ_DATA;
     return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
-                                             DeviceCommandId_t *foundId, size_t *foundLen) {
+ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
+        size_t len, DeviceCommandId_t *foundId,
+        size_t *foundLen) {
+
     // For SPI, ID will always be the one of the last sent command
     *foundId = this->getPendingCommand();
     *foundLen = len;
@@ -168,60 +172,62 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
 
 ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  switch (id) {
-    case (RM3100::CONFIGURE_CMM):
-    case (RM3100::CONFIGURE_CYCLE_COUNT):
-    case (RM3100::CONFIGURE_TMRC): {
+    switch(id) {
+    case(RM3100::CONFIGURE_CMM):
+    case(RM3100::CONFIGURE_CYCLE_COUNT):
+    case(RM3100::CONFIGURE_TMRC): {
         // We can only check whether write was successful with read operation
-      if (mode == _MODE_START_UP) {
+        if(mode == _MODE_START_UP) {
             commandExecuted = true;
         }
         break;
     }
-    case (RM3100::READ_CMM): {
+    case(RM3100::READ_CMM): {
         uint8_t cmmValue = packet[1];
         // We clear the seventh bit in any case
         // because this one is zero sometimes for some reason
         bitutil::clear(&cmmValue, 6);
-      if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
+        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
             commandExecuted = true;
-      } else {
+        }
+        else {
             // Attempt reconfiguration
             internalState = InternalState::CONFIGURE_CMM;
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
         break;
     }
-    case (RM3100::READ_TMRC): {
-      if (packet[1] == tmrcRegValue) {
+    case(RM3100::READ_TMRC): {
+        if(packet[1] == tmrcRegValue) {
             commandExecuted = true;
             // Reading TMRC was commanded. Trigger event to inform ground
-        if (mode != _MODE_START_UP) {
+            if(mode != _MODE_START_UP) {
                 triggerEvent(tmrcSet, tmrcRegValue, 0);
             }
-      } else {
+        }
+        else {
             // Attempt reconfiguration
             internalState = InternalState::STATE_CONFIGURE_TMRC;
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
         break;
     }
-    case (RM3100::READ_CYCLE_COUNT): {
+    case(RM3100::READ_CYCLE_COUNT): {
         uint16_t cycleCountX = packet[1] << 8 | packet[2];
         uint16_t cycleCountY = packet[3] << 8 | packet[4];
         uint16_t cycleCountZ = packet[5] << 8 | packet[6];
-      if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
+        if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
                 cycleCountZ != cycleCountRegValueZ) {
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
         // Reading TMRC was commanded. Trigger event to inform ground
-      if (mode != _MODE_START_UP) {
+        if(mode != _MODE_START_UP) {
             uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
             triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
         }
         break;
     }
-    case (RM3100::READ_DATA): {
+    case(RM3100::READ_DATA): {
         result = handleDataReadout(packet);
         break;
     }
@@ -233,18 +239,19 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
 }
 
 ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-                                                              const uint8_t *commandData,
-                                                              size_t commandDataLen) {
-  if (commandData == nullptr) {
+        const uint8_t *commandData, size_t commandDataLen) {
+    if(commandData == nullptr) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
     }
 
     // Set cycle count
-  if (commandDataLen == 2) {
+    if(commandDataLen == 2) {
         handleCycleCommand(true, commandData, commandDataLen);
-  } else if (commandDataLen == 6) {
+    }
+    else if(commandDataLen == 6) {
         handleCycleCommand(false, commandData, commandDataLen);
-  } else {
+    }
+    else {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
     }
 
@@ -257,21 +264,21 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
-                                                   size_t commandDataLen) {
+ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
+        const uint8_t *commandData, size_t commandDataLen) {
     RM3100::CycleCountCommand command(oneCycleValue);
-  ReturnValue_t result =
-      command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
+            SerializeIF::Endianness::BIG);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
 
     // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
-  if (command.cycleCountX > 450) {
+    if(command.cycleCountX > 450 ) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
     }
 
-  if (not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
+    if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
     }
 
@@ -282,9 +289,8 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uin
 }
 
 ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
-                                                        const uint8_t *commandData,
-                                                        size_t commandDataLen) {
-  if (commandData == nullptr or commandDataLen != 1) {
+        const uint8_t *commandData, size_t commandDataLen) {
+    if(commandData == nullptr or commandDataLen != 1) {
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
     }
 
@@ -309,10 +315,12 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
     insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
 }
 
-void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
+void MgmRM3100Handler::modeChanged(void) {
+    internalState = InternalState::NONE;
+}
 
-ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                        LocalDataPoolManager &poolManager) {
+ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
     localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
     localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
     localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
@@ -323,7 +331,9 @@ uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
     return this->transitionDelay;
 }
 
-void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
+void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
+    goToNormalModeAtStartup = enable;
+}
 
 ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
     // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
@@ -338,11 +348,10 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
     float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  if (debugDivider->checkAndIncrement()) {
+    if(debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                 " microtesla:"
-              << std::endl;
+                " microtesla:" << std::endl;
         sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
         sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
         sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
@@ -357,7 +366,7 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
 
     // TODO: Sanity check on values?
     PoolReadGuard readGuard(&primaryDataset);
-  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
         primaryDataset.fieldStrengthX = fieldStrengthX;
         primaryDataset.fieldStrengthY = fieldStrengthY;
         primaryDataset.fieldStrengthZ = fieldStrengthZ;

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
-#include "devicedefinitions/MgmRM3100HandlerDefs.h"
 #include "fsfw/FSFW.h"
+#include "devicedefinitions/MgmRM3100HandlerDefs.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
@@ -16,21 +16,22 @@
  * Flight manual:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
  */
-class MgmRM3100Handler : public DeviceHandlerBase {
- public:
+class MgmRM3100Handler: public DeviceHandlerBase {
+public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
 
 	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
-  static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
+	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
+			0x00, severity::INFO);
 
 	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
 	//! P1: Second two bytes new Cycle Count Y
 	//! P2: New cycle count Z
-  static constexpr Event cycleCountersSet =
-      event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
+	static constexpr Event cycleCountersSet = event::makeEvent(
+			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
 
-  MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
-                   uint32_t transitionDelay);
+	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
+	        CookieIF* comCookie, uint32_t transitionDelay);
 	virtual ~MgmRM3100Handler();
 
 	/**
@@ -39,16 +40,18 @@ class MgmRM3100Handler : public DeviceHandlerBase {
 	 */
 	void setToGoToNormalMode(bool enable);
 
- protected:
+protected:
+
 	/* DeviceHandlerBase overrides */
-  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+	ReturnValue_t buildTransitionDeviceCommand(
+	        DeviceCommandId_t *id) override;
 	void doStartUp() override;
 	void doShutDown() override;
 	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-  ReturnValue_t buildCommandFromCommand(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 buildCommandFromCommand(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, const uint8_t *packet) override;
 
 	void fillCommandAndReplyMap() override;
@@ -57,7 +60,8 @@ class MgmRM3100Handler : public DeviceHandlerBase {
 	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
 
- private:
+private:
+
 	enum class InternalState {
 	    NONE,
 		CONFIGURE_CMM,
@@ -90,16 +94,16 @@ class MgmRM3100Handler : public DeviceHandlerBase {
 	uint32_t transitionDelay;
 
 	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
+			const uint8_t *commandData,size_t commandDataLen);
+	ReturnValue_t handleCycleCommand(bool oneCycleValue,
 			const uint8_t *commandData, size_t commandDataLen);
-  ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
-                                   size_t commandDataLen);
 
-  ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-                                        size_t commandDataLen);
+	ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
+			const uint8_t *commandData,size_t commandDataLen);
 
-  ReturnValue_t handleDataReadout(const uint8_t *packet);
+	ReturnValue_t handleDataReadout(const uint8_t* packet);
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  PeriodicOperationDivider *debugDivider;
+	PeriodicOperationDivider* debugDivider;
 #endif
 };
 

hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h

@@ -3,7 +3,6 @@
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
-
 #include <cstdint>
 
 namespace L3GD20H {
@@ -37,8 +36,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
 static constexpr uint8_t SET_X_ENABLE = 1 << 1;
 static constexpr uint8_t SET_Y_ENABLE = 1;
 
-static constexpr uint8_t CTRL_REG_1_VAL =
-    SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
+static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
+		SET_Y_ENABLE | SET_X_ENABLE;
 
 /* Register 2 */
 static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
@@ -105,29 +104,40 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
 
 static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
 
-enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
+enum GyroPoolIds: lp_id_t {
+    ANG_VELOC_X,
+	ANG_VELOC_Y,
+	ANG_VELOC_Z,
+	TEMPERATURE
+};
 
-}  // namespace L3GD20H
+}
+
+class GyroPrimaryDataset: public StaticLocalDataSet<5> {
+public:
 
-class GyroPrimaryDataset : public StaticLocalDataSet<5> {
- public:
     /** Constructor  for data users like controllers */
-  GyroPrimaryDataset(object_id_t mgmId)
-      : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
+    GyroPrimaryDataset(object_id_t mgmId):
+        StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
         setAllVariablesReadOnly();
     }
 
     /* Angular velocities in degrees per second (DPS) */
-  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
-  lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
-  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
-  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
+    lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
+            L3GD20H::ANG_VELOC_X, this);
+    lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
+            L3GD20H::ANG_VELOC_Y, this);
+    lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
+            L3GD20H::ANG_VELOC_Z, this);
+    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
+            L3GD20H::TEMPERATURE, this);
+private:
 
- private:
     friend class GyroHandlerL3GD20H;
     /** Constructor  for the data creator */
-  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
-      : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
+    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+            StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
 };
 
+
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

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

@@ -1,18 +1,26 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
 
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
-
 #include <cstdint>
 
 namespace MGMLIS3MDL {
 
-enum Set { ON, OFF };
-enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
+enum Set {
+    ON, OFF
+};
+enum OpMode {
+    LOW, MEDIUM, HIGH, ULTRA
+};
 
-enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
+enum Sensitivies: uint8_t {
+    GAUSS_4 = 4,
+    GAUSS_8 = 8,
+    GAUSS_12 = 12,
+    GAUSS_16 = 16
+};
 
 /* Actually 15, we just round up a bit */
 static constexpr size_t MAX_BUFFER_SIZE = 16;
@@ -106,58 +114,65 @@ static const uint8_t DO2 = 4;      // Output data rate bit 4
 static const uint8_t OM0 = 5;       // XY operating mode bit 5
 static const uint8_t OM1 = 6;       // XY operating mode bit 6
 static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1
-static const uint8_t CTRL_REG1_DEFAULT =
-    (1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
+static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
+        (1 << DO0) | (1 << DO1) | (1 << DO2);
 
 /* CTRL_REG2 bits */
-// reset configuration registers and user registers
+//reset configuration registers and user registers
 static const uint8_t SOFT_RST = 2;
-static const uint8_t REBOOT = 3;  // reboot memory content
-static const uint8_t FSO = 5;     // full-scale selection bit 5
-static const uint8_t FS1 = 6;     // full-scale selection bit 6
+static const uint8_t REBOOT = 3;    //reboot memory content
+static const uint8_t FSO = 5;       //full-scale selection bit 5
+static const uint8_t FS1 = 6;       //full-scale selection bit 6
 static const uint8_t CTRL_REG2_DEFAULT = 0;
 
 /* CTRL_REG3 bits */
-static const uint8_t MD0 = 0;  // Operating mode bit 0
-static const uint8_t MD1 = 1;  // Operating mode bit 1
-// SPI serial interface mode selection enabled = 3-wire-mode
+static const uint8_t MD0 = 0;       //Operating mode bit 0
+static const uint8_t MD1 = 1;       //Operating mode bit 1
+//SPI serial interface mode selection enabled = 3-wire-mode
 static const uint8_t SIM = 2;
-static const uint8_t LP = 5;  // low-power mode
+static const uint8_t LP = 5;        //low-power mode
 static const uint8_t CTRL_REG3_DEFAULT = 0;
 
 /* CTRL_REG4 bits */
-// big/little endian data selection enabled = MSb at lower adress
+//big/little endian data selection enabled = MSb at lower adress
 static const uint8_t BLE = 1;
-static const uint8_t OMZ0 = 2;  // Z operating mode bit 2
-static const uint8_t OMZ1 = 3;  // Z operating mode bit 3
+static const uint8_t OMZ0 = 2;      //Z operating mode bit 2
+static const uint8_t OMZ1 = 3;      //Z operating mode bit 3
 static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
 
 /* CTRL_REG5 bits */
-static const uint8_t BDU = 6;        // Block data update
-static const uint8_t FAST_READ = 7;  // Fast read enabled = 1
+static const uint8_t BDU = 6;       //Block data update
+static const uint8_t FAST_READ = 7; //Fast read enabled = 1
 static const uint8_t CTRL_REG5_DEFAULT = 0;
 
 static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
 
-enum MgmPoolIds : lp_id_t {
+enum MgmPoolIds: lp_id_t {
     FIELD_STRENGTH_X,
     FIELD_STRENGTH_Y,
     FIELD_STRENGTH_Z,
     TEMPERATURE_CELCIUS
 };
 
-class MgmPrimaryDataset : public StaticLocalDataSet<4> {
- public:
-  MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
+class MgmPrimaryDataset: public StaticLocalDataSet<4> {
+public:
+    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
 
-  MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
+    MgmPrimaryDataset(object_id_t mgmId):
+        StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
 
-  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
-  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
-  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
-  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
+    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_X, this);
+    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Y, this);
+    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Z, this);
+    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
+            TEMPERATURE_CELCIUS, this);
 };
 
-}  // namespace MGMLIS3MDL
+}
+
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

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

@@ -1,11 +1,10 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/serialize/SerialLinkedListAdapter.h>
-
 #include <cstdint>
 
 namespace RM3100 {
@@ -25,8 +24,8 @@ static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
 static constexpr uint8_t SET_CMM_START = 1;
 static constexpr uint8_t CMM_REGISTER = 0x01;
 
-static constexpr uint8_t CMM_VALUE =
-    SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
+static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
+		SET_CMM_DRDM | SET_CMM_START;
 
 /*----------------------------------------------------------------------------*/
 /* Cycle count register */
@@ -34,7 +33,8 @@ static constexpr uint8_t CMM_VALUE =
 // Default value (200)
 static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
 
-static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
+static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
+		100 * 38;
 static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
 
 /*----------------------------------------------------------------------------*/
@@ -67,16 +67,17 @@ static constexpr DeviceCommandId_t READ_TMRC = 4;
 static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
 static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
 
-class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
- public:
-  CycleCountCommand(bool oneCycleCount = true) : oneCycleCount(oneCycleCount) {
+class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
+public:
+	CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
 		setLinks(oneCycleCount);
 	}
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness) override {
-    ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
-    if (oneCycleCount) {
+		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
+				size, streamEndianness);
+		if(oneCycleCount) {
 			cycleCountY = cycleCountX;
 			cycleCountZ = cycleCountX;
 		}
@@ -87,10 +88,10 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
 	SerializeElement<uint16_t> cycleCountY;
 	SerializeElement<uint16_t> cycleCountZ;
 
- private:
+private:
 	void setLinks(bool oneCycleCount) {
 		setStart(&cycleCountX);
-    if (not oneCycleCount) {
+		if(not oneCycleCount) {
 			cycleCountX.setNext(&cycleCountY);
 			cycleCountY.setNext(&cycleCountZ);
 		}
@@ -101,24 +102,31 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
 
 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
 
-enum MgmPoolIds : lp_id_t {
+enum MgmPoolIds: lp_id_t {
     FIELD_STRENGTH_X,
     FIELD_STRENGTH_Y,
     FIELD_STRENGTH_Z,
 };
 
-class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
- public:
-  Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
+class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
+public:
+	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
+        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
 
-  Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
+	Rm3100PrimaryDataset(object_id_t mgmId):
+        StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
 
 	// Field strengths in micro Tesla.
-  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
-  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
-  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
+    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_X, this);
+    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Y, this);
+    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Z, this);
 };
 
-}  // namespace RM3100
+}
+
+
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,17 +4,10 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
-	CommandExecutor.cpp
 	utility.cpp
 )
 
-if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
-	add_subdirectory(gpio)
-endif()
-	add_subdirectory(spi)
-	add_subdirectory(i2c)
-	add_subdirectory(uart)
-endif()
-
-add_subdirectory(uio)
+add_subdirectory(gpio)
+add_subdirectory(spi)
+add_subdirectory(i2c)
+add_subdirectory(uart)

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -1,207 +0,0 @@
-#include "CommandExecutor.h"
-
-#include <unistd.h>
-
-#include <cstring>
-
-#include "fsfw/container/DynamicFIFO.h"
-#include "fsfw/container/SimpleRingBuffer.h"
-#include "fsfw/serviceinterface.h"
-
-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) {
-    ReturnValue_t result = executeBlocking();
-    state = States::IDLE;
-    return result;
-  } 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) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << funcName << " pclose failed with code " << lastError << ": "
-                 << strerror(lastError) << std::endl;
-#else
-    sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
-                    strerror(lastError));
-#endif
-  }
-}
-
-void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
-                                    DynamicFIFO<uint16_t>* sizesFifo) {
-  this->ringBuffer = ringBuffer;
-  this->sizesFifo = sizesFifo;
-}
-
-ReturnValue_t CommandExecutor::check(bool& replyReceived) {
-  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
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::warning << "CommandExecutor::check: No bytes read "
-                          "after poll event.."
-                       << std::endl;
-#else
-          sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
-#endif
-          break;
-        } else if (readBytes > 0) {
-          replyReceived = true;
-          if (printOutput) {
-            // It is assumed the command output is line terminated
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << currentCmd << " | " << readVec.data();
-#else
-            sif::printInfo("%s | %s", currentCmd, readVec.data());
-#endif
-          }
-          if (ringBuffer != nullptr) {
-            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
-          }
-          if (sizesFifo != nullptr) {
-            if (not sizesFifo->full()) {
-              sizesFifo->insert(readBytes);
-            }
-          }
-        } else {
-          // Should also not happen
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-          sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
-                       << std::endl;
-#else
-          sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
-#endif
-        }
-      }
-      if (waiter.revents & POLLERR) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "CommandExecuter::check: Poll error" << std::endl;
-#else
-        sif::printWarning("CommandExecuter::check: Poll error\n");
-#endif
-        return COMMAND_ERROR;
-      }
-      if (waiter.revents & POLLHUP) {
-        result = pclose(currentCmdFile);
-        ReturnValue_t retval = EXECUTION_FINISHED;
-        if (result != 0) {
-          lastError = result;
-          retval = HasReturnvaluesIF::RETURN_FAILED;
-        }
-        state = States::IDLE;
-        currentCmdFile = nullptr;
-        currentFd = 0;
-        return retval;
-      }
-      break;
-    }
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-void CommandExecutor::reset() {
-  CommandExecutor::close();
-  currentCmdFile = nullptr;
-  currentFd = 0;
-  state = States::IDLE;
-}
-
-int CommandExecutor::getLastError() const {
-  // See:
-  // https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
-  return WEXITSTATUS(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) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::info << currentCmd << " | " << output;
-#else
-      sif::printInfo("%s | %s", currentCmd, output);
-#endif
-    }
-    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;
-}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -1,129 +0,0 @@
-#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
-#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
-
-#include <poll.h>
-
-#include <string>
-#include <vector>
-
-#include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
-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
-   *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
-   *  - COMMAND_ERROR internal poll error
-   */
-  ReturnValue_t check(bool& replyReceived);
-  /**
-   * 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_ */

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -1,26 +1,25 @@
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 
 #include <cerrno>
 #include <cstring>
 
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-
 UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
-                             std::string diagnosticPrefix)
-    : fileDescriptor(fileDescriptor) {
-  if (fileDescriptor == nullptr) {
+        std::string diagnosticPrefix):
+        fileDescriptor(fileDescriptor) {
+    if(fileDescriptor == nullptr) {
         return;
     }
     *fileDescriptor = open(device.c_str(), flags);
     if (*fileDescriptor < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
-                 << strerror(errno) << std::endl;
+        sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
+                errno << ": " << strerror(errno) << std::endl;
 #else
-    sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
-                      strerror(errno));
+        sif::printWarning("%s: Opening device failed with error code %d: %s\n",
+                diagnosticPrefix, errno, strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
         openStatus = OPEN_FILE_FAILED;
@@ -28,9 +27,11 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
 }
 
 UnixFileGuard::~UnixFileGuard() {
-  if (fileDescriptor != nullptr) {
+    if(fileDescriptor != nullptr) {
         close(*fileDescriptor);
     }
 }
 
-ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
+ReturnValue_t UnixFileGuard::getOpenResult() const {
+    return openStatus;
+}

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -1,14 +1,16 @@
 #ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
 #define LINUX_UTILITY_UNIXFILEGUARD_H_
 
-#include <fcntl.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <unistd.h>
 
 #include <string>
 
+#include <fcntl.h>
+#include <unistd.h>
+
+
 class UnixFileGuard {
- public:
+public:
     static constexpr int READ_WRITE_FLAG = O_RDWR;
     static constexpr int READ_ONLY_FLAG = O_RDONLY;
     static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
@@ -18,13 +20,14 @@ class UnixFileGuard {
     UnixFileGuard(std::string device, int* fileDescriptor, int flags,
             std::string diagnosticPrefix = "");
 
-  virtual ~UnixFileGuard();
+    virtual~ UnixFileGuard();
 
     ReturnValue_t getOpenResult() const;
-
- private:
+private:
     int* fileDescriptor = nullptr;
     ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };
 
+
+
 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

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

@@ -1,16 +1,12 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    LinuxLibgpioIF.cpp
+)
+
 # This abstraction layer requires the gpiod library. You can install this library
 # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
 # to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod)
+find_library(LIB_GPIO gpiod REQUIRED)
 
-if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
-    message(STATUS "gpiod library not found, not linking against it")
-else()
-    target_sources(${LIB_FSFW_NAME} PRIVATE
-        LinuxLibgpioIF.cpp
-    )
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
     ${LIB_GPIO}
-    )
-endif()
-
+)

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

@@ -1,25 +1,26 @@
 #include "LinuxLibgpioIF.h"
 
-#include <gpiod.h>
-#include <unistd.h>
-
-#include <utility>
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
 
-LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
+#include <utility>
+#include <unistd.h>
+#include <gpiod.h>
+
+LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
+}
 
 LinuxLibgpioIF::~LinuxLibgpioIF() {
-  for (auto& config : gpioMap) {
-    delete (config.second);
+    for(auto& config: gpioMap) {
+        delete(config.second);
     }
 }
 
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
     ReturnValue_t result;
-  if (gpioCookie == nullptr) {
+    if(gpioCookie == nullptr) {
         sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
         return RETURN_FAILED;
     }
@@ -28,7 +29,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 
     /* Check whether this ID already exists in the map and remove duplicates */
     result = checkForConflicts(mapToAdd);
-  if (result != RETURN_OK) {
+    if (result != RETURN_OK){
         return result;
     }
 
@@ -44,39 +45,39 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-  for (auto& gpioConfig : mapToAdd) {
+    for(auto& gpioConfig: mapToAdd) {
         auto& gpioType = gpioConfig.second->gpioType;
-    switch (gpioType) {
-      case (gpio::GpioTypes::NONE): {
+        switch(gpioType) {
+        case(gpio::GpioTypes::NONE): {
             return GPIO_INVALID_INSTANCE;
         }
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
             auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
-        if (regularGpio == nullptr) {
+            if(regularGpio == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
             configureGpioByChip(gpioConfig.first, *regularGpio);
             break;
         }
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
             auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
-        if (regularGpio == nullptr) {
+            if(regularGpio == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
             configureGpioByLabel(gpioConfig.first, *regularGpio);
             break;
         }
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
             auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
-        if (regularGpio == nullptr) {
+            if(regularGpio == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
             configureGpioByLineName(gpioConfig.first, *regularGpio);
             break;
         }
-      case (gpio::GpioTypes::TYPE_CALLBACK): {
+        case(gpio::GpioTypes::CALLBACK): {
             auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
-        if (gpioCallback->callback == nullptr) {
+            if(gpioCallback->callback == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
             gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
@@ -88,24 +89,26 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
-                                                   GpiodRegularByLabel& gpioByLabel) {
+        GpiodRegularByLabel &gpioByLabel) {
     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) {
+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;
+        sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
         return RETURN_FAILED;
     }
     std::string failOutput = "chipname: " + chipname;
@@ -113,13 +116,13 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
-                                                      GpiodRegularByLineName& gpioByLineName) {
+        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);
+    int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
+            &lineOffset);
     if (result != LINE_FOUND) {
         parseFindeLineResult(result, lineName);
         return RETURN_FAILED;
@@ -129,8 +132,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 
     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;
+        sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
+                << chipname << ". <Gpio ID: " << gpioId << std::endl;
         return RETURN_FAILED;
     }
     std::string failOutput = "line name: " + lineName;
@@ -138,20 +141,19 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 }
 
 ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
-                                                   GpiodRegularBase& regularGpio,
-                                                   std::string failOutput) {
+        GpiodRegularBase& regularGpio, std::string failOutput) {
     unsigned int lineNum;
     gpio::Direction direction;
     std::string consumer;
-  struct gpiod_line* lineHandle;
+    struct gpiod_line *lineHandle;
     int result = 0;
 
     lineNum = regularGpio.lineNum;
     lineHandle = gpiod_chip_get_line(chip, lineNum);
     if (!lineHandle) {
         sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-    sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
-                 << std::endl;
+        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+                ", " << failOutput << std::endl;
         sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
         gpiod_chip_close(chip);
         return RETURN_FAILED;
@@ -161,32 +163,33 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
     consumer = regularGpio.consumer;
     /* Configure direction and add a description to the GPIO */
     switch (direction) {
-    case (gpio::DIR_OUT): {
-      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
+    case(gpio::OUT): {
+        result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+                regularGpio.initValue);
         break;
     }
-    case (gpio::DIR_IN): {
+    case(gpio::IN): {
         result = gpiod_line_request_input(lineHandle, consumer.c_str());
         break;
     }
     default: {
-      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
+        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
+                << std::endl;
         return GPIO_INVALID_INSTANCE;
     }
 
     if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
-                   << " from GPIO instance with ID: " << gpioId << std::endl;
+        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
+                lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
 #else
-        sif::printError(
-            "LinuxLibgpioIF::configureRegularGpio: "
-            "Failed to request line %d from GPIO instance with ID: %d\n",
-            lineNum, gpioId);
+        sif::printError("LinuxLibgpioIF::configureRegularGpio: "
+                "Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
 #endif
         gpiod_line_release(lineHandle);
         return RETURN_FAILED;
     }
+
     }
     /**
      * Write line handle to GPIO configuration instance so it can later be used to set or
@@ -204,21 +207,22 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
     }
 
     auto gpioType = gpioMapIter->second->gpioType;
-  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) {
+    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) {
+        if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
         return driveGpio(gpioId, *regularGpio, gpio::HIGH);
-  } else {
+    }
+    else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-    if (gpioCallback->callback == nullptr) {
+        if(gpioCallback->callback == nullptr) {
             return GPIO_INVALID_INSTANCE;
         }
-    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
-                           gpioCallback->callbackArgs);
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                gpio::Levels::HIGH, gpioCallback->callbackArgs);
         return RETURN_OK;
     }
     return GPIO_TYPE_FAILURE;
@@ -236,38 +240,37 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
     }
 
     auto& gpioType = gpioMapIter->second->gpioType;
-  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) {
+    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) {
+        if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
         return driveGpio(gpioId, *regularGpio, gpio::LOW);
-  } else {
+    }
+    else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-    if (gpioCallback->callback == nullptr) {
+        if(gpioCallback->callback == nullptr) {
             return GPIO_INVALID_INSTANCE;
         }
-    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
-                           gpioCallback->callbackArgs);
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                gpio::Levels::LOW, gpioCallback->callbackArgs);
         return RETURN_OK;
     }
     return GPIO_TYPE_FAILURE;
 }
 
-ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
-                                        gpio::Levels logicLevel) {
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
+        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
     int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
     if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
-                 << " to logic level " << logicLevel << std::endl;
+        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
+                " to logic level " << logicLevel << std::endl;
 #else
-    sif::printWarning(
-        "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
-        "logic level %d\n",
-        gpioId, logicLevel);
+        sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+                "logic level %d\n", gpioId, logicLevel);
 #endif
         return DRIVE_GPIO_FAILURE;
     }
@@ -277,7 +280,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
 
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
     gpioMapIter = gpioMap.find(gpioId);
-  if (gpioMapIter == gpioMap.end()) {
+    if (gpioMapIter == gpioMap.end()){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
 #else
@@ -287,60 +290,63 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
     }
 
     auto gpioType = gpioMapIter->second->gpioType;
-  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) {
+    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) {
+        if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
         *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
-  } else {
+    }
+    else {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-    if (gpioCallback->callback == nullptr) {
+        if(gpioCallback->callback == nullptr) {
             return GPIO_INVALID_INSTANCE;
         }
-    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
-                           gpioCallback->callbackArgs);
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
+                gpio::Levels::NONE, gpioCallback->callbackArgs);
         return RETURN_OK;
     }
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
+ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
     ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  for (auto& gpioConfig : mapToAdd) {
-    switch (gpioConfig.second->gpioType) {
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+    for(auto& gpioConfig: mapToAdd) {
+        switch(gpioConfig.second->gpioType) {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
             auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
-        if (regularGpio == nullptr) {
+            if(regularGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
             // Check for conflicts and remove duplicates if necessary
             result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
+            if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
             break;
         }
-      case (gpio::GpioTypes::TYPE_CALLBACK): {
+        case(gpio::GpioTypes::CALLBACK): {
             auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
-        if (callbackGpio == nullptr) {
+            if(callbackGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
             // Check for conflicts and remove duplicates if necessary
-        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
+            result = checkForConflictsById(gpioConfig.first,
+                    gpioConfig.second->gpioType, mapToAdd);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
             break;
         }
         default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
+            sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
+                    << std::endl;
 #else
             sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
 #endif
@@ -352,41 +358,38 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
 }
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
-                                                    gpio::GpioTypes expectedType,
-                                                    GpioMap& mapToAdd) {
+        gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
     // Cross check with private map
     gpioMapIter = gpioMap.find(gpioIdToCheck);
-  if (gpioMapIter != gpioMap.end()) {
+    if(gpioMapIter != gpioMap.end()) {
         auto& gpioType = gpioMapIter->second->gpioType;
         bool eraseDuplicateDifferentType = false;
-    switch (expectedType) {
-      case (gpio::GpioTypes::NONE): {
+        switch(expectedType) {
+        case(gpio::GpioTypes::NONE): {
             break;
         }
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
-      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
-        if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::TYPE_CALLBACK) {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
                 eraseDuplicateDifferentType = true;
             }
             break;
         }
-      case (gpio::GpioTypes::TYPE_CALLBACK): {
-        if (gpioType != gpio::GpioTypes::TYPE_CALLBACK) {
+        case(gpio::GpioTypes::CALLBACK): {
+            if(gpioType != gpio::GpioTypes::CALLBACK) {
                 eraseDuplicateDifferentType = true;
             }
         }
         }
-    if (eraseDuplicateDifferentType) {
+        if(eraseDuplicateDifferentType) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
-                      "different GPIO type "
-                   << gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
+                    "different GPIO type " << gpioIdToCheck <<
+                    ". Removing duplicate from map to add" << std::endl;
 #else
-      sif::printWarning(
-          "LinuxLibgpioIF::checkForConflicts: ID already exists for "
-          "different GPIO type %d. Removing duplicate from map to add\n",
-          gpioIdToCheck);
+            sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                    "different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
 #endif
             mapToAdd.erase(gpioIdToCheck);
             return GPIO_DUPLICATE_DETECTED;
@@ -395,14 +398,11 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
         // Remove element from map to add because a entry for this GPIO already exists
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
-                    "definition with ID "
-                 << gpioIdToCheck << " detected. "
-                 << "Duplicate will be removed from map to add" << std::endl;
+                "definition with ID " << gpioIdToCheck << " detected. " <<
+                "Duplicate will be removed from map to add" << std::endl;
 #else
-    sif::printWarning(
-        "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
-        "with ID %d detected. Duplicate will be removed from map to add\n",
-        gpioIdToCheck);
+        sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+                "with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
 #endif
         mapToAdd.erase(gpioIdToCheck);
         return GPIO_DUPLICATE_DETECTED;
@@ -415,32 +415,28 @@ void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     case LINE_NOT_EXISTS:
     case LINE_ERROR: {
-      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
-                   << " does not exist" << std::endl;
+        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;
+                "with name " << lineName << std::endl;
         break;
     }
 #else
     case LINE_NOT_EXISTS:
     case LINE_ERROR: {
-      sif::printWarning(
-          "LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
-          "does not exist\n",
-          lineName);
+        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
+                "does not exist\n", lineName);
         break;
     }
     default: {
-      sif::printWarning(
-          "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
-          "with name %s\n",
-          lineName);
+        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                "with name %s\n", lineName);
         break;
     }
 #endif
     }
+
 }

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

@@ -1,9 +1,9 @@
 #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
 #define LINUX_GPIO_LINUXLIBGPIOIF_H_
 
-#include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/FwClassIds.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
 
 class GpioCookie;
 class GpiodRegularIF;
@@ -16,7 +16,8 @@ class GpiodRegularIF;
  * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
  */
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
- public:
+public:
+
     static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
 
     static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@@ -38,7 +39,8 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
 	ReturnValue_t pullLow(gpioId_t gpioId) override;
 	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
- private:
+private:
+
 	static const size_t MAX_CHIPNAME_LENGTH = 11;
 	static const int LINE_NOT_EXISTS = 0;
 	static const int LINE_ERROR = -1;
@@ -54,11 +56,13 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
 	 * @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, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+	        gpio::Levels logicLevel);
 
 	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 configureGpioByLineName(gpioId_t gpioId,
+            GpiodRegularByLineName &gpioByLineName);
     ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
             GpiodRegularBase& regularGpio, std::string failOutput);
 
@@ -73,7 +77,8 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-  ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
+	ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
+	        GpioMap& mapToAdd);
 
 	/**
 	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.

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

@@ -1,132 +1,114 @@
-#include "I2cComIF.h"
-
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/utility.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
 
-#if FSFW_HAL_I2C_WIRETAPPING == 1
-#include "fsfw/globalfunctions/arrayprinter.h"
-#endif
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
-#include <errno.h>
-#include <fcntl.h>
-#include <linux/i2c-dev.h>
-#include <sys/ioctl.h>
 #include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/i2c-dev.h>
+#include <errno.h>
 
 #include <cstring>
 
-I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
+
+I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
+}
 
 I2cComIF::~I2cComIF() {}
 
 ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
+
     address_t i2cAddress;
     std::string deviceFile;
 
-  if (cookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(cookie == nullptr) {
         sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-  if (i2cCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(i2cCookie == nullptr) {
         sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
 
     i2cAddress = i2cCookie->getAddress();
 
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    if(i2cDeviceMapIter == i2cDeviceMap.end()) {
         size_t maxReplyLen = i2cCookie->getMaxReplyLen();
         I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
         auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
         if (not statusPair.second) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
-                 << i2cAddress << "to I2C device "
-                 << "map" << std::endl;
-#endif
+            sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
+                    i2cAddress << "to I2C device " << "map" << std::endl;
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         return HasReturnvaluesIF::RETURN_OK;
     }
 
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
-             << "already in use" << std::endl;
-#endif
+    sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
+            "already in use" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
+        const uint8_t *sendData, size_t sendLen) {
+
     ReturnValue_t result;
     int fd;
     std::string deviceFile;
 
-  if (sendData == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
-#endif
+    if(sendData == nullptr) {
+        sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
+                << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-  if (sendLen == 0) {
+    if(sendLen == 0) {
         return HasReturnvaluesIF::RETURN_OK;
     }
 
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-  if (i2cCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(i2cCookie == nullptr) {
         sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
 
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
                 << "registered in i2cDeviceMap" << std::endl;
-#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     deviceFile = i2cCookie->getDeviceFile();
     UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return fileHelper.getOpenResult();
     }
     result = openDevice(deviceFile, i2cAddress, &fd);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK){
         return result;
     }
 
-  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if (write(fd, sendData, sendLen) != (int)sendLen) {
         sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                  "device with error code "
-               << errno << ". Error description: " << strerror(errno) << std::endl;
-#endif
+                "device with error code " << errno << ". Error description: "
+                << strerror(errno) << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-
-#if FSFW_HAL_I2C_WIRETAPPING == 1
-  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
-  arrayprinter::print(sendData, sendLen);
-#endif
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
-ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
+        size_t requestLen) {
     ReturnValue_t result;
     int fd;
     std::string deviceFile;
@@ -136,10 +118,8 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     }
 
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-  if (i2cCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(i2cCookie == nullptr) {
         sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
-#endif
         i2cDeviceMapIter->second.replyLen = 0;
         return NULLPOINTER;
     }
@@ -147,21 +127,19 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
                 << "registered in i2cDeviceMap" << std::endl;
-#endif
         i2cDeviceMapIter->second.replyLen = 0;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     deviceFile = i2cCookie->getDeviceFile();
     UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return fileHelper.getOpenResult();
     }
     result = openDevice(deviceFile, i2cAddress, &fd);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK){
         i2cDeviceMapIter->second.replyLen = 0;
         return result;
     }
@@ -172,44 +150,33 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     if (readLen != static_cast<int>(requestLen)) {
 #if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
-               << "device failed with error code " << errno << ". Description"
+                << "device failed with error code " << errno <<". Description"
                 << " of error: " << strerror(errno) << std::endl;
-    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
-               << " bytes" << std::endl;
+        sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
+                << requestLen << " bytes" << std::endl;
 #endif
         i2cDeviceMapIter->second.replyLen = 0;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
-               << " bytes" << std::endl;
-#endif
+        sif::debug << "I2cComIF::requestReceiveMessage: Read "  << readLen << " of " << requestLen << " bytes" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-#if FSFW_HAL_I2C_WIRETAPPING == 1
-  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
-  arrayprinter::print(replyBuffer, requestLen);
-#endif
-
     i2cDeviceMapIter->second.replyLen = requestLen;
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
+        uint8_t **buffer, size_t* size) {
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-  if (i2cCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(i2cCookie == nullptr) {
         sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
 
     address_t i2cAddress = i2cCookie->getAddress();
     i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
     if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
                 << "found in i2cDeviceMap" << std::endl;
-#endif
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     *buffer = i2cDeviceMapIter->second.replyBuffer.data();
@@ -218,8 +185,9 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
-                                   int* fileDescriptor) {
+ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
+        address_t i2cAddress, int* fileDescriptor) {
+
     if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1

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

@@ -1,14 +1,13 @@
 #ifndef LINUX_I2C_I2COMIF_H_
 #define LINUX_I2C_I2COMIF_H_
 
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include "I2cCookie.h"
 #include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 
 #include <unordered_map>
 #include <vector>
 
-#include "I2cCookie.h"
-
 /**
  * @brief 	This is the communication interface for I2C devices connected
  * 			to a system running a Linux OS.
@@ -17,19 +16,23 @@
  *
  * @author 	J. Meier
  */
-class I2cComIF : public DeviceCommunicationIF, public SystemObject {
- public:
+class I2cComIF: public DeviceCommunicationIF, public SystemObject {
+public:
 	I2cComIF(object_id_t objectId);
 
 	virtual ~I2cComIF();
 
-  ReturnValue_t initializeInterface(CookieIF *cookie) override;
-  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
+	ReturnValue_t initializeInterface(CookieIF * cookie) override;
+	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+			size_t sendLen) override;
 	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
-  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
-  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
+	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+	        size_t requestLen) override;
+	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) override;
+
+private:
 
- private:
 	struct I2cInstance {
 		std::vector<uint8_t> replyBuffer;
 		size_t replyLen;
@@ -51,7 +54,8 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
 	 * @param fileDescriptor	Pointer to device descriptor.
 	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
 	 */
-  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
+	ReturnValue_t openDevice(std::string deviceFile,
+			address_t i2cAddress, int* fileDescriptor);
 };
 
 #endif /* LINUX_I2C_I2COMIF_H_ */

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

@@ -1,12 +1,20 @@
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
 
-I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
-    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}
+I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+		std::string deviceFile_) :
+		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
+}
 
-address_t I2cCookie::getAddress() const { return i2cAddress; }
+address_t I2cCookie::getAddress() const {
+	return i2cAddress;
+}
 
-size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }
+size_t I2cCookie::getMaxReplyLen() const {
+	return maxReplyLen;
+}
 
-std::string I2cCookie::getDeviceFile() const { return deviceFile; }
+std::string I2cCookie::getDeviceFile() const {
+	return deviceFile;
+}
 
 I2cCookie::~I2cCookie() {}

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

@@ -2,7 +2,6 @@
 #define LINUX_I2C_I2CCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
-
 #include <string>
 
 /**
@@ -10,8 +9,9 @@
  *
  * @author 	J. Meier
  */
-class I2cCookie : public CookieIF {
- public:
+class I2cCookie: public CookieIF {
+public:
+
 	/**
 	 * @brief	Constructor for the I2C cookie.
 	 * @param i2cAddress_	The i2c address of the target device.
@@ -19,7 +19,8 @@ class I2cCookie : public CookieIF {
 	 * 						target device.
 	 * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
 	 */
-  I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
+	I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+			std::string deviceFile_);
 
 	virtual ~I2cCookie();
 
@@ -27,7 +28,8 @@ class I2cCookie : public CookieIF {
 	size_t getMaxReplyLen() const;
 	std::string getDeviceFile() const;
 
- private:
+private:
+
 	address_t i2cAddress = 0;
 	size_t maxReplyLen = 0;
 	std::string deviceFile;

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

@@ -1,14 +1,14 @@
+#include "fsfw/FSFW.h"
+
 #include "fsfw_hal/linux/rpi/GpioRPi.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
-#include "fsfw/FSFW.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-                                        std::string consumer, gpio::Direction direction,
-                                        gpio::Levels initValue) {
-  if (cookie == nullptr) {
+        std::string consumer, gpio::Direction direction, int initValue) {
+    if(cookie == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
@@ -22,7 +22,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
     config->initValue = initValue;
 
     /* Sanity check for the BCM pins before assigning it */
-  if (bcmPin > 27) {
+    if(bcmPin > 27) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;

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

@@ -2,7 +2,6 @@
 #define BSP_RPI_GPIO_GPIORPI_H_
 
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
-
 #include "../../common/gpio/gpioDefinitions.h"
 
 class GpioCookie;
@@ -21,8 +20,7 @@ namespace gpio {
  * @return
  */
 ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-                                  std::string consumer, gpio::Direction direction,
-                                  gpio::Levels initValue);
-}  // namespace gpio
+        std::string consumer, gpio::Direction direction, int initValue);
+}
 
 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

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

@@ -1,23 +1,23 @@
+#include "fsfw/FSFW.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/utility.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
 
-#include <fcntl.h>
-#include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+
 #include <linux/spi/spidev.h>
-#include <sys/ioctl.h>
+#include <fcntl.h>
 #include <unistd.h>
+#include <sys/ioctl.h>
 
 #include <cerrno>
 #include <cstring>
 
-#include "fsfw/FSFW.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/utility.h"
-
-SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
-    : SystemObject(objectId), gpioComIF(gpioComIF) {
-  if (gpioComIF == nullptr) {
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
+        SystemObject(objectId), gpioComIF(gpioComIF) {
+    if(gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
@@ -30,30 +30,28 @@ SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
     spiMutex = MutexFactory::instance()->createMutex();
 }
 
-ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
+ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     int retval = 0;
     SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-  if (spiCookie == nullptr) {
+    if(spiCookie == nullptr) {
         return NULLPOINTER;
     }
 
     address_t spiAddress = spiCookie->getSpiAddress();
 
     auto iter = spiDeviceMap.find(spiAddress);
-  if (iter == spiDeviceMap.end()) {
+    if(iter == spiDeviceMap.end()) {
         size_t bufferSize = spiCookie->getMaxBufferSize();
         SpiInstance spiInstance(bufferSize);
         auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
         if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
-                 << spiAddress << "to SPI device map" << std::endl;
+            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+                    spiAddress << "to SPI device map" << std::endl;
 #else
-      sif::printError(
-          "SpiComIF::initializeInterface: Failed to insert device with address "
-          "%lu to SPI device map\n",
-          static_cast<unsigned long>(spiAddress));
+            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
             return HasReturnvaluesIF::RETURN_FAILED;
@@ -61,7 +59,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
         /* Now we emplaced the read buffer in the map, we still need to assign that location
         to the SPI driver transfer struct */
         spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
-  } else {
+    }
+    else {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
@@ -74,7 +73,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
 
     /* Pull CS high in any case to be sure that device is inactive */
     gpioId_t gpioId = spiCookie->getChipSelectPin();
-  if (gpioId != gpio::NO_GPIO) {
+    if(gpioId != gpio::NO_GPIO) {
         gpioComIF->pullHigh(gpioId);
     }
 
@@ -87,94 +86,91 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
     int fileDescriptor = 0;
     UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
             "SpiComIF::initializeInterface");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return fileHelper.getOpenResult();
     }
 
     /* These flags are rather uncommon */
-  if (params.threeWireSpi or params.noCs or params.csHigh) {
+    if(params.threeWireSpi or params.noCs or params.csHigh) {
         uint32_t currentMode = 0;
         retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
-    if (retval != 0) {
+        if(retval != 0) {
             utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
         }
 
-    if (params.threeWireSpi) {
+        if(params.threeWireSpi) {
             currentMode |= SPI_3WIRE;
         }
-    if (params.noCs) {
+        if(params.noCs) {
             /* Some drivers like the Raspberry Pi ignore this flag in any case */
             currentMode |= SPI_NO_CS;
         }
-    if (params.csHigh) {
+        if(params.csHigh) {
             currentMode |= SPI_CS_HIGH;
         }
         /* Write adapted mode */
         retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
-    if (retval != 0) {
+        if(retval != 0) {
             utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
         }
     }
-  if (params.lsbFirst) {
+    if(params.lsbFirst) {
         retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
-    if (retval != 0) {
+        if(retval != 0) {
             utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
         }
     }
-  if (params.bitsPerWord != 8) {
+    if(params.bitsPerWord != 8) {
         retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
-    if (retval != 0) {
-      utility::handleIoctlError(
-          "SpiComIF::initializeInterface: "
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initializeInterface: "
                     "Could not write bits per word!");
         }
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
     SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
-  if (spiCookie == nullptr) {
+    if(spiCookie == nullptr) {
         return NULLPOINTER;
     }
 
-  if (sendLen > spiCookie->getMaxBufferSize()) {
+    if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen
-                 << "larger than maximum buffer length " << spiCookie->getMaxBufferSize()
-                 << std::endl;
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
+                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
 #else
-    sif::printWarning(
-        "SpiComIF::sendMessage: Too much data sent, send length %lu larger "
-        "than maximum buffer length %lu!\n",
-        static_cast<unsigned long>(sendLen),
+        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
+                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
                 static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
         return DeviceCommunicationIF::TOO_MUCH_DATA;
     }
 
-  if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
+    if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
         result = performRegularSendOperation(spiCookie, sendData, sendLen);
-  } else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+    }
+    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
         spi::send_callback_function_t sendFunc = nullptr;
         void* funcArgs = nullptr;
         spiCookie->getCallback(&sendFunc, &funcArgs);
-    if (sendFunc != nullptr) {
+        if(sendFunc != nullptr) {
             result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
         }
     }
     return result;
 }
 
-ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
+ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
         size_t sendLen) {
     address_t spiAddress = spiCookie->getSpiAddress();
     auto iter = spiDeviceMap.find(spiAddress);
-  if (iter != spiDeviceMap.end()) {
+    if(iter != spiDeviceMap.end()) {
         spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
     }
 
@@ -184,7 +180,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     int fileDescriptor = 0;
     std::string device = spiCookie->getSpiDevice();
     UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return OPENING_FILE_FAILED;
     }
     spi::SpiModes spiMode = spi::SpiModes::MODE_0;
@@ -198,7 +194,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     gpioId_t gpioId = spiCookie->getChipSelectPin();
 
     /* Pull SPI CS low. For now, no support for active high given  */
-  if (gpioId != gpio::NO_GPIO) {
+    if(gpioId != gpio::NO_GPIO) {
         result = spiMutex->lockMutex(timeoutType, timeoutMs);
         if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -211,7 +207,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
             return result;
         }
         ReturnValue_t result = gpioComIF->pullLow(gpioId);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
+        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;
@@ -224,22 +220,24 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     }
 
     /* Execute transfer */
-  if (fullDuplex) {
+    if(fullDuplex) {
         /* Initiate a full duplex SPI transfer. */
         retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
-    if (retval < 0) {
+        if(retval < 0) {
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
         performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
-  } else {
+    }
+    else {
         /* We write with a blocking half-duplex transfer here */
         if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
+            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
+                    std::endl;
 #else
             sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
@@ -248,7 +246,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
         }
     }
 
-  if (gpioId != gpio::NO_GPIO) {
+    if(gpioId != gpio::NO_GPIO) {
         gpioComIF->pullHigh(gpioId);
         result = spiMutex->unlockMutex();
         if (result != RETURN_OK) {
@@ -261,39 +259,43 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
     return result;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
-ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
     SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-  if (spiCookie == nullptr) {
+    if(spiCookie == nullptr) {
         return NULLPOINTER;
     }
 
-  if (spiCookie->isFullDuplex()) {
+    if(spiCookie->isFullDuplex()) {
         return HasReturnvaluesIF::RETURN_OK;
     }
 
     return performHalfDuplexReception(spiCookie);
 }
 
+
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     std::string device = spiCookie->getSpiDevice();
     int fileDescriptor = 0;
-  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
+            "SpiComIF::requestReceiveMessage");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return OPENING_FILE_FAILED;
     }
 
     uint8_t* rxBuf = nullptr;
     size_t readSize = spiCookie->getCurrentTransferSize();
     result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if(result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
 
     gpioId_t gpioId = spiCookie->getChipSelectPin();
-  if (gpioId != gpio::NO_GPIO) {
+    if(gpioId != gpio::NO_GPIO) {
         result = spiMutex->lockMutex(timeoutType, timeoutMs);
         if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -304,7 +306,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
         gpioComIF->pullLow(gpioId);
     }
 
-  if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
+    if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
@@ -315,7 +317,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
         result = HALF_DUPLEX_TRANSFER_FAILED;
     }
 
-  if (gpioId != gpio::NO_GPIO) {
+    if(gpioId != gpio::NO_GPIO) {
         gpioComIF->pullHigh(gpioId);
         result = spiMutex->unlockMutex();
         if (result != RETURN_OK) {
@@ -329,14 +331,14 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     return result;
 }
 
-ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
     SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-  if (spiCookie == nullptr) {
+    if(spiCookie == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     uint8_t* rxBuf = nullptr;
     ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if(result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
 
@@ -347,17 +349,17 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
 }
 
 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
-  if (timeoutType != nullptr) {
+    if(timeoutType != nullptr) {
         *timeoutType = this->timeoutType;
     }
-  if (timeoutMs != nullptr) {
+    if(timeoutMs != nullptr) {
         *timeoutMs = this->timeoutMs;
     }
     return spiMutex;
 }
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
-  if (spiCookie == nullptr) {
+    if(spiCookie == nullptr) {
         return;
     }
     size_t dataLen = spiCookie->getTransferStructHandle()->len;
@@ -376,12 +378,12 @@ void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
 }
 
 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
-  if (buffer == nullptr) {
+    if(buffer == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     auto iter = spiDeviceMap.find(spiAddress);
-  if (iter == spiDeviceMap.end()) {
+    if(iter == spiDeviceMap.end()) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
@@ -389,16 +391,18 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
+GpioIF* SpiComIF::getGpioInterface() {
+    return gpioComIF;
+}
 
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
     int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
-  if (retval != 0) {
+    if(retval != 0) {
         utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
     }
 
     retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
-  if (retval != 0) {
+    if(retval != 0) {
         utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
     }
 }

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

@@ -1,15 +1,16 @@
 #ifndef LINUX_SPI_SPICOMIF_H_
 #define LINUX_SPI_SPICOMIF_H_
 
-#include <unordered_map>
-#include <vector>
-
 #include "fsfw/FSFW.h"
+#include "spiDefinitions.h"
+#include "returnvalues/classIds.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw_hal/common/gpio/GpioIF.h"
-#include "returnvalues/classIds.h"
-#include "spiDefinitions.h"
+
+#include <vector>
+#include <unordered_map>
 
 class SpiCookie;
 
@@ -20,8 +21,8 @@ class SpiCookie;
  * are contained in the SPI cookie.
  * @author  R. Mueller
  */
-class SpiComIF : public DeviceCommunicationIF, public SystemObject {
- public:
+class SpiComIF: public DeviceCommunicationIF, public SystemObject {
+public:
     static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
     static constexpr ReturnValue_t OPENING_FILE_FAILED =
             HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
@@ -34,11 +35,14 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 
     SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
-  ReturnValue_t initializeInterface(CookieIF* cookie) override;
-  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
-  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+            size_t sendLen) override;
+    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+            size_t requestLen) override;
+    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+            size_t *size) override;
 
     /**
      * @brief   This function returns the mutex which can be used to protect the spi bus when
@@ -54,7 +58,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
      * @param sendLen
      * @return
      */
-  ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
+    ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
             size_t sendLen);
 
     GpioIF* getGpioInterface();
@@ -63,9 +67,10 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 
     ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
 
- private:
+private:
+
     struct SpiInstance {
-    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
         std::vector<uint8_t> replyBuffer;
     };
 

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

@@ -1,41 +1,42 @@
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
-    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
-                spiSpeed, nullptr, nullptr) {}
+        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
+        SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {
+
+}
 
 SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
-                     spi::SpiModes spiMode, uint32_t spiSpeed)
-    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
+        spi::SpiModes spiMode, uint32_t spiSpeed):
+                SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
+}
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
         const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
-                     spi::send_callback_function_t callback, void* args)
-    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
-                spiSpeed, callback, args) {}
+        spi::send_callback_function_t callback, void *args):
+		        SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
+		                spiMode, spiSpeed, callback, args) {
+}
 
 SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-                     std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
-                     uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
-    : spiAddress(spiAddress),
-      chipSelectPin(chipSelect),
-      spiDevice(spiDev),
-      comIfMode(comIfMode),
-      maxSize(maxSize),
-      spiMode(spiMode),
-      spiSpeed(spiSpeed),
-      sendCallback(callback),
-      callbackArgs(args) {}
+        std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+        spi::send_callback_function_t callback, void* args):
+                spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
+                comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
+                sendCallback(callback), callbackArgs(args) {
+}
 
-spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
+spi::SpiComIfModes SpiCookie::getComIfMode() const {
+    return this->comIfMode;
+}
 
 void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
         UncommonParameters* parameters) const {
     spiMode = this->spiMode;
     spiSpeed = this->spiSpeed;
 
-  if (parameters != nullptr) {
+    if(parameters != nullptr) {
         parameters->threeWireSpi = uncommonParameters.threeWireSpi;
         parameters->lsbFirst = uncommonParameters.lsbFirst;
         parameters->noCs = uncommonParameters.noCs;
@@ -44,25 +45,41 @@ void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
     }
 }
 
-gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
+gpioId_t SpiCookie::getChipSelectPin() const {
+    return chipSelectPin;
+}
 
-size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
+size_t SpiCookie::getMaxBufferSize() const {
+    return maxSize;
+}
 
-address_t SpiCookie::getSpiAddress() const { return spiAddress; }
+address_t SpiCookie::getSpiAddress() const {
+    return spiAddress;
+}
 
-std::string SpiCookie::getSpiDevice() const { return spiDevice; }
+std::string SpiCookie::getSpiDevice() const {
+    return spiDevice;
+}
 
-void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
+void SpiCookie::setThreeWireSpi(bool enable) {
+    uncommonParameters.threeWireSpi = enable;
+}
 
-void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
+void SpiCookie::setLsbFirst(bool enable) {
+    uncommonParameters.lsbFirst = enable;
+}
 
-void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
+void SpiCookie::setNoCs(bool enable) {
+    uncommonParameters.noCs = enable;
+}
 
 void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
     uncommonParameters.bitsPerWord = bitsPerWord;
 }
 
-void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
+void SpiCookie::setCsHigh(bool enable) {
+    uncommonParameters.csHigh = enable;
+}
 
 void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
     spiTransferStruct.cs_change = deselectCs;
@@ -70,40 +87,58 @@ void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
 }
 
 void SpiCookie::assignReadBuffer(uint8_t* rx) {
-  if (rx != nullptr) {
+    if(rx != nullptr) {
         spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
     }
 }
 
 void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
-  if (tx != nullptr) {
+    if(tx != nullptr) {
         spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
     }
 }
 
-void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
+void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
+        void *args) {
     this->comIfMode = spi::SpiComIfModes::CALLBACK;
     this->sendCallback = callback;
     this->callbackArgs = args;
 }
 
-void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
+void SpiCookie::setCallbackArgs(void *args) {
+    this->callbackArgs = args;
+}
 
-spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
+spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
+    return &spiTransferStruct;
+}
 
-void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
+void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
+    this->halfDuplex = halfDuplex;
+}
 
-bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
+bool SpiCookie::isFullDuplex() const {
+    return not this->halfDuplex;
+}
 
-void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
+void SpiCookie::setTransferSize(size_t transferSize) {
+    spiTransferStruct.len = transferSize;
+}
 
-size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
+size_t SpiCookie::getCurrentTransferSize() const {
+    return spiTransferStruct.len;
+}
 
-void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
+void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
+    this->spiSpeed = newSpeed;
+}
 
-void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
+void SpiCookie::setSpiMode(spi::SpiModes newMode) {
+    this->spiMode = newMode;
+}
 
-void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
+void SpiCookie::getCallback(spi::send_callback_function_t *callback,
+        void **args) {
     *callback = this->sendCallback;
     *args = this->callbackArgs;
 }

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

@@ -1,11 +1,12 @@
 #ifndef LINUX_SPI_SPICOOKIE_H_
 #define LINUX_SPI_SPICOOKIE_H_
 
-#include <fsfw/devicehandlers/CookieIF.h>
-#include <linux/spi/spidev.h>
-
-#include "../../common/gpio/gpioDefinitions.h"
 #include "spiDefinitions.h"
+#include "../../common/gpio/gpioDefinitions.h"
+
+#include <fsfw/devicehandlers/CookieIF.h>
+
+#include <linux/spi/spidev.h>
 
 /**
  * @brief   This cookie class is passed to the SPI communication interface
@@ -18,8 +19,8 @@
  * special requirements like expander slave select switching (e.g. GPIO or I2C expander)
  * or special timing related requirements.
  */
-class SpiCookie : public CookieIF {
- public:
+class SpiCookie: public CookieIF {
+public:
     /**
      * Each SPI device will have a corresponding cookie. The cookie is used by the communication
      * interface and contains device specific information like the largest expected size to be
@@ -29,8 +30,8 @@ class SpiCookie : public CookieIF {
      * @param spiDev
      * @param maxSize
      */
-  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
-            spi::SpiModes spiMode, uint32_t spiSpeed);
+    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
 
     /**
      * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@@ -45,7 +46,7 @@ class SpiCookie : public CookieIF {
      */
     SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
             spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
-            void* args);
+            void *args);
 
     /**
      * Get the callback function
@@ -140,8 +141,8 @@ class SpiCookie : public CookieIF {
     void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
 
     spi_ioc_transfer* getTransferStructHandle();
+private:
 
- private:
     /**
      * Internal constructor which initializes every field
      * @param spiAddress
@@ -177,4 +178,6 @@ class SpiCookie : public CookieIF {
     UncommonParameters uncommonParameters;
 };
 
+
+
 #endif /* LINUX_SPI_SPICOOKIE_H_ */

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

@@ -1,25 +1,28 @@
 #ifndef LINUX_SPI_SPIDEFINITONS_H_
 #define LINUX_SPI_SPIDEFINITONS_H_
 
+#include "../../common/gpio/gpioDefinitions.h"
+#include "../../common/spi/spiCommon.h"
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include <linux/spi/spidev.h>
 
 #include <cstdint>
 
-#include "../../common/gpio/gpioDefinitions.h"
-#include "../../common/spi/spiCommon.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
 class SpiCookie;
 class SpiComIF;
 
 namespace spi {
 
-enum SpiComIfModes { REGULAR, CALLBACK };
+enum SpiComIfModes {
+	REGULAR,
+	CALLBACK
+};
 
-using send_callback_function_t = ReturnValue_t (*)(SpiComIF* comIf, SpiCookie* cookie,
-                                                   const uint8_t* sendData, size_t sendLen,
-                                                   void* args);
 
-}  // namespace spi
+using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie,
+        const uint8_t *sendData, size_t sendLen, void* args);
+
+}
 
 #endif /* LINUX_SPI_SPIDEFINITONS_H_ */

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

@@ -1,40 +1,39 @@
 #include "UartComIF.h"
+#include "OBSWConfig.h"
 
-#include <errno.h>
+#include "fsfw_hal/linux/utility.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+#include <cstring>
 #include <fcntl.h>
+#include <errno.h>
 #include <termios.h>
 #include <unistd.h>
 
-#include <cstring>
-
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw_hal/linux/utility.h"
-
-UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
+UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
+}
 
 UartComIF::~UartComIF() {}
 
 ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
+
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
 
-  if (cookie == nullptr) {
+    if(cookie == nullptr) {
         return NULLPOINTER;
     }
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
 
     deviceFile = uartCookie->getDeviceFile();
 
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-  if (uartDeviceMapIter == uartDeviceMap.end()) {
+    if(uartDeviceMapIter == uartDeviceMap.end()) {
         int fileDescriptor = configureUartPort(uartCookie);
         if (fileDescriptor < 0) {
             return RETURN_FAILED;
@@ -43,17 +42,14 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
         UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
         auto status = uartDeviceMap.emplace(deviceFile, uartElements);
         if (status.second == false) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
-                   << "to UART device map" << std::endl;
-#endif
+            sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
+                    deviceFile << "to UART device map" << std::endl;
             return RETURN_FAILED;
         }
-  } else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
-                 << " already in use" << std::endl;
-#endif
+    }
+    else {
+        sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
+                " already in use" << std::endl;
         return RETURN_FAILED;
     }
 
@@ -61,11 +57,12 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 }
 
 int UartComIF::configureUartPort(UartCookie* uartCookie) {
+
     struct termios options = {};
 
     std::string deviceFile = uartCookie->getDeviceFile();
     int flags = O_RDWR;
-  if (uartCookie->getUartMode() == UartModes::CANONICAL) {
+    if(uartCookie->getUartMode() == UartModes::CANONICAL) {
         // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
         // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
         flags |= O_NONBLOCK;
@@ -73,19 +70,15 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
     int fd = open(deviceFile.c_str(), flags);
 
     if (fd < 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
-                 << "with error code " << errno << strerror(errno) << std::endl;
-#endif
+        sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
+                "with error code " << errno << strerror(errno) << std::endl;
         return fd;
     }
 
     /* Read in existing settings */
-  if (tcgetattr(fd, &options) != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Error " << errno
-                 << "from tcgetattr: " << strerror(errno) << std::endl;
-#endif
+    if(tcgetattr(fd, &options) != 0) {
+        sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
+                << strerror(errno) << std::endl;
         return fd;
     }
 
@@ -94,7 +87,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
     setDatasizeOptions(&options, uartCookie);
     setFixedOptions(&options);
     setUartMode(&options, *uartCookie);
-  if (uartCookie->getInputShouldBeFlushed()) {
+    if(uartCookie->getInputShouldBeFlushed()) {
         tcflush(fd, TCIFLUSH);
     }
 
@@ -106,10 +99,8 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
 
     /* Save option settings */
     if (tcsetattr(fd, TCSANOW, &options) != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
-                 << ": " << strerror(errno);
-#endif
+        sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
+                errno << ": " << strerror(errno);
         return fd;
     }
     return fd;
@@ -161,9 +152,7 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
         options->c_cflag |= CS8;
         break;
     default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
-#endif
         break;
     }
 }
@@ -184,7 +173,7 @@ void UartComIF::setFixedOptions(struct termios* options) {
     /* Turn off s/w flow ctrl */
     options->c_iflag &= ~(IXON | IXOFF | IXANY);
     /* Disable any special handling of received bytes */
-  options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
+    options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
     /* Prevent special interpretation of output bytes (e.g. newline chars) */
     options->c_oflag &= ~OPOST;
     /* Prevent conversion of newline to carriage return/line feed */
@@ -269,116 +258,63 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
         cfsetispeed(options, B460800);
         cfsetospeed(options, B460800);
         break;
-    case 500000:
-      cfsetispeed(options, B500000);
-      cfsetospeed(options, B500000);
-      break;
-    case 576000:
-      cfsetispeed(options, B576000);
-      cfsetospeed(options, B576000);
-      break;
-    case 921600:
-      cfsetispeed(options, B921600);
-      cfsetospeed(options, B921600);
-      break;
-    case 1000000:
-      cfsetispeed(options, B1000000);
-      cfsetospeed(options, B1000000);
-      break;
-    case 1152000:
-      cfsetispeed(options, B1152000);
-      cfsetospeed(options, B1152000);
-      break;
-    case 1500000:
-      cfsetispeed(options, B1500000);
-      cfsetospeed(options, B1500000);
-      break;
-    case 2000000:
-      cfsetispeed(options, B2000000);
-      cfsetospeed(options, B2000000);
-      break;
-    case 2500000:
-      cfsetispeed(options, B2500000);
-      cfsetospeed(options, B2500000);
-      break;
-    case 3000000:
-      cfsetispeed(options, B3000000);
-      cfsetospeed(options, B3000000);
-      break;
-    case 3500000:
-      cfsetispeed(options, B3500000);
-      cfsetospeed(options, B3500000);
-      break;
-    case 4000000:
-      cfsetispeed(options, B4000000);
-      cfsetospeed(options, B4000000);
-      break;
     default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
-#endif
         break;
     }
 }
 
-ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
+        const uint8_t *sendData, size_t sendLen) {
     int fd = 0;
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
 
-  if (sendLen == 0) {
+    if(sendLen == 0) {
         return RETURN_OK;
     }
 
-  if (sendData == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(sendData == nullptr) {
         sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
-#endif
         return RETURN_FAILED;
     }
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-  if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(uartCookie == nullptr) {
         sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
 
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
     if (uartDeviceMapIter == uartDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
-               << std::endl;
-#endif
+        sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
+                "not in UART map" << std::endl;
         return RETURN_FAILED;
     }
 
     fd = uartDeviceMapIter->second.fileDescriptor;
 
-  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
-               << ": Error description: " << strerror(errno) << std::endl;
-#endif
+    if (write(fd, sendData, sendLen) != (int)sendLen) {
+        sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
+                errno << ": Error description: " << strerror(errno) << std::endl;
         return RETURN_FAILED;
     }
 
     return RETURN_OK;
 }
 
-ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
+ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
+    return RETURN_OK;
+}
 
-ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-  if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(uartCookie == nullptr) {
         sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
 
@@ -386,23 +322,23 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
 
-  if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
+    if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
         return RETURN_OK;
     }
 
     if (uartDeviceMapIter == uartDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
                 << " not in uart map" << std::endl;
-#endif
         return RETURN_FAILED;
     }
 
     if (uartMode == UartModes::CANONICAL) {
         return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-  } else if (uartMode == UartModes::NON_CANONICAL) {
+    }
+    else if (uartMode == UartModes::NON_CANONICAL) {
         return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-  } else {
+    }
+    else {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 }
@@ -420,7 +356,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
     iter->second.replyLen = 0;
     do {
         size_t allowedReadSize = 0;
-    if (currentBytesRead >= maxReplySize) {
+        if(currentBytesRead >= maxReplySize) {
             // Overflow risk. Emit warning, trigger event and break. If this happens,
             // the reception buffer is not large enough or data is not polled often enough.
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -428,56 +364,56 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
             sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                     << std::endl;
 #else
-      sif::printWarning(
-          "UartComIF::requestReceiveMessage: "
+            sif::printWarning("UartComIF::requestReceiveMessage: "
                     "Next read would cause overflow!");
 #endif
 #endif
             result = UART_RX_BUFFER_TOO_SMALL;
             break;
-    } else {
+        }
+        else {
             allowedReadSize = maxReplySize - currentBytesRead;
         }
 
         bytesRead = read(fd, bufferPtr, allowedReadSize);
         if (bytesRead < 0) {
             // EAGAIN: No data available in non-blocking mode
-      if (errno != EAGAIN) {
+            if(errno != EAGAIN) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
-                     << strerror(errno) << std::endl;
+                sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
+                        errno << ": " << strerror(errno) << std::endl;
 #else
-        sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
-                          strerror(errno));
+                sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
+                        errno, strerror(errno));
 #endif
 #endif
                 return RETURN_FAILED;
             }
 
-    } else if (bytesRead > 0) {
+        }
+        else if(bytesRead > 0) {
             iter->second.replyLen += bytesRead;
             bufferPtr += bytesRead;
             currentBytesRead += bytesRead;
         }
         currentReadCycles++;
-  } while (bytesRead > 0 and currentReadCycles < maxReadCycles);
+    } while(bytesRead > 0 and currentReadCycles < maxReadCycles);
     return result;
 }
 
-ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter,
         size_t requestLen) {
     int fd = iter->second.fileDescriptor;
     auto bufferPtr = iter->second.replyBuffer.data();
     // Size check to prevent buffer overflow
-  if (requestLen > uartCookie.getMaxReplyLen()) {
+    if(requestLen > uartCookie.getMaxReplyLen()) {
 #if OBSW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                 << std::endl;
 #else
-    sif::printWarning(
-        "UartComIF::requestReceiveMessage: "
+        sif::printWarning("UartComIF::requestReceiveMessage: "
                 "Next read would cause overflow!");
 #endif
 #endif
@@ -486,12 +422,11 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
     int bytesRead = read(fd, bufferPtr, requestLen);
     if (bytesRead < 0) {
         return RETURN_FAILED;
-  } else if (bytesRead != static_cast<int>(requestLen)) {
-    if (uartCookie.isReplySizeFixed()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
-                   << requestLen << " bytes" << std::endl;
-#endif
+    }
+    else if (bytesRead != static_cast<int>(requestLen)) {
+        if(uartCookie.isReplySizeFixed()) {
+            sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
+                    " of " << requestLen << " bytes" << std::endl;
             return RETURN_FAILED;
         }
     }
@@ -499,25 +434,23 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
+        uint8_t **buffer, size_t* size) {
+
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
 
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-  if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(uartCookie == nullptr) {
         sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
 
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
     if (uartDeviceMapIter == uartDeviceMap.end()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
-               << std::endl;
-#endif
+        sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
+                " not in uart map" << std::endl;
         return RETURN_FAILED;
     }
 
@@ -530,19 +463,17 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
     return RETURN_OK;
 }
 
-ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
+ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-  if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(uartCookie == nullptr) {
         sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-  if (uartDeviceMapIter != uartDeviceMap.end()) {
+    if(uartDeviceMapIter != uartDeviceMap.end()) {
         int fd = uartDeviceMapIter->second.fileDescriptor;
         tcflush(fd, TCIFLUSH);
         return RETURN_OK;
@@ -550,19 +481,17 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
     return RETURN_FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
+ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-  if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(uartCookie == nullptr) {
         sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-  if (uartDeviceMapIter != uartDeviceMap.end()) {
+    if(uartDeviceMapIter != uartDeviceMap.end()) {
         int fd = uartDeviceMapIter->second.fileDescriptor;
         tcflush(fd, TCOFLUSH);
         return RETURN_OK;
@@ -570,19 +499,17 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
     return RETURN_FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
+ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-  if (uartCookie == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(uartCookie == nullptr) {
         sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
-#endif
         return NULLPOINTER;
     }
     deviceFile = uartCookie->getDeviceFile();
     uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-  if (uartDeviceMapIter != uartDeviceMap.end()) {
+    if(uartDeviceMapIter != uartDeviceMap.end()) {
         int fd = uartDeviceMapIter->second.fileDescriptor;
         tcflush(fd, TCIOFLUSH);
         return RETURN_OK;
@@ -590,12 +517,13 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
     return RETURN_FAILED;
 }
 
-void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
+void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
     UartModes uartMode = uartCookie.getUartMode();
-  if (uartMode == UartModes::NON_CANONICAL) {
+    if(uartMode == UartModes::NON_CANONICAL) {
         /* Disable canonical mode */
         options->c_lflag &= ~ICANON;
-  } else if (uartMode == UartModes::CANONICAL) {
+    }
+    else if(uartMode == UartModes::CANONICAL) {
         options->c_lflag |= ICANON;
     }
 }

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

@@ -1,14 +1,13 @@
 #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
 #define BSP_Q7S_COMIF_UARTCOMIF_H_
 
-#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include "UartCookie.h"
 #include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 
 #include <unordered_map>
 #include <vector>
 
-#include "UartCookie.h"
-
 /**
  * @brief 	This is the communication interface to access serial ports on linux based operating
  *          systems.
@@ -18,8 +17,8 @@
  *
  * @author 	J. Meier
  */
-class UartComIF : public DeviceCommunicationIF, public SystemObject {
- public:
+class UartComIF: public DeviceCommunicationIF, public SystemObject {
+public:
     static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
 
     static constexpr ReturnValue_t UART_READ_FAILURE =
@@ -33,28 +32,32 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
 
     virtual ~UartComIF();
 
-  ReturnValue_t initializeInterface(CookieIF* cookie) override;
-  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
-  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+            size_t sendLen) override;
+    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+            size_t requestLen) override;
+    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+            size_t *size) override;
 
     /**
      * @brief   This function discards all data received but not read in the UART buffer.
      */
-  ReturnValue_t flushUartRxBuffer(CookieIF* cookie);
+    ReturnValue_t flushUartRxBuffer(CookieIF *cookie);
 
     /**
      * @brief   This function discards all data in the transmit buffer of the UART driver.
      */
-  ReturnValue_t flushUartTxBuffer(CookieIF* cookie);
+    ReturnValue_t flushUartTxBuffer(CookieIF *cookie);
 
     /**
      * @brief   This function discards both data in the transmit and receive buffer of the UART.
      */
-  ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
+    ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie);
+
+private:
 
- private:
     using UartDeviceFile_t = std::string;
 
     struct UartElements {
@@ -116,6 +119,7 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
             size_t requestLen);
     ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
             size_t requestLen);
+
 };
 
 #endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

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

@@ -1,65 +1,97 @@
-#include "UartCookie.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
 
-#include <fsfw/serviceinterface.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-                       uint32_t baudrate, size_t maxReplyLen)
-    : handlerId(handlerId),
-      deviceFile(deviceFile),
-      uartMode(uartMode),
-      baudrate(baudrate),
-      maxReplyLen(maxReplyLen) {}
+        uint32_t baudrate, size_t maxReplyLen):
+        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
+        baudrate(baudrate), maxReplyLen(maxReplyLen) {
+}
 
 UartCookie::~UartCookie() {}
 
-uint32_t UartCookie::getBaudrate() const { return baudrate; }
+uint32_t UartCookie::getBaudrate() const {
+    return baudrate;
+}
 
-size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
+size_t UartCookie::getMaxReplyLen() const {
+    return maxReplyLen;
+}
 
-std::string UartCookie::getDeviceFile() const { return deviceFile; }
+std::string UartCookie::getDeviceFile() const {
+    return deviceFile;
+}
 
-void UartCookie::setParityOdd() { parity = Parity::ODD; }
+void UartCookie::setParityOdd() {
+    parity = Parity::ODD;
+}
 
-void UartCookie::setParityEven() { parity = Parity::EVEN; }
+void UartCookie::setParityEven() {
+    parity = Parity::EVEN;
+}
 
-Parity UartCookie::getParity() const { return parity; }
+Parity UartCookie::getParity() const {
+    return parity;
+}
 
 void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
-  switch (bitsPerWord_) {
+    switch(bitsPerWord_) {
     case 5:
     case 6:
     case 7:
     case 8:
         break;
     default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
-#endif
         return;
     }
     bitsPerWord = bitsPerWord_;
 }
 
-uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
+uint8_t UartCookie::getBitsPerWord() const {
+    return bitsPerWord;
+}
 
-StopBits UartCookie::getStopBits() const { return stopBits; }
+StopBits UartCookie::getStopBits() const {
+    return stopBits;
+}
 
-void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
+void UartCookie::setTwoStopBits() {
+    stopBits = StopBits::TWO_STOP_BITS;
+}
 
-void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
+void UartCookie::setOneStopBit() {
+    stopBits = StopBits::ONE_STOP_BIT;
+}
 
-UartModes UartCookie::getUartMode() const { return uartMode; }
+UartModes UartCookie::getUartMode() const {
+    return uartMode;
+}
 
-void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
+void UartCookie::setReadCycles(uint8_t readCycles) {
+    this->readCycles = readCycles;
+}
 
-void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
+void UartCookie::setToFlushInput(bool enable) {
+    this->flushInput = enable;
+}
 
-uint8_t UartCookie::getReadCycles() const { return readCycles; }
+uint8_t UartCookie::getReadCycles() const {
+    return readCycles;
+}
 
-bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
+bool UartCookie::getInputShouldBeFlushed() {
+    return this->flushInput;
+}
 
-object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
+object_id_t UartCookie::getHandlerId() const {
+    return this->handlerId;
+}
 
-void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
+void UartCookie::setNoFixedSizeReply() {
+    replySizeFixed = false;
+}
 
-bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
+bool UartCookie::isReplySizeFixed() {
+    return replySizeFixed;
+}

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

@@ -6,11 +6,21 @@
 
 #include <string>
 
-enum class Parity { NONE, EVEN, ODD };
+enum class Parity {
+    NONE,
+    EVEN,
+    ODD
+};
 
-enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
+enum class StopBits {
+    ONE_STOP_BIT,
+    TWO_STOP_BITS
+};
 
-enum class UartModes { CANONICAL, NON_CANONICAL };
+enum class UartModes {
+    CANONICAL,
+    NON_CANONICAL
+};
 
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
@@ -19,8 +29,9 @@ enum class UartModes { CANONICAL, NON_CANONICAL };
  *
  * @author 	J. Meier
  */
-class UartCookie : public CookieIF {
- public:
+class UartCookie: public CookieIF {
+public:
+
     /**
      * @brief	Constructor for the uart cookie.
      * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
@@ -36,8 +47,8 @@ class UartCookie : public CookieIF {
      *                        8 databits (number of bits transfered with one uart frame)
      *                        One stop bit
      */
-  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
-             size_t maxReplyLen);
+    UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+            uint32_t baudrate, size_t maxReplyLen);
 
     virtual ~UartCookie();
 
@@ -92,7 +103,8 @@ class UartCookie : public CookieIF {
 
     bool isReplySizeFixed();
 
- private:
+private:
+
     const object_id_t handlerId;
     std::string deviceFile;
     const UartModes uartMode;

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

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

hal/src/fsfw_hal/linux/uio/UioMapper.cpp

@@ -1,84 +0,0 @@
-#include "UioMapper.h"
-
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <filesystem>
-#include <fstream>
-#include <sstream>
-
-#include "fsfw/serviceinterface.h"
-
-const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
-const char UioMapper::MAP_SUBSTR[] = "/maps/map";
-const char UioMapper::SIZE_FILE_PATH[] = "/size";
-
-UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
-
-UioMapper::~UioMapper() {}
-
-ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  int fd = open(uioFile.c_str(), O_RDWR);
-  if (fd < 1) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  size_t size = 0;
-  result = getMapSize(&size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  *address = static_cast<uint32_t*>(
-      mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
-
-  if (*address == MAP_FAILED) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
-                 << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t UioMapper::getMapSize(size_t* size) {
-  std::stringstream namestream;
-  namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
-             << SIZE_FILE_PATH;
-  FILE* fp;
-  fp = fopen(namestream.str().c_str(), "r");
-  if (fp == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  char hexstring[SIZE_HEX_STRING] = "";
-  int items = fscanf(fp, "%s", hexstring);
-  if (items != 1) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UioMapper::getMapSize: Failed with error code " << errno
-                 << " to read size "
-                    "string from file "
-                 << namestream.str() << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  uint32_t sizeTmp = 0;
-  items = sscanf(hexstring, "%x", &sizeTmp);
-  if (size != nullptr) {
-    *size = sizeTmp;
-  }
-  if (items != 1) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
-                 << "size of map" << mapNum << " to integer" << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  fclose(fp);
-  return HasReturnvaluesIF::RETURN_OK;
-}

hal/src/fsfw_hal/linux/uio/UioMapper.h

@@ -1,58 +0,0 @@
-#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
-#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
-
-#include <sys/mman.h>
-
-#include <string>
-
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
-/**
- * @brief   Class to help opening uio device files and mapping the physical addresses into the user
- *          address space.
- *
- * @author  J. Meier
- */
-class UioMapper {
- public:
-  enum class Permissions : int {
-    READ_ONLY = PROT_READ,
-    WRITE_ONLY = PROT_WRITE,
-    READ_WRITE = PROT_READ | PROT_WRITE
-  };
-
-  /**
-   * @brief   Constructor
-   *
-   * @param uioFile   The device file of the uiO to open
-   * @param uioMap    Number of memory map. Most UIO drivers have only one map which has than 0.
-   */
-  UioMapper(std::string uioFile, int mapNum = 0);
-  virtual ~UioMapper();
-
-  /**
-   * @brief   Maps the physical address into user address space and returns the mapped address
-   *
-   * @address The mapped user space address
-   * @permissions Specifies the read/write permissions of the address region
-   */
-  ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
-
- private:
-  static const char UIO_PATH_PREFIX[];
-  static const char MAP_SUBSTR[];
-  static const char SIZE_FILE_PATH[];
-  static constexpr int SIZE_HEX_STRING = 10;
-
-  std::string uioFile;
-  int mapNum = 0;
-
-  /**
-   * @brief   Reads the map size from the associated sysfs size file
-   *
-   * @param size  The read map size
-   */
-  ReturnValue_t getMapSize(size_t* size);
-};
-
-#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */

hal/src/fsfw_hal/linux/utility.cpp

@@ -1,23 +1,26 @@
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/utility.h"
 
 #include <cerrno>
 #include <cstring>
 
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
 void utility::handleIoctlError(const char* const customPrintout) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-  if (customPrintout != nullptr) {
+    if(customPrintout != nullptr) {
         sif::warning << customPrintout << std::endl;
     }
-  sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
+    sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
+            std::endl;
 #else
-  if (customPrintout != nullptr) {
+    if(customPrintout != nullptr) {
         sif::printWarning("%s\n", customPrintout);
     }
     sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
+
 }
+
+

hal/src/fsfw_hal/stm32h7/definitions.h

@@ -2,7 +2,6 @@
 #define FSFW_HAL_STM32H7_DEFINITIONS_H_
 
 #include <utility>
-
 #include "stm32h7xx.h"
 
 namespace stm32h7 {
@@ -12,15 +11,15 @@ namespace stm32h7 {
  * and the second entry is the pin number
  */
 struct GpioCfg {
-  GpioCfg() : port(nullptr), pin(0), altFnc(0){};
+    GpioCfg(): port(nullptr), pin(0), altFnc(0) {};
 
-  GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
-      : port(port), pin(pin), altFnc(altFnc){};
+    GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0):
+        port(port), pin(pin), altFnc(altFnc) {};
     GPIO_TypeDef* port;
     uint16_t pin;
     uint8_t altFnc;
 };
 
-}  // namespace stm32h7
+}
 
 #endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp

@@ -1,47 +1,51 @@
 #include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
 
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
+
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
+#include "stm32h7xx_hal_spi.h"
+#include "stm32h7xx_hal_rcc.h"
+
 #include <cstring>
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tasks/TaskFactory.h"
-#include "fsfw_hal/stm32h7/spi/mspInit.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
-#include "stm32h7xx_hal_rcc.h"
-#include "stm32h7xx_hal_spi.h"
-
 alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
-alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> GyroL3GD20H::txBuffer
-    __attribute__((section(".dma_buffer")));
+alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
+GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
 
 TransferStates transferState = TransferStates::IDLE;
 spi::TransferModes  GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
 
-GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
-    : spiHandle(spiHandle) {
+
+GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
+        spiHandle(spiHandle) {
     txDmaHandle = new DMA_HandleTypeDef();
     rxDmaHandle = new DMA_HandleTypeDef();
     spi::setSpiHandle(spiHandle);
     spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
     transferMode = transferMode_;
-  if (transferMode == spi::TransferModes::DMA) {
+    if(transferMode == spi::TransferModes::DMA) {
         mspCfg = new spi::MspDmaConfigStruct();
-    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
+        auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
         spi::setDmaHandles(txDmaHandle, rxDmaHandle);
         stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
-                                    IrqPriorities::HIGHEST_FREERTOS,
-                                    IrqPriorities::HIGHEST_FREERTOS);
+                IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
         spi::setSpiDmaMspFunctions(typedCfg);
-  } else if (transferMode == spi::TransferModes::INTERRUPT) {
+    }
+    else if(transferMode == spi::TransferModes::INTERRUPT) {
         mspCfg = new spi::MspIrqConfigStruct();
-    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
+        auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
         stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
         spi::setSpiIrqMspFunctions(typedCfg);
-  } else if (transferMode == spi::TransferModes::POLLING) {
+    }
+    else if(transferMode == spi::TransferModes::POLLING) {
         mspCfg = new spi::MspPollingConfigStruct();
-    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
+        auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
         stm32h7::h743zi::standardPollingCfg(*typedCfg);
         spi::setSpiPollingMspFunctions(typedCfg);
     }
@@ -60,7 +64,7 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
 GyroL3GD20H::~GyroL3GD20H() {
     delete txDmaHandle;
     delete rxDmaHandle;
-  if (mspCfg != nullptr) {
+    if(mspCfg != nullptr) {
         delete mspCfg;
     }
 }
@@ -82,7 +86,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
     // Recommended setting to avoid glitches
     spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
     spiHandle->Init.Mode = SPI_MODE_MASTER;
-  if (HAL_SPI_Init(spiHandle) != HAL_OK) {
+    if(HAL_SPI_Init(spiHandle) != HAL_OK) {
         sif::printWarning("Error initializing SPI\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -95,14 +99,14 @@ ReturnValue_t GyroL3GD20H::initialize() {
     txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
     txBuffer[1] = 0;
 
-  switch (transferMode) {
-    case (spi::TransferModes::DMA): {
+    switch(transferMode)  {
+    case(spi::TransferModes::DMA): {
         return handleDmaTransferInit();
     }
-    case (spi::TransferModes::INTERRUPT): {
+    case(spi::TransferModes::INTERRUPT): {
         return handleInterruptTransferInit();
     }
-    case (spi::TransferModes::POLLING): {
+    case(spi::TransferModes::POLLING): {
         return handlePollingTransferInit();
     }
     default: {
@@ -114,14 +118,14 @@ ReturnValue_t GyroL3GD20H::initialize() {
 }
 
 ReturnValue_t GyroL3GD20H::performOperation() {
-  switch (transferMode) {
-    case (spi::TransferModes::DMA): {
+    switch(transferMode)  {
+    case(spi::TransferModes::DMA): {
         return handleDmaSensorRead();
     }
-    case (spi::TransferModes::POLLING): {
+    case(spi::TransferModes::POLLING): {
         return handlePollingSensorRead();
     }
-    case (spi::TransferModes::INTERRUPT): {
+    case(spi::TransferModes::INTERRUPT): {
         return handleInterruptSensorRead();
     }
     default: {
@@ -137,7 +141,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     in case it overlaps cacheline */
     // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
     HAL_StatusTypeDef result = performDmaTransfer(2);
-  if (result != HAL_OK) {
+    if(result != HAL_OK) {
         // Transfer error in transmission process
         sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
     }
@@ -147,19 +151,17 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
         TaskFactory::delayTask(1);
     }
 
-  switch (transferState) {
-    case (TransferStates::SUCCESS): {
+    switch(transferState) {
+    case(TransferStates::SUCCESS): {
         uint8_t whoAmIVal = rxBuffer[1];
-      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-        sif::printDebug(
-            "GyroL3GD20H::initialize: "
-            "Read WHO AM I value %d not equal to expected value!\n",
-            whoAmIVal);
+        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+            sif::printDebug("GyroL3GD20H::initialize: "
+                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
         }
         transferState = TransferStates::IDLE;
         break;
     }
-    case (TransferStates::FAILURE): {
+    case(TransferStates::FAILURE): {
         sif::printWarning("Transfer failure\n");
         transferState = TransferStates::FAILURE;
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -175,7 +177,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     prepareConfigRegs(configRegs);
 
     result = performDmaTransfer(6);
-  if (result != HAL_OK) {
+    if(result != HAL_OK) {
         // Transfer error in transmission process
         sif::printWarning("Error transmitting SPI with DMA\n");
     }
@@ -185,13 +187,13 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
         TaskFactory::delayTask(1);
     }
 
-  switch (transferState) {
-    case (TransferStates::SUCCESS): {
+    switch(transferState) {
+    case(TransferStates::SUCCESS): {
         sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
         transferState = TransferStates::IDLE;
         break;
     }
-    case (TransferStates::FAILURE): {
+    case(TransferStates::FAILURE): {
         sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
         transferState = TransferStates::FAILURE;
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -201,10 +203,11 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     }
     }
 
+
     txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-  std::memset(txBuffer.data() + 1, 0, 5);
+    std::memset(txBuffer.data() + 1, 0 , 5);
     result = performDmaTransfer(6);
-  if (result != HAL_OK) {
+    if(result != HAL_OK) {
         // Transfer error in transmission process
         sif::printWarning("Error transmitting SPI with DMA\n");
     }
@@ -213,19 +216,20 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
         TaskFactory::delayTask(1);
     }
 
-  switch (transferState) {
-    case (TransferStates::SUCCESS): {
-      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+    switch(transferState) {
+    case(TransferStates::SUCCESS): {
+        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
                 rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
                 rxBuffer[5] != configRegs[4]) {
             sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-      } else {
+        }
+        else {
             sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
         }
         transferState = TransferStates::IDLE;
         break;
     }
-    case (TransferStates::FAILURE): {
+    case(TransferStates::FAILURE): {
         sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
         transferState = TransferStates::FAILURE;
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -239,10 +243,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
 
 ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
     txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-  std::memset(txBuffer.data() + 1, 0, 14);
+    std::memset(txBuffer.data() + 1, 0 , 14);
 
     HAL_StatusTypeDef result = performDmaTransfer(15);
-  if (result != HAL_OK) {
+    if(result != HAL_OK) {
         // Transfer error in transmission process
         sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
     }
@@ -251,12 +255,12 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
         TaskFactory::delayTask(1);
     }
 
-  switch (transferState) {
-    case (TransferStates::SUCCESS): {
+    switch(transferState) {
+    case(TransferStates::SUCCESS): {
         handleSensorReadout();
         break;
     }
-    case (TransferStates::FAILURE): {
+    case(TransferStates::FAILURE): {
         sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
         transferState = TransferStates::FAILURE;
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -271,8 +275,8 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
 HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
     transferState = TransferStates::WAIT;
 #if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
-  SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
-                          txBuffer.size() + 32);
+    SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
+            txBuffer.size()+32);
 #endif
 
     // Start SPI transfer via DMA
@@ -284,23 +288,21 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
     auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-  switch (result) {
-    case (HAL_OK): {
+    switch(result) {
+    case(HAL_OK): {
         sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
         uint8_t whoAmIVal = rxBuffer[1];
-      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-        sif::printDebug(
-            "GyroL3GD20H::performOperation: "
-            "Read WHO AM I value %d not equal to expected value!\n",
-            whoAmIVal);
+        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+            sif::printDebug("GyroL3GD20H::performOperation: "
+                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
         }
         break;
     }
-    case (HAL_TIMEOUT): {
+    case(HAL_TIMEOUT): {
         sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case (HAL_ERROR): {
+    case(HAL_ERROR): {
         sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -317,15 +319,15 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
     result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-  switch (result) {
-    case (HAL_OK): {
+    switch(result) {
+    case(HAL_OK): {
         break;
     }
-    case (HAL_TIMEOUT): {
+    case(HAL_TIMEOUT): {
         sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case (HAL_ERROR): {
+    case(HAL_ERROR): {
         sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -335,27 +337,28 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
     }
 
     txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-  std::memset(txBuffer.data() + 1, 0, 5);
+    std::memset(txBuffer.data() + 1, 0 , 5);
 
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
     result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-  switch (result) {
-    case (HAL_OK): {
-      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+    switch(result) {
+    case(HAL_OK): {
+        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
                 rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
                 rxBuffer[5] != configRegs[4]) {
             sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-      } else {
+        }
+        else {
             sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
         }
         break;
     }
-    case (HAL_TIMEOUT): {
+    case(HAL_TIMEOUT): {
         sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case (HAL_ERROR): {
+    case(HAL_ERROR): {
         sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -368,21 +371,21 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
 
 ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
     txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-  std::memset(txBuffer.data() + 1, 0, 14);
+    std::memset(txBuffer.data() + 1, 0 , 14);
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
     auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
 
-  switch (result) {
-    case (HAL_OK): {
+    switch(result) {
+    case(HAL_OK): {
         handleSensorReadout();
         break;
     }
-    case (HAL_TIMEOUT): {
+    case(HAL_TIMEOUT): {
         sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case (HAL_ERROR): {
+    case(HAL_ERROR): {
         sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -395,8 +398,8 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
 
 ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
-    case (HAL_OK): {
+    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
+    case(HAL_OK): {
         sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
         // Wait for the transfer to complete
         while (transferState == TransferStates::WAIT) {
@@ -404,17 +407,15 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
         }
 
         uint8_t whoAmIVal = rxBuffer[1];
-      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-        sif::printDebug(
-            "GyroL3GD20H::initialize: "
-            "Read WHO AM I value %d not equal to expected value!\n",
-            whoAmIVal);
+        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+            sif::printDebug("GyroL3GD20H::initialize: "
+                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
         }
         break;
     }
-    case (HAL_BUSY):
-    case (HAL_ERROR):
-    case (HAL_TIMEOUT): {
+    case(HAL_BUSY):
+    case(HAL_ERROR):
+    case(HAL_TIMEOUT): {
         sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -426,44 +427,45 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
     uint8_t configRegs[5];
     prepareConfigRegs(configRegs);
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
-    case (HAL_OK): {
+    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+    case(HAL_OK): {
         // Wait for the transfer to complete
         while (transferState == TransferStates::WAIT) {
             TaskFactory::delayTask(1);
         }
         break;
     }
-    case (HAL_BUSY):
-    case (HAL_ERROR):
-    case (HAL_TIMEOUT): {
+    case(HAL_BUSY):
+    case(HAL_ERROR):
+    case(HAL_TIMEOUT): {
         sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     }
 
     txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-  std::memset(txBuffer.data() + 1, 0, 5);
+    std::memset(txBuffer.data() + 1, 0 , 5);
     transferState = TransferStates::WAIT;
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
-    case (HAL_OK): {
+    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+    case(HAL_OK): {
         // Wait for the transfer to complete
         while (transferState == TransferStates::WAIT) {
             TaskFactory::delayTask(1);
         }
-      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
                 rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
                 rxBuffer[5] != configRegs[4]) {
             sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-      } else {
+        }
+        else {
             sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
         }
         break;
     }
-    case (HAL_BUSY):
-    case (HAL_ERROR):
-    case (HAL_TIMEOUT): {
+    case(HAL_BUSY):
+    case(HAL_ERROR):
+    case(HAL_TIMEOUT): {
         sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -474,10 +476,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
 ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
     transferState = TransferStates::WAIT;
     txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-  std::memset(txBuffer.data() + 1, 0, 14);
+    std::memset(txBuffer.data() + 1, 0 , 14);
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
-    case (HAL_OK): {
+    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
+    case(HAL_OK): {
         // Wait for the transfer to complete
         while (transferState == TransferStates::WAIT) {
             TaskFactory::delayTask(1);
@@ -485,9 +487,9 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
         handleSensorReadout();
         break;
     }
-    case (HAL_BUSY):
-    case (HAL_ERROR):
-    case (HAL_TIMEOUT): {
+    case(HAL_BUSY):
+    case(HAL_ERROR):
+    case(HAL_TIMEOUT): {
         sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -495,7 +497,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
+void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) {
     // Enable sensor
     configRegs[0] = 0b00001111;
     configRegs[1] = 0b00000000;
@@ -514,8 +516,7 @@ uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
     txBuf[0] = reg | STM_READ_MASK;
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
     auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
-  if (result) {
-  };
+    if(result) {};
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
     return rxBuf[1];
 }
@@ -534,12 +535,13 @@ void GyroL3GD20H::handleSensorReadout() {
     sif::printInfo("Gyro Z: %f\n", gyroZ);
 }
 
-void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
+
+void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args) {
     transferState = TransferStates::SUCCESS;
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-  if (GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
+    if(GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
         // Invalidate cache prior to access by CPU
-    SCB_InvalidateDCache_by_Addr((uint32_t *)GyroL3GD20H::rxBuffer.data(),
+        SCB_InvalidateDCache_by_Addr ((uint32_t *)GyroL3GD20H::rxBuffer.data(),
                 GyroL3GD20H::recvBufferSize);
     }
 }
@@ -551,6 +553,6 @@ void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *arg
  *         add your own implementation.
  * @retval None
  */
-void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
+void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args) {
     transferState = TransferStates::FAILURE;
 }

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h

@@ -1,26 +1,33 @@
 #ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
 #define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
 
-#include <array>
-#include <cstdint>
-
-#include "../spi/mspInit.h"
-#include "../spi/spiDefinitions.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"
+#include "../spi/mspInit.h"
+#include "../spi/spiDefinitions.h"
 
-enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+#include <cstdint>
+#include <array>
+
+enum class TransferStates {
+    IDLE,
+    WAIT,
+    SUCCESS,
+    FAILURE
+};
 
 class GyroL3GD20H {
- public:
+public:
     GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
     ~GyroL3GD20H();
 
     ReturnValue_t initialize();
     ReturnValue_t performOperation();
 
- private:
+private:
+
     const uint8_t WHO_AM_I_REG = 0b00001111;
     const uint8_t STM_READ_MASK = 0b10000000;
     const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
@@ -47,12 +54,14 @@ class GyroL3GD20H {
 
     uint8_t readRegPolling(uint8_t reg);
 
-  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
+    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+    static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
+
 
     void prepareConfigRegs(uint8_t* configRegs);
     void handleSensorReadout();
 
+
     DMA_HandleTypeDef* txDmaHandle = {};
     DMA_HandleTypeDef* rxDmaHandle = {};
     spi::MspCfgBase* mspCfg = {};

hal/src/fsfw_hal/stm32h7/dma.cpp

@@ -1,7 +1,7 @@
 #include <fsfw_hal/stm32h7/dma.h>
 
-#include <cstddef>
 #include <cstdint>
+#include <cstddef>
 
 user_handler_t DMA_1_USER_HANDLERS[8];
 user_args_t DMA_1_USER_ARGS[8];
@@ -11,10 +11,11 @@ user_args_t DMA_2_USER_ARGS[8];
 
 void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
         user_handler_t user_handler, user_args_t user_args) {
-  if (dma_idx == DMA_1) {
+    if(dma_idx == DMA_1) {
         DMA_1_USER_HANDLERS[stream_idx] = user_handler;
         DMA_1_USER_ARGS[stream_idx] = user_args;
-  } else if (dma_idx == DMA_2) {
+    }
+    else if(dma_idx == DMA_2) {
         DMA_2_USER_HANDLERS[stream_idx] = user_handler;
         DMA_2_USER_ARGS[stream_idx] = user_args;
     }
@@ -26,26 +27,58 @@ void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
 defined in the startup_stm32h743xx.s files! */
 
 #define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX) \
-  if (DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) {                            \
+    if(DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) { \
         DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
         return; \
     } \
-  Default_Handler()
+    Default_Handler() \
 
-extern "C" void DMA1_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 0); }
-extern "C" void DMA1_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 1); }
-extern "C" void DMA1_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 2); }
-extern "C" void DMA1_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 3); }
-extern "C" void DMA1_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 4); }
-extern "C" void DMA1_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 5); }
-extern "C" void DMA1_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 6); }
-extern "C" void DMA1_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 7); }
+extern"C" void DMA1_Stream0_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 0);
+}
+extern"C" void DMA1_Stream1_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 1);
+}
+extern"C" void DMA1_Stream2_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 2);
+}
+extern"C" void DMA1_Stream3_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 3);
+}
+extern"C" void DMA1_Stream4_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 4);
+}
+extern"C" void DMA1_Stream5_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 5);
+}
+extern"C" void DMA1_Stream6_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 6);
+}
+extern"C" void DMA1_Stream7_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(1, 7);
+}
 
-extern "C" void DMA2_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 0); }
-extern "C" void DMA2_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 1); }
-extern "C" void DMA2_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 2); }
-extern "C" void DMA2_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 3); }
-extern "C" void DMA2_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 4); }
-extern "C" void DMA2_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 5); }
-extern "C" void DMA2_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 6); }
-extern "C" void DMA2_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 7); }
+extern"C" void DMA2_Stream0_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 0);
+}
+extern"C" void DMA2_Stream1_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 1);
+}
+extern"C" void DMA2_Stream2_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 2);
+}
+extern"C" void DMA2_Stream3_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 3);
+}
+extern"C" void DMA2_Stream4_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 4);
+}
+extern"C" void DMA2_Stream5_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 5);
+}
+extern"C" void DMA2_Stream6_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 6);
+}
+extern"C" void DMA2_Stream7_IRQHandler() {
+    GENERIC_DMA_IRQ_HANDLER(2, 7);
+}

hal/src/fsfw_hal/stm32h7/dma.h

@@ -5,15 +5,20 @@
 extern "C" {
 #endif
 
-#include <cstdint>
-
 #include "interrupts.h"
+#include <cstdint>
 
 namespace dma {
 
-enum DMAType { TX = 0, RX = 1 };
+enum DMAType {
+    TX = 0,
+    RX = 1
+};
 
-enum DMAIndexes : uint8_t { DMA_1 = 1, DMA_2 = 2 };
+enum DMAIndexes: uint8_t {
+    DMA_1 = 1,
+    DMA_2 = 2
+};
 
 enum DMAStreams {
     STREAM_0 = 0,
@@ -24,7 +29,7 @@ enum DMAStreams {
     STREAM_5 = 5,
     STREAM_6 = 6,
     STREAM_7 = 7,
-};
+} ;
 
 /**
  * Assign user interrupt handlers for DMA streams, allowing to pass an
@@ -32,10 +37,10 @@ enum DMAStreams {
  * @param user_handler
  * @param user_args
  */
-void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, user_handler_t user_handler,
-                          user_args_t user_args);
+void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
+        user_handler_t user_handler, user_args_t user_args);
 
-}  // namespace dma
+}
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp

@@ -4,67 +4,67 @@
 
 void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
 #ifdef GPIOA
-  if (gpioPort == GPIOA) {
+    if(gpioPort == GPIOA) {
         __HAL_RCC_GPIOA_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOB
-  if (gpioPort == GPIOB) {
+    if(gpioPort == GPIOB) {
         __HAL_RCC_GPIOB_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOC
-  if (gpioPort == GPIOC) {
+    if(gpioPort == GPIOC) {
         __HAL_RCC_GPIOC_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOD
-  if (gpioPort == GPIOD) {
+    if(gpioPort == GPIOD) {
         __HAL_RCC_GPIOD_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOE
-  if (gpioPort == GPIOE) {
+    if(gpioPort == GPIOE) {
         __HAL_RCC_GPIOE_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOF
-  if (gpioPort == GPIOF) {
+    if(gpioPort == GPIOF) {
         __HAL_RCC_GPIOF_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOG
-  if (gpioPort == GPIOG) {
+    if(gpioPort == GPIOG) {
         __HAL_RCC_GPIOG_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOH
-  if (gpioPort == GPIOH) {
+    if(gpioPort == GPIOH) {
         __HAL_RCC_GPIOH_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOI
-  if (gpioPort == GPIOI) {
+    if(gpioPort == GPIOI) {
         __HAL_RCC_GPIOI_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOJ
-  if (gpioPort == GPIOJ) {
+    if(gpioPort == GPIOJ) {
         __HAL_RCC_GPIOJ_CLK_ENABLE();
     }
 #endif
 
 #ifdef GPIOK
-  if (gpioPort == GPIOK) {
+    if(gpioPort == GPIOK) {
         __HAL_RCC_GPIOK_CLK_ENABLE();
     }
 #endif

hal/src/fsfw_hal/stm32h7/interrupts.h

@@ -12,10 +12,14 @@ extern "C" {
  */
 extern void Default_Handler();
 
-typedef void (*user_handler_t)(void*);
+typedef void (*user_handler_t) (void*);
 typedef void* user_args_t;
 
-enum IrqPriorities : uint8_t { HIGHEST = 0, HIGHEST_FREERTOS = 6, LOWEST = 15 };
+enum IrqPriorities: uint8_t {
+    HIGHEST = 0,
+    HIGHEST_FREERTOS = 6,
+    LOWEST = 15
+};
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp

@@ -1,11 +1,11 @@
 #include "fsfw_hal/stm32h7/spi/SpiComIF.h"
+#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
 #include "fsfw/tasks/SemaphoreFactory.h"
-#include "fsfw_hal/stm32h7/gpio/gpio.h"
-#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
-#include "fsfw_hal/stm32h7/spi/mspInit.h"
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
 #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/gpio/gpio.h"
 
 // FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
 // instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
@@ -13,14 +13,14 @@
 #if defined FSFW_OSAL_RTEMS
 #include "fsfw/osal/rtems/BinarySemaphore.h"
 #elif defined FSFW_OSAL_FREERTOS
-#include "fsfw/osal/freertos/BinarySemaphore.h"
 #include "fsfw/osal/freertos/TaskManagement.h"
+#include "fsfw/osal/freertos/BinarySemaphore.h"
 #endif
 
 #include "stm32h7xx_hal_gpio.h"
 
-SpiComIF::SpiComIF(object_id_t objectId) : SystemObject(objectId) {
-  void *irqArgsVoided = reinterpret_cast<void *>(&irqArgs);
+SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) {
+    void* irqArgsVoided = reinterpret_cast<void*>(&irqArgs);
     spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
     spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
     spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
@@ -35,11 +35,13 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
     spi::setDmaHandles(txHandle, rxHandle);
 }
 
-ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
+ReturnValue_t SpiComIF::initialize() {
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
 ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
-  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-  if (spiCookie == nullptr) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
 #else
@@ -49,34 +51,32 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     }
     auto transferMode = spiCookie->getTransferMode();
 
-  if (transferMode == spi::TransferModes::DMA) {
+    if(transferMode == spi::TransferModes::DMA) {
         DMA_HandleTypeDef *txHandle = nullptr;
         DMA_HandleTypeDef *rxHandle = nullptr;
         spi::getDmaHandles(&txHandle, &rxHandle);
-    if (txHandle == nullptr or rxHandle == nullptr) {
+        if(txHandle == nullptr or rxHandle == nullptr) {
             sif::printError("SpiComIF::initialize: DMA handles not set!\n");
             return HasReturnvaluesIF::RETURN_FAILED;
         }
     }
     // This semaphore ensures thread-safety for a given bus
-  spiSemaphore =
-      dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
+    spiSemaphore = dynamic_cast<BinarySemaphore*>(
+            SemaphoreFactory::instance()->createBinarySemaphore());
     address_t spiAddress = spiCookie->getDeviceAddress();
 
     auto iter = spiDeviceMap.find(spiAddress);
-  if (iter == spiDeviceMap.end()) {
+    if(iter == spiDeviceMap.end()) {
         size_t bufferSize = spiCookie->getMaxRecvSize();
         auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
         if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
-                 << spiAddress << "to SPI device map" << std::endl;
+            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+                    spiAddress << "to SPI device map" << std::endl;
 #else
-      sif::printError(
-          "SpiComIF::initializeInterface: Failed to insert device with address "
-          "%lu to SPI device map\n",
-          static_cast<unsigned long>(spiAddress));
+            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
             return HasReturnvaluesIF::RETURN_FAILED;
@@ -85,56 +85,60 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     auto gpioPin = spiCookie->getChipSelectGpioPin();
     auto gpioPort = spiCookie->getChipSelectGpioPort();
 
-  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
+    SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
 
     auto spiIdx = spiCookie->getSpiIdx();
-  if (spiIdx == spi::SpiBus::SPI_1) {
+    if(spiIdx == spi::SpiBus::SPI_1) {
 #ifdef SPI1
         spiHandle.Instance = SPI1;
 #endif
-  } else if (spiIdx == spi::SpiBus::SPI_2) {
+    }
+    else if(spiIdx == spi::SpiBus::SPI_2) {
 #ifdef SPI2
         spiHandle.Instance = SPI2;
 #endif
-  } else {
+    }
+    else {
         printCfgError("SPI Bus Index");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     auto mspCfg = spiCookie->getMspCfg();
 
-  if (transferMode == spi::TransferModes::POLLING) {
-    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
-    if (typedCfg == nullptr) {
+    if(transferMode == spi::TransferModes::POLLING) {
+        auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
+        if(typedCfg == nullptr) {
             printCfgError("Polling MSP");
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         spi::setSpiPollingMspFunctions(typedCfg);
-  } else if (transferMode == spi::TransferModes::INTERRUPT) {
-    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
-    if (typedCfg == nullptr) {
+    }
+    else if(transferMode == spi::TransferModes::INTERRUPT) {
+        auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
+        if(typedCfg == nullptr) {
             printCfgError("IRQ MSP");
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         spi::setSpiIrqMspFunctions(typedCfg);
-  } else if (transferMode == spi::TransferModes::DMA) {
-    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
-    if (typedCfg == nullptr) {
+    }
+    else if(transferMode == spi::TransferModes::DMA) {
+        auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
+        if(typedCfg == nullptr) {
             printCfgError("DMA MSP");
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         // Check DMA handles
-    DMA_HandleTypeDef *txHandle = nullptr;
-    DMA_HandleTypeDef *rxHandle = nullptr;
+        DMA_HandleTypeDef* txHandle = nullptr;
+        DMA_HandleTypeDef* rxHandle = nullptr;
         spi::getDmaHandles(&txHandle, &rxHandle);
-    if (txHandle == nullptr or rxHandle == nullptr) {
+        if(txHandle == nullptr or rxHandle == nullptr) {
             printCfgError("DMA Handle");
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         spi::setSpiDmaMspFunctions(typedCfg);
     }
 
-  if (gpioPort != nullptr) {
+    if(gpioPort != nullptr) {
         gpio::initializeGpioClock(gpioPort);
         GPIO_InitTypeDef chipSelect = {};
         chipSelect.Pin = gpioPin;
@@ -143,7 +147,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
         HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
     }
 
-  if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
+    if(HAL_SPI_Init(&spiHandle) != HAL_OK) {
         sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -154,42 +158,42 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 }
 
 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
-  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-  if (spiCookie == nullptr) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
         return NULLPOINTER;
     }
 
-  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
+    SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
 
     auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
-  if (iter == spiDeviceMap.end()) {
+    if(iter == spiDeviceMap.end()) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     iter->second.currentTransferLen = sendLen;
 
     auto transferMode = spiCookie->getTransferMode();
-  switch (spiCookie->getTransferState()) {
-    case (spi::TransferStates::IDLE): {
+    switch(spiCookie->getTransferState()) {
+    case(spi::TransferStates::IDLE): {
         break;
     }
-    case (spi::TransferStates::WAIT):
-    case (spi::TransferStates::FAILURE):
-    case (spi::TransferStates::SUCCESS):
+    case(spi::TransferStates::WAIT):
+    case(spi::TransferStates::FAILURE):
+    case(spi::TransferStates::SUCCESS):
     default: {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     }
 
-  switch (transferMode) {
-    case (spi::TransferModes::POLLING): {
+    switch(transferMode) {
+    case(spi::TransferModes::POLLING): {
         return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
                 sendData, sendLen);
     }
-    case (spi::TransferModes::INTERRUPT): {
+    case(spi::TransferModes::INTERRUPT): {
         return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
                 sendData, sendLen);
     }
-    case (spi::TransferModes::DMA): {
+    case(spi::TransferModes::DMA): {
         return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
                 sendData, sendLen);
     }
@@ -197,21 +201,23 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
-  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-  if (spiCookie == nullptr) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
         return NULLPOINTER;
     }
-  switch (spiCookie->getTransferState()) {
-    case (spi::TransferStates::SUCCESS): {
+    switch(spiCookie->getTransferState()) {
+    case(spi::TransferStates::SUCCESS): {
         auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
-      if (iter == spiDeviceMap.end()) {
+        if(iter == spiDeviceMap.end()) {
             return HasReturnvaluesIF::RETURN_FAILED;
         }
         *buffer = iter->second.replyBuffer.data();
@@ -219,7 +225,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
         spiCookie->setTransferState(spi::TransferStates::IDLE);
         break;
     }
-    case (spi::TransferStates::FAILURE): {
+    case(spi::TransferStates::FAILURE): {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
@@ -230,8 +236,8 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
         spiCookie->setTransferState(spi::TransferStates::IDLE);
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case (spi::TransferStates::WAIT):
-    case (spi::TransferStates::IDLE): {
+    case(spi::TransferStates::WAIT):
+    case(spi::TransferStates::IDLE): {
         break;
     }
     default: {
@@ -246,36 +252,35 @@ void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
     this->defaultPollingTimeout = timeout;
 }
 
-ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-                                                   SpiCookie &spiCookie, const uint8_t *sendData,
-                                                   size_t sendLen) {
+ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
     auto gpioPort = spiCookie.getChipSelectGpioPort();
     auto gpioPin = spiCookie.getChipSelectGpioPin();
     auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
-  if (returnval != HasReturnvaluesIF::RETURN_OK) {
+    if(returnval != HasReturnvaluesIF::RETURN_OK) {
         return returnval;
     }
     spiCookie.setTransferState(spi::TransferStates::WAIT);
-  if (gpioPort != nullptr) {
+    if(gpioPort != nullptr) {
         HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
     }
 
-  auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
-                                        sendLen, defaultPollingTimeout);
-  if (gpioPort != nullptr) {
+    auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
+            recvPtr, sendLen, defaultPollingTimeout);
+    if(gpioPort != nullptr) {
         HAL_GPIO_WritePin(gpioPort, gpioPin,  GPIO_PIN_SET);
     }
     spiSemaphore->release();
-  switch (result) {
-    case (HAL_OK): {
+    switch(result) {
+    case(HAL_OK): {
         spiCookie.setTransferState(spi::TransferStates::SUCCESS);
         break;
     }
-    case (HAL_TIMEOUT): {
+    case(HAL_TIMEOUT): {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
-                   << spiCookie->getDeviceAddress() << std::endl;
+        sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device" <<
+                spiCookie->getDeviceAddress() << std::endl;
 #else
         sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
                 spiCookie.getDeviceAddress());
@@ -284,12 +289,12 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
         spiCookie.setTransferState(spi::TransferStates::FAILURE);
         return spi::HAL_TIMEOUT_RETVAL;
     }
-    case (HAL_ERROR):
+    case(HAL_ERROR):
     default: {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
-                   << spiCookie->getDeviceAddress() << std::endl;
+        sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device" <<
+                spiCookie->getDeviceAddress() << std::endl;
 #else
         sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
                 spiCookie.getDeviceAddress());
@@ -302,42 +307,41 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-                                                     SpiCookie &spiCookie, const uint8_t *sendData,
-                                                     size_t sendLen) {
+ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+        SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
     return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
 }
 
-ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-                                               SpiCookie &spiCookie, const uint8_t *sendData,
-                                               size_t sendLen) {
+ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+        SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
     return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
 }
 
-ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-                                               SpiCookie &spiCookie, const uint8_t *sendData,
-                                               size_t sendLen) {
+ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
+        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
     ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if(result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
     // yet another HAL driver which is not const-correct..
     HAL_StatusTypeDef status = HAL_OK;
     auto transferMode = spiCookie.getTransferMode();
-  if (transferMode == spi::TransferModes::DMA) {
-    if (cacheMaintenanceOnTxBuffer) {
+    if(transferMode == spi::TransferModes::DMA) {
+        if(cacheMaintenanceOnTxBuffer) {
             /* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
             in case it overlaps cacheline */
-      SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
+            SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t) sendData ) & ~(uint32_t)0x1F),
+                    sendLen + 32);
         }
-    status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
+        status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t*>(sendData),
                 currentRecvPtr, sendLen);
-  } else {
-    status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
-                                        sendLen);
     }
-  switch (status) {
-    case (HAL_OK): {
+    else {
+        status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData),
+                currentRecvPtr, sendLen);
+    }
+    switch(status) {
+    case(HAL_OK): {
         break;
     }
     default: {
@@ -349,20 +353,22 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
 
 ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
     char modeString[10];
-  if (transferMode == spi::TransferModes::DMA) {
+    if(transferMode == spi::TransferModes::DMA) {
         std::snprintf(modeString, sizeof(modeString), "Dma");
-  } else {
+    }
+    else {
         std::snprintf(modeString, sizeof(modeString), "Interrupt");
     }
-  sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
-  switch (status) {
-    case (HAL_BUSY): {
+    sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString,
+            status);
+    switch(status) {
+    case(HAL_BUSY): {
         return spi::HAL_BUSY_RETVAL;
     }
-    case (HAL_ERROR): {
+    case(HAL_ERROR): {
         return spi::HAL_ERROR_RETVAL;
     }
-    case (HAL_TIMEOUT): {
+    case(HAL_TIMEOUT): {
         return spi::HAL_TIMEOUT_RETVAL;
     }
     default: {
@@ -371,20 +377,18 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
     }
 }
 
-ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-                                            SpiCookie &spiCookie, const uint8_t *sendData,
-                                            size_t sendLen) {
+
+ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
+        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
     currentRecvPtr = recvPtr;
     currentRecvBuffSize = sendLen;
 
     // Take the semaphore which will be released by a callback when the transfer is complete
     ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if(result != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
-    sif::printWarning(
-        "SpiComIF::handleInterruptSendOperation: Semaphore "
-        "could not be acquired after %d ms\n",
-        timeoutMs);
+        sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore "
+                "could not be acquired after %d ms\n", timeoutMs);
         return result;
     }
     // Cache the current SPI handle in any case
@@ -394,8 +398,8 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef
     irqArgs.spiCookie = &spiCookie;
     // The SPI handle is passed to the default SPI callback as a void argument. This callback
     // is different from the user callbacks specified above!
-  spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
-  if (spiCookie.getChipSelectGpioPort() != nullptr) {
+    spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle));
+    if(spiCookie.getChipSelectGpioPort() != nullptr) {
         HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
                 GPIO_PIN_RESET);
     }
@@ -419,46 +423,48 @@ void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
 }
 
 void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
-  IrqArgs *irqArgs = reinterpret_cast<IrqArgs *>(irqArgsVoid);
-  if (irqArgs == nullptr) {
+    IrqArgs* irqArgs = reinterpret_cast<IrqArgs*>(irqArgsVoid);
+    if(irqArgs == nullptr) {
         return;
     }
-  SpiCookie *spiCookie = irqArgs->spiCookie;
-  SpiComIF *comIF = irqArgs->comIF;
-  if (spiCookie == nullptr or comIF == nullptr) {
+    SpiCookie* spiCookie = irqArgs->spiCookie;
+    SpiComIF* comIF = irqArgs->comIF;
+    if(spiCookie == nullptr or comIF == nullptr) {
         return;
     }
 
     spiCookie->setTransferState(targetState);
 
-  if (spiCookie->getChipSelectGpioPort() != nullptr) {
+    if(spiCookie->getChipSelectGpioPort() != nullptr) {
         // Pull CS pin high again
         HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
                 GPIO_PIN_SET);
     }
 
+
 #if defined FSFW_OSAL_FREERTOS
     // Release the task semaphore
     BaseType_t taskWoken = pdFALSE;
-  ReturnValue_t result =
-      BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
+    ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
+            &taskWoken);
 #elif defined FSFW_OSAL_RTEMS
     ReturnValue_t result = comIF->spiSemaphore->release();
 #endif
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if(result != HasReturnvaluesIF::RETURN_OK) {
         // Configuration error
         printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
     }
 
     // Perform cache maintenance operation for DMA transfers
-  if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
+    if(spiCookie->getTransferMode() == spi::TransferModes::DMA) {
         // Invalidate cache prior to access by CPU
-    SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
+        SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
+                comIF->currentRecvBuffSize);
     }
 #if defined FSFW_OSAL_FREERTOS
     /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
     than the currently running task */
-  if (taskWoken == pdTRUE) {
+    if(taskWoken == pdTRUE) {
         TaskManagement::requestContextSwitch(CallContext::ISR);
     }
 #endif

hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h

@@ -1,15 +1,16 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
 #define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
 
-#include <map>
-#include <vector>
-
+#include "fsfw/tasks/SemaphoreIF.h"
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/tasks/SemaphoreIF.h"
+
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-#include "stm32h743xx.h"
 #include "stm32h7xx_hal_spi.h"
+#include "stm32h743xx.h"
+
+#include <vector>
+#include <map>
 
 class SpiCookie;
 class BinarySemaphore;
@@ -27,8 +28,10 @@ class BinarySemaphore;
  * implementation limits the transfer mode for a given SPI bus.
  * @author  R. Mueller
  */
-class SpiComIF : public SystemObject, public DeviceCommunicationIF {
- public:
+class SpiComIF:
+        public SystemObject,
+        public DeviceCommunicationIF {
+public:
     /**
      * Create a SPI communication interface for the given SPI peripheral (spiInstance)
      * @param objectId
@@ -59,17 +62,19 @@ class SpiComIF : public SystemObject, public DeviceCommunicationIF {
     ReturnValue_t initialize() override;
 
     // DeviceCommunicationIF overrides
-  virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
-  virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
-                                    size_t sendLen) override;
-  virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-  virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-  virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
-                                            size_t* size) override;
+    virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
+    virtual ReturnValue_t sendMessage(CookieIF *cookie,
+            const uint8_t * sendData, size_t sendLen) override;
+    virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+    virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+            size_t requestLen) override;
+    virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
+            uint8_t **buffer, size_t *size) override;
+
+protected:
 
- protected:
     struct SpiInstance {
-    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
         std::vector<uint8_t> replyBuffer;
         size_t currentTransferLen = 0;
     };
@@ -98,29 +103,27 @@ class SpiComIF : public SystemObject, public DeviceCommunicationIF {
     SpiDeviceMap spiDeviceMap;
 
     ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-                                           SpiCookie& spiCookie, const uint8_t* sendData,
-                                           size_t sendLen);
+            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
     ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-                                             SpiCookie& spiCookie, const uint8_t* sendData,
-                                             size_t sendLen);
+            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
     ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-                                       SpiCookie& spiCookie, const uint8_t* sendData,
-                                       size_t sendLen);
+            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
     ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-                                       SpiCookie& spiCookie, const uint8_t* sendData,
-                                       size_t sendLen);
+            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
     ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-                                    SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
+            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
     ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
 
-  static void spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-  static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
+    static void spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+    static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+    static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
 
     static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
 
     void printCfgError(const char* const type);
 };
 
+
+
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp

@@ -1,16 +1,12 @@
 #include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
+
 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
         spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
-                     size_t maxRecvSize, stm32h7::GpioCfg csGpio)
-    : deviceAddress(deviceAddress),
-      spiIdx(spiIdx),
-      spiSpeed(spiSpeed),
-      spiMode(spiMode),
-      transferMode(transferMode),
-      csGpio(csGpio),
-      mspCfg(mspCfg),
-      maxRecvSize(maxRecvSize) {
+        size_t maxRecvSize, stm32h7::GpioCfg csGpio):
+        deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
+        transferMode(transferMode), csGpio(csGpio),
+        mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
     spiHandle.Init.DataSize          = SPI_DATASIZE_8BIT;
     spiHandle.Init.FirstBit          = SPI_FIRSTBIT_MSB;
     spiHandle.Init.TIMode            = SPI_TIMODE_DISABLE;
@@ -27,34 +23,56 @@ SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferM
     spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
 }
 
-uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
+uint16_t SpiCookie::getChipSelectGpioPin() const {
+    return csGpio.pin;
+}
 
-GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
+GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() {
+    return csGpio.port;
+}
 
-address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
+address_t SpiCookie::getDeviceAddress() const {
+    return deviceAddress;
+}
 
-spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
+spi::SpiBus SpiCookie::getSpiIdx() const {
+    return spiIdx;
+}
 
-spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
+spi::SpiModes SpiCookie::getSpiMode() const {
+    return spiMode;
+}
 
-uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
+uint32_t SpiCookie::getSpiSpeed() const {
+    return spiSpeed;
+}
 
-size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
+size_t SpiCookie::getMaxRecvSize() const {
+    return maxRecvSize;
+}
 
-SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
+SPI_HandleTypeDef& SpiCookie::getSpiHandle() {
+    return spiHandle;
+}
 
-spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
+spi::MspCfgBase* SpiCookie::getMspCfg() {
+    return mspCfg;
+}
 
 void SpiCookie::deleteMspCfg() {
-  if (mspCfg != nullptr) {
+    if(mspCfg != nullptr) {
         delete mspCfg;
     }
 }
 
-spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
+spi::TransferModes SpiCookie::getTransferMode() const {
+    return transferMode;
+}
 
 void SpiCookie::setTransferState(spi::TransferStates transferState) {
     this->transferState = transferState;
 }
 
-spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }
+spi::TransferStates SpiCookie::getTransferState() const {
+    return this->transferState;
+}

hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h

@@ -1,14 +1,16 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
 #define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
 
-#include <utility>
-
-#include "../definitions.h"
-#include "fsfw/devicehandlers/CookieIF.h"
-#include "mspInit.h"
 #include "spiDefinitions.h"
+#include "mspInit.h"
+#include "../definitions.h"
+
+#include "fsfw/devicehandlers/CookieIF.h"
+
 #include "stm32h743xx.h"
 
+#include <utility>
+
 /**
  * @brief   SPI cookie implementation for the STM32H7 device family
  * @details
@@ -16,10 +18,10 @@
  * SPI communication interface
  * @author  R. Mueller
  */
-class SpiCookie : public CookieIF {
+class SpiCookie: public CookieIF {
     friend class SpiComIF;
+public:
 
- public:
     /**
      * Allows construction of a SPI cookie for a connected SPI device
      * @param deviceAddress
@@ -37,8 +39,8 @@ class SpiCookie : public CookieIF {
      * @param csGpio                Optional CS GPIO definition.
      */
     SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
-            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
-            stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
+            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
+            size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
 
     uint16_t getChipSelectGpioPin() const;
     GPIO_TypeDef* getChipSelectGpioPort();
@@ -50,7 +52,7 @@ class SpiCookie : public CookieIF {
     size_t getMaxRecvSize() const;
     SPI_HandleTypeDef& getSpiHandle();
 
- private:
+private:
     address_t deviceAddress;
     SPI_HandleTypeDef spiHandle = {};
     spi::SpiBus spiIdx;
@@ -73,4 +75,6 @@ class SpiCookie : public CookieIF {
     spi::TransferStates getTransferState() const;
 };
 
+
+
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */

hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp

@@ -1,14 +1,14 @@
-#include "fsfw_hal/stm32h7/spi/mspInit.h"
-
-#include <cstdio>
-
 #include "fsfw_hal/stm32h7/dma.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
 #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+
 #include "stm32h743xx.h"
-#include "stm32h7xx_hal_def.h"
-#include "stm32h7xx_hal_dma.h"
 #include "stm32h7xx_hal_spi.h"
+#include "stm32h7xx_hal_dma.h"
+#include "stm32h7xx_hal_def.h"
+
+#include <cstdio>
 
 spi::msp_func_t mspInitFunc = nullptr;
 spi::MspCfgBase* mspInitArgs = nullptr;
@@ -28,7 +28,7 @@ spi::MspCfgBase* mspDeinitArgs = nullptr;
  */
 void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
     auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
-  if (hspi == nullptr or cfg == nullptr) {
+    if(hspi == nullptr or cfg == nullptr) {
         return;
     }
     setSpiHandle(hspi);
@@ -36,7 +36,7 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
     DMA_HandleTypeDef* hdma_tx = nullptr;
     DMA_HandleTypeDef* hdma_rx = nullptr;
     spi::getDmaHandles(&hdma_tx, &hdma_rx);
-  if (hdma_tx == nullptr or hdma_rx == nullptr) {
+    if(hdma_tx == nullptr or hdma_rx == nullptr) {
         printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
         return;
     }
@@ -44,14 +44,14 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
     spi::halMspInitInterrupt(hspi, cfg);
 
     // DMA setup
-  if (cfg->dmaClkEnableWrapper == nullptr) {
+    if(cfg->dmaClkEnableWrapper == nullptr) {
         mspErrorHandler("spi::halMspInitDma", "DMA Clock init invalid");
     }
     cfg->dmaClkEnableWrapper();
 
     // Configure the DMA
     /* Configure the DMA handler for Transmission process */
-  if (hdma_tx->Instance == nullptr) {
+    if(hdma_tx->Instance == nullptr) {
         // Assume it was not configured properly
         mspErrorHandler("spi::halMspInitDma", "DMA TX handle invalid");
     }
@@ -73,7 +73,8 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
 
     /* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
     // Assign the interrupt handler
-  dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream, &spi::dmaTxIrqHandler, hdma_tx);
+    dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream,
+            &spi::dmaTxIrqHandler, hdma_tx);
     HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
     HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
 }
@@ -88,16 +89,17 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
  */
 void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
     auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
-  if (hspi == nullptr or cfg == nullptr) {
+    if(hspi == nullptr or cfg == nullptr) {
         return;
     }
     spi::halMspDeinitInterrupt(hspi, cfgBase);
     DMA_HandleTypeDef* hdma_tx = NULL;
     DMA_HandleTypeDef* hdma_rx = NULL;
     spi::getDmaHandles(&hdma_tx, &hdma_rx);
-  if (hdma_tx == NULL || hdma_rx == NULL) {
+    if(hdma_tx == NULL || hdma_rx == NULL) {
         printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
-  } else {
+    }
+    else {
         // Disable the DMA
         /* De-Initialize the DMA associated to transmission process */
         HAL_DMA_DeInit(hdma_tx);
@@ -108,6 +110,7 @@ void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
     // Disable the NVIC for DMA
     HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
     HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
+
 }
 
 void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
@@ -153,7 +156,7 @@ void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
 
 void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
     auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
-  if (cfg == nullptr or hspi == nullptr) {
+    if(cfg == nullptr or hspi == nullptr) {
         return;
     }
 
@@ -172,20 +175,28 @@ void spi::halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
 }
 
 void spi::getMspInitFunction(msp_func_t* init_func, MspCfgBase** args) {
-  if (init_func != NULL && args != NULL) {
+    if(init_func != NULL && args != NULL) {
         *init_func = mspInitFunc;
         *args = mspInitArgs;
     }
 }
 
 void spi::getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args) {
-  if (deinit_func != NULL && args != NULL) {
+    if(deinit_func != NULL && args != NULL) {
         *deinit_func = mspDeinitFunc;
         *args = mspDeinitArgs;
     }
 }
 
-void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc,
+void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
+        msp_func_t initFunc, msp_func_t deinitFunc) {
+    mspInitFunc = initFunc;
+    mspDeinitFunc = deinitFunc;
+    mspInitArgs = cfg;
+    mspDeinitArgs = cfg;
+}
+
+void spi::setSpiIrqMspFunctions(MspIrqConfigStruct *cfg, msp_func_t initFunc,
         msp_func_t deinitFunc) {
     mspInitFunc = initFunc;
     mspDeinitFunc = deinitFunc;
@@ -193,15 +204,7 @@ void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc,
     mspDeinitArgs = cfg;
 }
 
-void spi::setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc,
-                                msp_func_t deinitFunc) {
-  mspInitFunc = initFunc;
-  mspDeinitFunc = deinitFunc;
-  mspInitArgs = cfg;
-  mspDeinitArgs = cfg;
-}
-
-void spi::setSpiPollingMspFunctions(MspPollingConfigStruct* cfg, msp_func_t initFunc,
+void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t initFunc,
         msp_func_t deinitFunc) {
     mspInitFunc = initFunc;
     mspDeinitFunc = deinitFunc;
@@ -219,10 +222,11 @@ void spi::setSpiPollingMspFunctions(MspPollingConfigStruct* cfg, msp_func_t init
  * @param hspi: SPI handle pointer
  * @retval None
  */
-extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
-  if (mspInitFunc != NULL) {
+extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
+    if(mspInitFunc != NULL) {
         mspInitFunc(hspi, mspInitArgs);
-  } else {
+    }
+    else {
         printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
     }
 }
@@ -235,14 +239,15 @@ extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
  * @param hspi: SPI handle pointer
  * @retval None
  */
-extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
-  if (mspDeinitFunc != NULL) {
+extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) {
+    if(mspDeinitFunc != NULL) {
         mspDeinitFunc(hspi, mspDeinitArgs);
-  } else {
+    }
+    else {
         printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
     }
 }
 
-void spi::mspErrorHandler(const char* const function, const char* const message) {
+void spi::mspErrorHandler(const char* const function, const char *const message) {
     printf("%s failure: %s\n", function, message);
 }

hal/src/fsfw_hal/stm32h7/spi/mspInit.h

@@ -1,18 +1,19 @@
 #ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
 #define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
 
-#include <cstdint>
-
+#include "spiDefinitions.h"
 #include "../definitions.h"
 #include "../dma.h"
-#include "spiDefinitions.h"
+
 #include "stm32h7xx_hal_spi.h"
 
+#include <cstdint>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-using mspCb = void (*)(void);
+using mspCb = void (*) (void);
 
 /**
  * @brief   This file provides MSP implementation for DMA, IRQ and Polling mode for the
@@ -23,8 +24,9 @@ namespace spi {
 struct MspCfgBase {
     MspCfgBase();
     MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
-             mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
-      : sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}
+            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+        sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb),
+        setupCb(setupCb) {}
 
     virtual ~MspCfgBase() = default;
 
@@ -36,20 +38,20 @@ struct MspCfgBase {
     mspCb setupCb = nullptr;
 };
 
-struct MspPollingConfigStruct : public MspCfgBase {
-  MspPollingConfigStruct() : MspCfgBase(){};
+struct MspPollingConfigStruct: public MspCfgBase {
+    MspPollingConfigStruct(): MspCfgBase() {};
     MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
-                         mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
-      : MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
+            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+            MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
 };
 
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
-struct MspIrqConfigStruct : public MspPollingConfigStruct {
-  MspIrqConfigStruct() : MspPollingConfigStruct(){};
+struct MspIrqConfigStruct: public MspPollingConfigStruct {
+    MspIrqConfigStruct(): MspPollingConfigStruct() {};
     MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
-                     mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
-      : MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
+            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+            MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
 
     SpiBus spiBus = SpiBus::SPI_1;
     user_handler_t spiIrqHandler = nullptr;
@@ -63,12 +65,12 @@ struct MspIrqConfigStruct : public MspPollingConfigStruct {
 
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
-struct MspDmaConfigStruct : public MspIrqConfigStruct {
-  MspDmaConfigStruct() : MspIrqConfigStruct(){};
+struct MspDmaConfigStruct: public MspIrqConfigStruct {
+    MspDmaConfigStruct(): MspIrqConfigStruct() {};
     MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
-                     mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
-      : MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
-  void (*dmaClkEnableWrapper)(void) = nullptr;
+            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+            MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
+    void (* dmaClkEnableWrapper) (void) = nullptr;
 
     dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
     dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
@@ -83,10 +85,11 @@ struct MspDmaConfigStruct : public MspIrqConfigStruct {
     IrqPriorities rxSubpriority = IrqPriorities::LOWEST;
 };
 
-using msp_func_t = void (*)(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
+using msp_func_t = void (*) (SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
 
-void getMspInitFunction(msp_func_t* init_func, MspCfgBase** args);
-void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args);
+
+void getMspInitFunction(msp_func_t* init_func, MspCfgBase **args);
+void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase **args);
 
 void halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
 void halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
@@ -104,17 +107,23 @@ void halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
  * @param deinit_func
  * @param deinit_args
  */
-void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitDma,
-                           msp_func_t deinitFunc = &spi::halMspDeinitDma);
-void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitInterrupt,
-                           msp_func_t deinitFunc = &spi::halMspDeinitInterrupt);
+void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
+        msp_func_t initFunc = &spi::halMspInitDma,
+        msp_func_t deinitFunc= &spi::halMspDeinitDma
+);
+void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg,
+        msp_func_t initFunc = &spi::halMspInitInterrupt,
+        msp_func_t deinitFunc= &spi::halMspDeinitInterrupt
+);
 void setSpiPollingMspFunctions(MspPollingConfigStruct* cfg,
         msp_func_t initFunc = &spi::halMspInitPolling,
-                               msp_func_t deinitFunc = &spi::halMspDeinitPolling);
+        msp_func_t deinitFunc= &spi::halMspDeinitPolling
+);
 
-void mspErrorHandler(const char* const function, const char* const message);
+void mspErrorHandler(const char* const function, const char *const message);
+
+}
 
-}  // namespace spi
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp

@@ -1,9 +1,8 @@
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 
 #include <cstdio>
 
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-
 SPI_HandleTypeDef* spiHandle = nullptr;
 DMA_HandleTypeDef* hdmaTx = nullptr;
 DMA_HandleTypeDef* hdmaRx = nullptr;
@@ -19,18 +18,19 @@ void* errorArgs = nullptr;
 
 void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
         dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber);
-void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus);
+void mapSpiBus(DMA_HandleTypeDef *handle, dma::DMAType dmaType, spi::SpiBus spiBus);
 
-void spi::configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
-                             dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream,
-                             IRQn_Type* dmaIrqNumber, uint32_t dmaMode, uint32_t dmaPriority) {
+void spi::configureDmaHandle(DMA_HandleTypeDef *handle, spi::SpiBus spiBus, dma::DMAType dmaType,
+        dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
+        uint32_t dmaMode, uint32_t dmaPriority) {
     using namespace dma;
     mapIndexAndStream(handle, dmaType, dmaIdx, dmaStream, dmaIrqNumber);
     mapSpiBus(handle, dmaType, spiBus);
 
-  if (dmaType == DMAType::TX) {
+    if(dmaType == DMAType::TX) {
         handle->Init.Direction = DMA_MEMORY_TO_PERIPH;
-  } else {
+    }
+    else {
         handle->Init.Direction = DMA_PERIPH_TO_MEMORY;
     }
 
@@ -58,43 +58,48 @@ void spi::getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHand
     *rxHandle = hdmaRx;
 }
 
-void spi::setSpiHandle(SPI_HandleTypeDef* spiHandle_) {
-  if (spiHandle_ == NULL) {
+void spi::setSpiHandle(SPI_HandleTypeDef *spiHandle_) {
+    if(spiHandle_ == NULL) {
         return;
     }
     spiHandle = spiHandle_;
 }
 
-void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
+void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
     rxTxCb = callback;
     rxTxArgs = userArgs;
 }
 
-void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
+void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
     rxCb = callback;
     rxArgs = userArgs;
 }
 
-void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
+void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void *userArgs) {
     txCb = callback;
     txArgs = userArgs;
 }
 
-void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs) {
+void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void *userArgs) {
     errorCb = callback;
     errorArgs = userArgs;
 }
 
-SPI_HandleTypeDef* spi::getSpiHandle() { return spiHandle; }
+SPI_HandleTypeDef* spi::getSpiHandle() {
+    return spiHandle;
+}
+
+
 
 /**
  * @brief  TxRx Transfer completed callback.
  * @param  hspi: SPI handle
  */
-extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef* hspi) {
-  if (rxTxCb != NULL) {
+extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
+    if(rxTxCb != NULL) {
         rxTxCb(hspi, rxTxArgs);
-  } else {
+    }
+    else {
         printf("HAL_SPI_TxRxCpltCallback: No user callback specified\n");
     }
 }
@@ -103,10 +108,11 @@ extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef* hspi) {
  * @brief  TxRx Transfer completed callback.
  * @param  hspi: SPI handle
  */
-extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef* hspi) {
-  if (txCb != NULL) {
+extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
+    if(txCb != NULL) {
         txCb(hspi, txArgs);
-  } else {
+    }
+    else {
         printf("HAL_SPI_TxCpltCallback: No user callback specified\n");
     }
 }
@@ -115,10 +121,11 @@ extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef* hspi) {
  * @brief  TxRx Transfer completed callback.
  * @param  hspi: SPI handle
  */
-extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef* hspi) {
-  if (rxCb != nullptr) {
+extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
+    if(rxCb != nullptr) {
         rxCb(hspi, rxArgs);
-  } else {
+    }
+    else {
         printf("HAL_SPI_RxCpltCallback: No user callback specified\n");
     }
 }
@@ -130,10 +137,11 @@ extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef* hspi) {
  *         add your own implementation.
  * @retval None
  */
-extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef* hspi) {
-  if (errorCb != nullptr) {
+extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
+    if(errorCb != nullptr) {
         errorCb(hspi, rxArgs);
-  } else {
+    }
+    else {
         printf("HAL_SPI_ErrorCallback: No user callback specified\n");
     }
 }
@@ -141,159 +149,160 @@ extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef* hspi) {
 void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
         dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber) {
     using namespace dma;
-  if (dmaIdx == DMAIndexes::DMA_1) {
+    if(dmaIdx == DMAIndexes::DMA_1) {
 #ifdef DMA1
-    switch (dmaStream) {
-      case (DMAStreams::STREAM_0): {
+        switch(dmaStream) {
+        case(DMAStreams::STREAM_0): {
 #ifdef DMA1_Stream0
             handle->Instance = DMA1_Stream0;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA1_Stream0_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_1): {
+        case(DMAStreams::STREAM_1): {
 #ifdef DMA1_Stream1
             handle->Instance = DMA1_Stream1;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA1_Stream1_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_2): {
+        case(DMAStreams::STREAM_2): {
 #ifdef DMA1_Stream2
             handle->Instance = DMA1_Stream2;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA1_Stream2_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_3): {
+        case(DMAStreams::STREAM_3): {
 #ifdef DMA1_Stream3
             handle->Instance = DMA1_Stream3;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA1_Stream3_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_4): {
+        case(DMAStreams::STREAM_4): {
 #ifdef DMA1_Stream4
             handle->Instance = DMA1_Stream4;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA1_Stream4_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_5): {
+        case(DMAStreams::STREAM_5): {
 #ifdef DMA1_Stream5
             handle->Instance = DMA1_Stream5;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA1_Stream5_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_6): {
+        case(DMAStreams::STREAM_6): {
 #ifdef DMA1_Stream6
             handle->Instance = DMA1_Stream6;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA1_Stream6_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_7): {
+        case(DMAStreams::STREAM_7): {
 #ifdef DMA1_Stream7
             handle->Instance = DMA1_Stream7;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA1_Stream7_IRQn;
             }
 #endif
             break;
         }
         }
-    if (dmaType == DMAType::TX) {
+        if(dmaType == DMAType::TX) {
             handle->Init.Request = DMA_REQUEST_SPI1_TX;
-    } else {
+        }
+        else {
             handle->Init.Request = DMA_REQUEST_SPI1_RX;
         }
 #endif /* DMA1 */
     }
-  if (dmaIdx == DMAIndexes::DMA_2) {
+    if(dmaIdx == DMAIndexes::DMA_2) {
 #ifdef DMA2
-    switch (dmaStream) {
-      case (DMAStreams::STREAM_0): {
+        switch(dmaStream) {
+        case(DMAStreams::STREAM_0): {
 #ifdef DMA2_Stream0
             handle->Instance = DMA2_Stream0;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA2_Stream0_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_1): {
+        case(DMAStreams::STREAM_1): {
 #ifdef DMA2_Stream1
             handle->Instance = DMA2_Stream1;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA2_Stream1_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_2): {
+        case(DMAStreams::STREAM_2): {
 #ifdef DMA2_Stream2
             handle->Instance = DMA2_Stream2;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA2_Stream2_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_3): {
+        case(DMAStreams::STREAM_3): {
 #ifdef DMA2_Stream3
             handle->Instance = DMA2_Stream3;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA2_Stream3_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_4): {
+        case(DMAStreams::STREAM_4): {
 #ifdef DMA2_Stream4
             handle->Instance = DMA2_Stream4;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA2_Stream4_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_5): {
+        case(DMAStreams::STREAM_5): {
 #ifdef DMA2_Stream5
             handle->Instance = DMA2_Stream5;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA2_Stream5_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_6): {
+        case(DMAStreams::STREAM_6): {
 #ifdef DMA2_Stream6
             handle->Instance = DMA2_Stream6;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA2_Stream6_IRQn;
             }
 #endif
             break;
         }
-      case (DMAStreams::STREAM_7): {
+        case(DMAStreams::STREAM_7): {
 #ifdef DMA2_Stream7
             handle->Instance = DMA2_Stream7;
-        if (dmaIrqNumber != nullptr) {
+            if(dmaIrqNumber != nullptr) {
                 *dmaIrqNumber = DMA2_Stream7_IRQn;
             }
 #endif
@@ -304,23 +313,26 @@ void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMA
     }
 }
 
-void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus) {
-  if (dmaType == dma::DMAType::TX) {
-    if (spiBus == spi::SpiBus::SPI_1) {
+void mapSpiBus(DMA_HandleTypeDef *handle, dma::DMAType dmaType, spi::SpiBus spiBus) {
+    if(dmaType == dma::DMAType::TX) {
+        if(spiBus == spi::SpiBus::SPI_1) {
 #ifdef DMA_REQUEST_SPI1_TX
             handle->Init.Request = DMA_REQUEST_SPI1_TX;
 #endif
-    } else if (spiBus == spi::SpiBus::SPI_2) {
+        }
+        else if(spiBus == spi::SpiBus::SPI_2) {
 #ifdef DMA_REQUEST_SPI2_TX
             handle->Init.Request = DMA_REQUEST_SPI2_TX;
 #endif
         }
-  } else {
-    if (spiBus == spi::SpiBus::SPI_1) {
+    }
+    else {
+        if(spiBus == spi::SpiBus::SPI_1) {
 #ifdef DMA_REQUEST_SPI1_RX
             handle->Init.Request = DMA_REQUEST_SPI1_RX;
 #endif
-    } else if (spiBus == spi::SpiBus::SPI_2) {
+        }
+        else if(spiBus == spi::SpiBus::SPI_2) {
 #ifdef DMA_REQUEST_SPI2_RX
             handle->Init.Request = DMA_REQUEST_SPI2_RX;
 #endif

hal/src/fsfw_hal/stm32h7/spi/spiCore.h

@@ -3,6 +3,7 @@
 
 #include "fsfw_hal/stm32h7/dma.h"
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"
 
@@ -10,13 +11,14 @@
 extern "C" {
 #endif
 
-using spi_transfer_cb_t = void (*)(SPI_HandleTypeDef* hspi, void* userArgs);
+using spi_transfer_cb_t = void (*) (SPI_HandleTypeDef *hspi, void* userArgs);
 
 namespace spi {
 
-void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
-                        dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
-                        uint32_t dmaMode = DMA_NORMAL, uint32_t dmaPriority = DMA_PRIORITY_LOW);
+void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus,
+        dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
+        dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber, uint32_t dmaMode = DMA_NORMAL,
+        uint32_t dmaPriority = DMA_PRIORITY_LOW);
 
 /**
  * Assign DMA handles. Required to use DMA for SPI transfers.
@@ -30,7 +32,7 @@ void getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle);
  * Assign SPI handle. Needs to be done before using the SPI
  * @param spiHandle
  */
-void setSpiHandle(SPI_HandleTypeDef* spiHandle);
+void setSpiHandle(SPI_HandleTypeDef *spiHandle);
 
 void assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
 void assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
@@ -43,7 +45,7 @@ void assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs);
  */
 SPI_HandleTypeDef* getSpiHandle();
 
-}  // namespace spi
+}
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp

@@ -1,23 +1,23 @@
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 
 void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle) {
-  switch (spiMode) {
-    case (SpiModes::MODE_0): {
+    switch(spiMode) {
+    case(SpiModes::MODE_0): {
         spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
         spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
         break;
     }
-    case (SpiModes::MODE_1): {
+    case(SpiModes::MODE_1): {
         spiHandle.Init.CLKPolarity = SPI_POLARITY_LOW;
         spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
         break;
     }
-    case (SpiModes::MODE_2): {
+    case(SpiModes::MODE_2): {
         spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
         spiHandle.Init.CLKPhase = SPI_PHASE_1EDGE;
         break;
     }
-    case (SpiModes::MODE_3): {
+    case(SpiModes::MODE_3): {
         spiHandle.Init.CLKPolarity = SPI_POLARITY_HIGH;
         spiHandle.Init.CLKPhase = SPI_PHASE_2EDGE;
         break;
@@ -30,16 +30,22 @@ uint32_t spi::getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps) {
     uint32_t spi_clk = clock_src_freq;
     uint32_t presc = 0;
     static const uint32_t baudrate[] = {
-      SPI_BAUDRATEPRESCALER_2,   SPI_BAUDRATEPRESCALER_4,   SPI_BAUDRATEPRESCALER_8,
-      SPI_BAUDRATEPRESCALER_16,  SPI_BAUDRATEPRESCALER_32,  SPI_BAUDRATEPRESCALER_64,
-      SPI_BAUDRATEPRESCALER_128, SPI_BAUDRATEPRESCALER_256,
+            SPI_BAUDRATEPRESCALER_2,
+            SPI_BAUDRATEPRESCALER_4,
+            SPI_BAUDRATEPRESCALER_8,
+            SPI_BAUDRATEPRESCALER_16,
+            SPI_BAUDRATEPRESCALER_32,
+            SPI_BAUDRATEPRESCALER_64,
+            SPI_BAUDRATEPRESCALER_128,
+            SPI_BAUDRATEPRESCALER_256,
     };
 
-  while (spi_clk > baudrate_mbps) {
+    while( spi_clk > baudrate_mbps) {
         presc = baudrate[divisor];
-    if (++divisor > 7) break;
+        if (++divisor > 7)
+            break;
 
-    spi_clk = (spi_clk >> 1);
+        spi_clk = ( spi_clk >> 1);
     }
 
     return presc;

hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.h

@@ -2,24 +2,37 @@
 #define FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_
 
 #include "../../common/spi/spiCommon.h"
+
 #include "fsfw/returnvalues/FwClassIds.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"
 
 namespace spi {
 
 static constexpr uint8_t HAL_SPI_ID = CLASS_ID::HAL_SPI;
-static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL =
-    HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0);
+static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0);
 static constexpr ReturnValue_t HAL_BUSY_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 1);
 static constexpr ReturnValue_t HAL_ERROR_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 2);
 
-enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
+enum class TransferStates {
+    IDLE,
+    WAIT,
+    SUCCESS,
+    FAILURE
+};
 
-enum SpiBus { SPI_1, SPI_2 };
+enum SpiBus {
+    SPI_1,
+    SPI_2
+};
 
-enum TransferModes { POLLING, INTERRUPT, DMA };
+enum TransferModes {
+    POLLING,
+    INTERRUPT,
+    DMA
+};
 
 void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle);
 
@@ -31,6 +44,7 @@ void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle);
  */
 uint32_t getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps);
 
-}  // namespace spi
+}
+
 
 #endif /* FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_ */

hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp

@@ -1,12 +1,12 @@
 #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-
-#include <stddef.h>
-
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
+
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"
 #include "stm32h7xx_hal_spi.h"
 
+#include <stddef.h>
+
 user_handler_t spi1UserHandler = &spi::spiIrqHandler;
 user_args_t spi1UserArgs = nullptr;
 
@@ -18,11 +18,11 @@ user_args_t spi2UserArgs = nullptr;
  * @param  None
  * @retval None
  */
-void spi::dmaRxIrqHandler(void *dmaHandle) {
-  if (dmaHandle == nullptr) {
+void spi::dmaRxIrqHandler(void* dmaHandle) {
+    if(dmaHandle == nullptr) {
         return;
     }
-  HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
+    HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dmaHandle);
 }
 
 /**
@@ -30,11 +30,11 @@ void spi::dmaRxIrqHandler(void *dmaHandle) {
  * @param  None
  * @retval None
  */
-void spi::dmaTxIrqHandler(void *dmaHandle) {
-  if (dmaHandle == nullptr) {
+void spi::dmaTxIrqHandler(void* dmaHandle) {
+    if(dmaHandle == nullptr) {
         return;
     }
-  HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
+    HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dmaHandle);
 }
 
 /**
@@ -42,20 +42,21 @@ void spi::dmaTxIrqHandler(void *dmaHandle) {
  * @param  None
  * @retval None
  */
-void spi::spiIrqHandler(void *spiHandle) {
-  if (spiHandle == nullptr) {
+void spi::spiIrqHandler(void* spiHandle) {
+    if(spiHandle == nullptr) {
         return;
     }
-  // auto currentSpiHandle = spi::getSpiHandle();
-  HAL_SPI_IRQHandler((SPI_HandleTypeDef *)spiHandle);
+    //auto currentSpiHandle = spi::getSpiHandle();
+    HAL_SPI_IRQHandler((SPI_HandleTypeDef *) spiHandle);
 }
 
 void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
         user_args_t userArgs) {
-  if (spiIdx == spi::SpiBus::SPI_1) {
+    if(spiIdx == spi::SpiBus::SPI_1) {
         spi1UserHandler = userHandler;
         spi1UserArgs = userArgs;
-  } else {
+    }
+    else {
         spi2UserHandler = userHandler;
         spi2UserArgs = userArgs;
     }
@@ -63,22 +64,24 @@ void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
 
 void spi::getSpiUserHandler(spi::SpiBus spiBus, user_handler_t *userHandler,
         user_args_t *userArgs) {
-  if (userHandler == nullptr or userArgs == nullptr) {
+    if(userHandler == nullptr or userArgs == nullptr) {
         return;
     }
-  if (spiBus == spi::SpiBus::SPI_1) {
+    if(spiBus == spi::SpiBus::SPI_1) {
         *userArgs = spi1UserArgs;
         *userHandler = spi1UserHandler;
-  } else {
+    }
+    else {
         *userArgs = spi2UserArgs;
         *userHandler = spi2UserHandler;
     }
 }
 
 void spi::assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) {
-  if (spiBus == spi::SpiBus::SPI_1) {
+    if(spiBus == spi::SpiBus::SPI_1) {
         spi1UserArgs = userArgs;
-  } else {
+    }
+    else {
         spi2UserArgs = userArgs;
     }
 }
@@ -87,7 +90,7 @@ void spi::assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) {
 defined in the startup_stm32h743xx.s files! */
 
 extern "C" void SPI1_IRQHandler() {
-  if (spi1UserHandler != NULL) {
+    if(spi1UserHandler != NULL) {
         spi1UserHandler(spi1UserArgs);
         return;
     }
@@ -95,7 +98,7 @@ extern "C" void SPI1_IRQHandler() {
 }
 
 extern "C"  void SPI2_IRQHandler() {
-  if (spi2UserHandler != nullptr) {
+    if(spi2UserHandler != nullptr) {
         spi2UserHandler(spi2UserArgs);
         return;
     }

hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.h

@@ -18,8 +18,10 @@ void assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs);
  * @param user_handler
  * @param user_args
  */
-void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler, user_args_t user_args);
-void getSpiUserHandler(spi::SpiBus spiBus, user_handler_t* user_handler, user_args_t* user_args);
+void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler,
+        user_args_t user_args);
+void getSpiUserHandler(spi::SpiBus spiBus, user_handler_t* user_handler,
+        user_args_t* user_args);
 
 /**
  * Generic interrupt handlers supplied for convenience. Do not call these directly! Set them
@@ -30,7 +32,7 @@ void dmaRxIrqHandler(void* dma_handle);
 void dmaTxIrqHandler(void* dma_handle);
 void spiIrqHandler(void* spi_handle);
 
-}  // namespace spi
+}
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.cpp

@@ -1,12 +1,12 @@
 #include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
-
-#include <cstdio>
-
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
 #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_rcc.h"
 
+#include <cstdio>
+
 void spiSetupWrapper() {
     __HAL_RCC_GPIOA_CLK_ENABLE();
     __HAL_RCC_GPIOB_CLK_ENABLE();
@@ -18,7 +18,9 @@ void spiCleanUpWrapper() {
     __HAL_RCC_SPI1_RELEASE_RESET();
 }
 
-void spiDmaClockEnableWrapper() { __HAL_RCC_DMA2_CLK_ENABLE(); }
+void spiDmaClockEnableWrapper() {
+    __HAL_RCC_DMA2_CLK_ENABLE();
+}
 
 void stm32h7::h743zi::standardPollingCfg(spi::MspPollingConfigStruct& cfg) {
     cfg.setupCb =  &spiSetupWrapper;
@@ -44,7 +46,7 @@ void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPrio
     user_handler_t spiUserHandler = nullptr;
     user_args_t spiUserArgs = nullptr;
     getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
-  if (spiUserHandler == nullptr) {
+    if(spiUserHandler == nullptr) {
         printf("spi::h743zi::standardInterruptCfg: Invalid SPI user handlers\n");
         return;
     }
@@ -54,9 +56,8 @@ void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPrio
 }
 
 void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
-                                     IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
-                                     IrqPriorities spiSubprio, IrqPriorities txSubprio,
-                                     IrqPriorities rxSubprio) {
+        IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities spiSubprio,
+        IrqPriorities txSubprio, IrqPriorities rxSubprio) {
     cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;
     cfg.rxDmaIndex = dma::DMAIndexes::DMA_2;
     cfg.txDmaIndex = dma::DMAIndexes::DMA_2;
@@ -65,7 +66,7 @@ void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities
     DMA_HandleTypeDef* txHandle;
     DMA_HandleTypeDef* rxHandle;
     spi::getDmaHandles(&txHandle, &rxHandle);
-  if (txHandle == nullptr or rxHandle == nullptr) {
+    if(txHandle == nullptr or rxHandle == nullptr) {
         printf("spi::h743zi::standardDmaCfg: Invalid DMA handles\n");
         return;
     }

hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.h

@@ -10,11 +10,13 @@ namespace h743zi {
 void standardPollingCfg(spi::MspPollingConfigStruct& cfg);
 void standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
         IrqPriorities spiSubprio = HIGHEST);
-void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio, IrqPriorities txIrqPrio,
-                    IrqPriorities rxIrqPrio, IrqPriorities spiSubprio = HIGHEST,
-                    IrqPriorities txSubPrio = HIGHEST, IrqPriorities rxSubprio = HIGHEST);
+void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
+        IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
+        IrqPriorities spiSubprio = HIGHEST, IrqPriorities txSubPrio = HIGHEST,
+        IrqPriorities rxSubprio = HIGHEST);
 
-}  // namespace h743zi
-}  // namespace stm32h7
+
+}
+}
 
 #endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */

misc/defaultcfg/fsfwconfig/devices/logicalAddresses.h

@@ -10,7 +10,7 @@
  */
 namespace addresses {
 	/* Logical addresses have uint32_t datatype */
-	enum LogAddr: address_t {
+	enum logicalAddresses: address_t {
 	};
 }
 

scripts/helper.py

@@ -9,44 +9,36 @@ import webbrowser
 import shutil
 import sys
 import time
-from shutil import which
 from typing import List
 
 
-UNITTEST_FOLDER_NAME = "build-tests"
-DOCS_FOLDER_NAME = "build-docs"
+UNITTEST_FOLDER_NAME = 'build-tests'
+DOCS_FOLDER_NAME = 'build-docs'
 
 
 def main():
 
     parser = argparse.ArgumentParser(description="FSFW helper script")
-    choices = ("docs", "tests")
+    choices = ('docs', 'tests')
     parser.add_argument(
-        "type", metavar="type", choices=choices, help=f"Target type. Choices: {choices}"
+        'type', metavar='type', choices=choices,
+        help=f'Target type. Choices: {choices}'
     )
     parser.add_argument(
-        "-a", "--all", action="store_true", help="Create, build and open specified type"
+        '-a', '--all', action='store_true',
+        help='Create, build and open specified type'
     )
     parser.add_argument(
-        "-c",
-        "--create",
-        action="store_true",
-        help="Create docs or test build configuration",
+        '-c', '--create', action='store_true',
+        help='Create docs or test build configuration'
     )
     parser.add_argument(
-        "-b", "--build", action="store_true", help="Build the specified type"
+        '-b', '--build', action='store_true',
+        help='Build the specified type'
     )
     parser.add_argument(
-        "-o",
-        "--open",
-        action="store_true",
-        help="Open test or documentation data in webbrowser",
-    )
-    parser.add_argument(
-        "-v",
-        "--valgrind",
-        action="store_true",
-        help="Run valgrind on generated test binary",
+        '-o', '--open', action='store_true',
+        help='Open test or documentation data in webbrowser'
     )
 
     args = parser.parse_args()
@@ -54,26 +46,26 @@ def main():
         args.build = True
         args.create = True
         args.open = True
-    elif not args.build and not args.create and not args.open and not args.valgrind:
+    elif not args.build and not args.create and not args.open:
         print(
-            "Please select at least one operation to perform. "
-            "Use helper.py -h for more information"
+            'Please select at least one operation to perform. '
+            'Use helper.py -h for more information'
         )
         sys.exit(1)
 
     # This script can be called from root and from script folder
-    if not os.path.isfile("README.md"):
-        os.chdir("..")
+    if not os.path.isfile('README.md'):
+        os.chdir('..')
     build_dir_list = []
     if not args.create:
         build_dir_list = build_build_dir_list()
 
-    if args.type == "tests":
+    if args.type == 'tests':
         handle_tests_type(args, build_dir_list)
-    elif args.type == "docs":
+    elif args.type == 'docs':
         handle_docs_type(args, build_dir_list)
     else:
-        print("Invalid or unknown type")
+        print('Invalid or unknown type')
         sys.exit(1)
 
 
@@ -84,9 +76,7 @@ def handle_docs_type(args, build_dir_list: list):
         create_docs_build_cfg()
         build_directory = DOCS_FOLDER_NAME
     elif len(build_dir_list) == 0:
-        print(
-            "No valid CMake docs build directory found. Trying to set up docs build system"
-        )
+        print('No valid CMake docs build directory found. Trying to set up docs build system')
         shutil.rmtree(DOCS_FOLDER_NAME)
         create_docs_build_cfg()
         build_directory = DOCS_FOLDER_NAME
@@ -97,18 +87,18 @@ def handle_docs_type(args, build_dir_list: list):
         build_directory = determine_build_dir(build_dir_list)
     os.chdir(build_directory)
     if args.build:
-        os.system("cmake --build . -j")
+        os.system('cmake --build . -j')
     if args.open:
-        if not os.path.isfile("docs/sphinx/index.html"):
+        if not os.path.isfile('docs/sphinx/index.html'):
             # try again..
-            os.system("cmake --build . -j")
-            if not os.path.isfile("docs/sphinx/index.html"):
+            os.system('cmake --build . -j')
+            if not os.path.isfile('docs/sphinx/index.html'):
                 print(
                     "No Sphinx documentation file detected. "
                     "Try to build it first with the -b argument"
                 )
                 sys.exit(1)
-        webbrowser.open("docs/sphinx/index.html")
+        webbrowser.open('docs/sphinx/index.html')
 
 
 def handle_tests_type(args, build_dir_list: list):
@@ -119,8 +109,8 @@ def handle_tests_type(args, build_dir_list: list):
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 0:
         print(
-            "No valid CMake tests build directory found. "
-            "Trying to set up test build system"
+            'No valid CMake tests build directory found. '
+            'Trying to set up test build system'
         )
         create_tests_build_cfg()
         build_directory = UNITTEST_FOLDER_NAME
@@ -133,33 +123,24 @@ def handle_tests_type(args, build_dir_list: list):
     if args.build:
         perform_lcov_operation(build_directory, False)
     if args.open:
-        if not os.path.isdir("fsfw-tests_coverage"):
-            print(
-                "No Unittest folder detected. Try to build them first with the -b argument"
-            )
+        if not os.path.isdir('fsfw-tests_coverage'):
+            print("No Unittest folder detected. Try to build them first with the -b argument")
             sys.exit(1)
-        webbrowser.open("fsfw-tests_coverage/index.html")
-    if args.valgrind:
-        if which("valgrind") is None:
-            print("Please install valgrind first")
-            sys.exit(1)
-        os.chdir(UNITTEST_FOLDER_NAME)
-        os.system("valgrind --leak-check=full ./fsfw-tests")
-        os.chdir("..")
+        webbrowser.open('fsfw-tests_coverage/index.html')
 
 
 def create_tests_build_cfg():
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
-    os.chdir("..")
+    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
+    os.chdir('..')
 
 
 def create_docs_build_cfg():
     os.mkdir(DOCS_FOLDER_NAME)
     os.chdir(DOCS_FOLDER_NAME)
-    os.system("cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..")
-    os.chdir("..")
+    os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_DOCS=ON ..')
+    os.chdir('..')
 
 
 def build_build_dir_list() -> list:

src/CMakeLists.txt

@@ -7,3 +7,12 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
 )
 
 add_subdirectory(fsfw)
+
+# Configure File
+
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)

src/fsfw/CMakeLists.txt

@@ -1,7 +1,6 @@
 # Core
 
 add_subdirectory(action)
-add_subdirectory(cfdp)
 add_subdirectory(container)
 add_subdirectory(controller)
 add_subdirectory(datapool)

src/fsfw/FSFW.h.in

@@ -18,10 +18,6 @@
 
 // FSFW core defines
 
-#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
-#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
-#endif
-
 #ifndef FSFW_CPP_OSTREAM_ENABLED
 #define FSFW_CPP_OSTREAM_ENABLED            1
 #endif /* FSFW_CPP_OSTREAM_ENABLED */
@@ -46,10 +42,6 @@
 #define FSFW_USE_PUS_C_TELECOMMANDS         1
 #endif
 
-#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
-#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
-#endif
-
 // FSFW HAL defines
 
 // Can be used for low-level debugging of the SPI bus
@@ -57,11 +49,6 @@
 #define FSFW_HAL_SPI_WIRETAPPING            0
 #endif
 
-// Can be used for low-level debugging of the I2C bus
-#ifndef FSFW_HAL_I2C_WIRETAPPING
-#define FSFW_HAL_I2C_WIRETAPPING            0
-#endif
-
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
 #define FSFW_HAL_L3GD20_GYRO_DEBUG          0
 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */

src/fsfw/action.h

@@ -4,8 +4,8 @@
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/ActionMessage.h"
 #include "fsfw/action/CommandActionHelper.h"
-#include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/action/HasActionsIF.h"
+#include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/action/SimpleActionHelper.h"
 
 #endif /* FSFW_INC_FSFW_ACTION_H_ */

src/fsfw/action/ActionHelper.cpp

@@ -1,17 +1,22 @@
 #include "fsfw/action.h"
+
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
-    : owner(setOwner), queueToUse(useThisQueue) {}
+ActionHelper::ActionHelper(HasActionsIF* setOwner,
+        MessageQueueIF* useThisQueue) :
+        owner(setOwner), queueToUse(useThisQueue) {
+}
 
-ActionHelper::~ActionHelper() {}
+ActionHelper::~ActionHelper() {
+}
 
 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
     if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
         ActionId_t currentAction = ActionMessage::getActionId(command);
-    prepareExecution(command->getSender(), currentAction, ActionMessage::getStoreId(command));
+        prepareExecution(command->getSender(), currentAction,
+                ActionMessage::getStoreId(command));
         return HasReturnvaluesIF::RETURN_OK;
     } else {
         return CommandMessage::UNKNOWN_COMMAND;
@@ -23,11 +28,11 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
     if (ipcStore == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-  if (queueToUse_ != nullptr) {
+    if(queueToUse_ != nullptr) {
         setQueueToUse(queueToUse_);
     }
 
-  if (queueToUse == nullptr) {
+    if(queueToUse == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
@@ -41,8 +46,8 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
-                        ReturnValue_t result) {
+void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
+        ActionId_t commandId, ReturnValue_t result) {
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
     queueToUse->sendMessage(reportTo, &reply);
@@ -55,10 +60,12 @@ void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t co
     queueToUse->sendMessage(reportTo, &reply);
 }
 
-void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
+void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
+    queueToUse = queue;
+}
 
-void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                                    store_address_t dataAddress) {
+void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
+        ActionId_t actionId, store_address_t dataAddress) {
     const uint8_t* dataPtr = NULL;
     size_t size = 0;
     ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
@@ -70,7 +77,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
     }
     result = owner->executeAction(actionId, commandedBy, dataPtr, size);
     ipcStore->deleteData(dataAddress);
-  if (result == HasActionsIF::EXECUTION_FINISHED) {
+    if(result == HasActionsIF::EXECUTION_FINISHED) {
         CommandMessage reply;
         ActionMessage::setCompletionReply(&reply, actionId, true, result);
         queueToUse->sendMessage(commandedBy, &reply);
@@ -83,30 +90,31 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
     }
 }
 
-ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId,
-                                       SerializeIF* data, bool hideSender) {
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+        ActionId_t replyId, SerializeIF* data, bool hideSender) {
     CommandMessage reply;
     store_address_t storeAddress;
-  uint8_t* dataPtr;
+    uint8_t *dataPtr;
     size_t maxSize = data->getSerializedSize();
     if (maxSize == 0) {
         /* No error, there's simply nothing to report. */
         return HasReturnvaluesIF::RETURN_OK;
     }
     size_t size = 0;
-  ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize, &dataPtr);
+    ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
+            &dataPtr);
     if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!"
-                 << std::endl;
+        sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!" <<
+                std::endl;
 #else
-    sif::printWarning(
-        "ActionHelper::reportData: Getting free element from IPC "
+        sif::printWarning("ActionHelper::reportData: Getting free element from IPC "
                 "store failed!\n");
 #endif
         return result;
     }
-  result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
+    result = data->serialize(&dataPtr, &size, maxSize,
+            SerializeIF::Endianness::BIG);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         ipcStore->deleteData(storeAddress);
         return result;
@@ -120,20 +128,23 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
     as unrequested reply, this will be done here. */
     if (hideSender) {
         result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
-  } else {
+    }
+    else {
         result = queueToUse->sendMessage(reportTo, &reply);
     }
 
-  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK){
         ipcStore->deleteData(storeAddress);
     }
     return result;
 }
 
-void ActionHelper::resetHelper() {}
+void ActionHelper::resetHelper() {
+}
 
-ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId,
-                                       const uint8_t* data, size_t dataSize, bool hideSender) {
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+        ActionId_t replyId, const uint8_t *data, size_t dataSize,
+        bool hideSender) {
     CommandMessage reply;
     store_address_t storeAddress;
     ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
@@ -154,7 +165,8 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
     as unrequested reply, this will be done here. */
     if (hideSender) {
         result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
-  } else {
+    }
+    else {
         result = queueToUse->sendMessage(reportTo, &reply);
     }
 

src/fsfw/action/ActionHelper.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../serialize/SerializeIF.h"
 #include "ActionMessage.h"
+#include "../serialize/SerializeIF.h"
+#include "../ipc/MessageQueueIF.h"
 /**
  * @brief Action Helper is a helper class which handles action messages
  *
@@ -17,7 +17,7 @@
 class HasActionsIF;
 
 class ActionHelper {
- public:
+public:
     /**
      * Constructor of the action helper
      * @param setOwner Pointer to the owner of the interface
@@ -57,7 +57,8 @@ class ActionHelper {
      * @param commandId ID of the executed command
      * @param result Result of the execution
      */
-  void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
+    void step(uint8_t step, MessageQueueId_t reportTo,
+            ActionId_t commandId,
             ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
     /**
      * Function to be called by the owner to send a action completion message
@@ -77,8 +78,8 @@ class ActionHelper {
      * @param data Pointer to the data
      * @return Returns RETURN_OK if successful, otherwise failure code
      */
-  ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data,
-                           bool hideSender = false);
+    ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+            SerializeIF* data, bool hideSender = false);
     /**
      * Function to be called by the owner if an action does report data.
      * Takes the raw data and writes it into the IPC store.
@@ -88,17 +89,16 @@ class ActionHelper {
      * @param data Pointer to the data
      * @return Returns RETURN_OK if successful, otherwise failure code
      */
-  ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, const uint8_t* data,
-                           size_t dataSize, bool hideSender = false);
+    ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+            const uint8_t* data, size_t dataSize, bool hideSender = false);
     /**
      * Function to setup the MessageQueueIF* of the helper. Can be used to
      * set the MessageQueueIF* if message queue is unavailable at construction
      * and initialize but must be setup before first call of other functions.
      * @param queue Queue to be used by the helper
      */
-  void setQueueToUse(MessageQueueIF* queue);
-
- protected:
+    void setQueueToUse(MessageQueueIF *queue);
+protected:
     //! Increase of value of this per step
     static const uint8_t STEP_OFFSET = 1;
     //! Pointer to the owner
@@ -115,8 +115,8 @@ class ActionHelper {
      * @param actionId ID of action to be done
      * @param dataAddress Address of additional data in IPC Store
      */
-  virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                                store_address_t dataAddress);
+    virtual void prepareExecution(MessageQueueId_t commandedBy,
+            ActionId_t actionId, store_address_t dataAddress);
     /**
      * @brief Default implementation is empty.
      */

src/fsfw/action/ActionMessage.cpp

@@ -1,10 +1,13 @@
 #include "fsfw/action.h"
+
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-ActionMessage::ActionMessage() {}
+ActionMessage::ActionMessage() {
+}
 
-ActionMessage::~ActionMessage() {}
+ActionMessage::~ActionMessage() {
+}
 
 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
         store_address_t parameters) {
@@ -49,11 +52,12 @@ void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
     message->setParameter2(data.raw);
 }
 
-void ActionMessage::setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
-                                       ReturnValue_t result) {
+void ActionMessage::setCompletionReply(CommandMessage* message,
+        ActionId_t fid, bool success, ReturnValue_t result) {
     if (success) {
         message->setCommand(COMPLETION_SUCCESS);
-  } else {
+    }
+    else {
         message->setCommand(COMPLETION_FAILED);
     }
     message->setParameter(fid);
@@ -61,11 +65,11 @@ void ActionMessage::setCompletionReply(CommandMessage* message, ActionId_t fid,
 }
 
 void ActionMessage::clear(CommandMessage* message) {
-  switch (message->getCommand()) {
+    switch(message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-      StorageManagerIF* ipcStore =
-          ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+        StorageManagerIF *ipcStore = ObjectManager::instance()->get<StorageManagerIF>(
+                objects::IPC_STORE);
         if (ipcStore != NULL) {
             ipcStore->deleteData(getStoreId(message));
         }

src/fsfw/action/ActionMessage.h

@@ -14,10 +14,9 @@ using ActionId_t = uint32_t;
  * ActionHelper are able to process these messages.
  */
 class ActionMessage {
- private:
+private:
     ActionMessage();
-
- public:
+public:
     static const uint8_t MESSAGE_ID = messagetypes::ACTION;
     static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
     static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
@@ -27,18 +26,20 @@ class ActionMessage {
     static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
 
     virtual ~ActionMessage();
-  static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
+    static void setCommand(CommandMessage* message, ActionId_t fid,
+            store_address_t parameters);
 
-  static ActionId_t getActionId(const CommandMessage* message);
+    static ActionId_t getActionId(const CommandMessage* message );
     static store_address_t getStoreId(const CommandMessage* message);
 
-  static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
-                           ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
-  static uint8_t getStep(const CommandMessage* message);
-  static ReturnValue_t getReturnCode(const CommandMessage* message);
-  static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
-  static void setCompletionReply(CommandMessage* message, ActionId_t fid, bool success,
-                                 ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+    static void setStepReply(CommandMessage* message, ActionId_t fid,
+            uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+    static uint8_t getStep(const CommandMessage* message );
+    static ReturnValue_t getReturnCode(const CommandMessage* message );
+    static void setDataReply(CommandMessage* message, ActionId_t actionId,
+            store_address_t data);
+    static void setCompletionReply(CommandMessage* message, ActionId_t fid,
+            bool success, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 
     static void clear(CommandMessage* message);
 };

src/fsfw/action/CommandActionHelper.cpp

@@ -1,13 +1,17 @@
 #include "fsfw/action.h"
+
 #include "fsfw/objectmanager/ObjectManager.h"
 
-CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
-    : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
+CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
+        owner(setOwner), queueToUse(NULL), ipcStore(
+        NULL), commandCount(0), lastTarget(0) {
+}
 
-CommandActionHelper::~CommandActionHelper() {}
+CommandActionHelper::~CommandActionHelper() {
+}
 
-ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
-                                                 SerializeIF *data) {
+ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
+        ActionId_t actionId, SerializeIF *data) {
     HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
     if (receiver == NULL) {
         return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
@@ -15,23 +19,25 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
     store_address_t storeId;
     uint8_t *storePointer;
     size_t maxSize = data->getSerializedSize();
-  ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, &storePointer);
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
+            &storePointer);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
     size_t size = 0;
-  result = data->serialize(&storePointer, &size, maxSize, SerializeIF::Endianness::BIG);
+    result = data->serialize(&storePointer, &size, maxSize,
+            SerializeIF::Endianness::BIG);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
     }
     return sendCommand(receiver->getCommandQueue(), actionId, storeId);
 }
 
-ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
-                                                 const uint8_t *data, uint32_t size) {
-  //    if (commandCount != 0) {
-  //        return CommandsFunctionsIF::ALREADY_COMMANDING;
-  //    }
+ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
+        ActionId_t actionId, const uint8_t *data, uint32_t size) {
+//    if (commandCount != 0) {
+//        return CommandsFunctionsIF::ALREADY_COMMANDING;
+//    }
     HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
     if (receiver == NULL) {
         return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
@@ -44,8 +50,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
     return sendCommand(receiver->getCommandQueue(), actionId, storeId);
 }
 
-ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
-                                               store_address_t storeId) {
+ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
+        ActionId_t actionId, store_address_t storeId) {
     CommandMessage command;
     ActionMessage::setCommand(&command, actionId, storeId);
     ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
@@ -90,21 +96,25 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
         return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::STEP_FAILED:
         commandCount--;
-      owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
+        owner->stepFailedReceived(ActionMessage::getActionId(reply),
+                ActionMessage::getStep(reply),
                 ActionMessage::getReturnCode(reply));
         return HasReturnvaluesIF::RETURN_OK;
     case ActionMessage::DATA_REPLY:
-      extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
+        extractDataForOwner(ActionMessage::getActionId(reply),
+                ActionMessage::getStoreId(reply));
         return HasReturnvaluesIF::RETURN_OK;
     default:
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 }
 
-uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
+uint8_t CommandActionHelper::getCommandCount() const {
+    return commandCount;
+}
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-  const uint8_t *data = NULL;
+    const uint8_t * data = NULL;
     size_t size = 0;
     ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
     if (result != HasReturnvaluesIF::RETURN_OK) {

src/fsfw/action/CommandActionHelper.h

@@ -2,35 +2,35 @@
 #define COMMANDACTIONHELPER_H_
 
 #include "ActionMessage.h"
-#include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/serialize/SerializeIF.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/ipc/MessageQueueIF.h"
 
 class CommandsActionsIF;
 
 class CommandActionHelper {
     friend class CommandsActionsIF;
-
- public:
+public:
     CommandActionHelper(CommandsActionsIF* owner);
     virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
-                              uint32_t size);
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
+    ReturnValue_t commandAction(object_id_t commandTo,
+            ActionId_t actionId, const uint8_t* data, uint32_t size);
+    ReturnValue_t commandAction(object_id_t commandTo,
+            ActionId_t actionId, SerializeIF* data);
     ReturnValue_t initialize();
     ReturnValue_t handleReply(CommandMessage* reply);
     uint8_t getCommandCount() const;
-
- private:
+private:
     CommandsActionsIF* owner;
     MessageQueueIF* queueToUse;
     StorageManagerIF* ipcStore;
     uint8_t commandCount;
     MessageQueueId_t lastTarget;
     void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
-  ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, store_address_t storeId);
+    ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
+            store_address_t storeId);
 };
 
 #endif /* COMMANDACTIONHELPER_H_ */

src/fsfw/action/CommandsActionsIF.h

@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
 #define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "CommandActionHelper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 /**
  * Interface to separate commanding actions of other objects.
@@ -16,20 +16,22 @@
  */
 class CommandsActionsIF {
     friend class CommandActionHelper;
-
- public:
+public:
     static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
     static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
     static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
     virtual ~CommandsActionsIF() {}
     virtual MessageQueueIF* getCommandQueuePtr() = 0;
-
- protected:
+protected:
     virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
-  virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
-  virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
+    virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
+            ReturnValue_t returnCode) = 0;
+    virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
+            uint32_t size) = 0;
     virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
-  virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
+    virtual void completionFailedReceived(ActionId_t actionId,
+            ReturnValue_t returnCode) = 0;
 };
 
+
 #endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */

src/fsfw/action/HasActionsIF.h

@@ -1,11 +1,11 @@
 #ifndef FSFW_ACTION_HASACTIONSIF_H_
 #define FSFW_ACTION_HASACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 /**
  * @brief
@@ -34,13 +34,13 @@
  * @ingroup interfaces
  */
 class HasActionsIF {
- public:
+public:
     static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
     static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
     static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
     static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
     static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
-  virtual ~HasActionsIF() {}
+    virtual ~HasActionsIF() { }
     /**
      * Function to get the MessageQueueId_t of the implementing object
      * @return MessageQueueId_t of the object
@@ -55,8 +55,9 @@ class HasActionsIF {
      * -@c EXECUTION_FINISHED Finish reply will be generated
      * -@c Not RETURN_OK Step failure reply will be generated
      */
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) = 0;
+    virtual ReturnValue_t executeAction(ActionId_t actionId,
+            MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
 };
 
+
 #endif /* FSFW_ACTION_HASACTIONSIF_H_ */

src/fsfw/action/SimpleActionHelper.cpp

@@ -1,14 +1,18 @@
 #include "fsfw/action.h"
 
-SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
-    : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
+SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
+        MessageQueueIF* useThisQueue) :
+        ActionHelper(setOwner, useThisQueue), isExecuting(false) {
+}
 
-SimpleActionHelper::~SimpleActionHelper() {}
+SimpleActionHelper::~SimpleActionHelper() {
+}
 
 void SimpleActionHelper::step(ReturnValue_t result) {
     // STEP_OFFESET is subtracted to compensate for adding offset in base
     // method, which is not necessary here.
-  ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, result);
+    ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
+            result);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         resetHelper();
     }
@@ -30,12 +34,13 @@ void SimpleActionHelper::resetHelper() {
     lastCommander = 0;
 }
 
-void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                                          store_address_t dataAddress) {
+void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
+        ActionId_t actionId, store_address_t dataAddress) {
     CommandMessage reply;
     if (isExecuting) {
         ipcStore->deleteData(dataAddress);
-    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
+        ActionMessage::setStepReply(&reply, actionId, 0,
+                HasActionsIF::IS_BUSY);
         queueToUse->sendMessage(commandedBy, &reply);
     }
     const uint8_t* dataPtr = NULL;
@@ -56,7 +61,8 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
         stepCount++;
         break;
     case HasActionsIF::EXECUTION_FINISHED:
-      ActionMessage::setCompletionReply(&reply, actionId, true, HasReturnvaluesIF::RETURN_OK);
+        ActionMessage::setCompletionReply(&reply, actionId,
+                true, HasReturnvaluesIF::RETURN_OK);
         queueToUse->sendMessage(commandedBy, &reply);
         break;
     default:
@@ -64,4 +70,5 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
         queueToUse->sendMessage(commandedBy, &reply);
         break;
     }
+
 }

src/fsfw/action/SimpleActionHelper.h

@@ -8,20 +8,19 @@
  *             at a time but remembers last commander and last action which
  *             simplifies usage
  */
-class SimpleActionHelper : public ActionHelper {
- public:
+class SimpleActionHelper: public ActionHelper {
+public:
     SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
     virtual ~SimpleActionHelper();
     void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
     void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
     ReturnValue_t reportData(SerializeIF* data);
 
- protected:
+protected:
     void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
             store_address_t dataAddress);
     virtual void resetHelper();
-
- private:
+private:
     bool isExecuting;
     MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
     ActionId_t lastAction = 0;

src/fsfw/cfdp/CFDPHandler.cpp

@@ -1,57 +0,0 @@
-#include "fsfw/cfdp/CFDPHandler.h"
-
-#include "fsfw/cfdp/CFDPMessage.h"
-#include "fsfw/ipc/CommandMessage.h"
-#include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/storagemanager/storeAddress.h"
-#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
-
-object_id_t CFDPHandler::packetSource = 0;
-object_id_t CFDPHandler::packetDestination = 0;
-
-CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
-    : SystemObject(setObjectId) {
-  requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
-  distributor = dist;
-}
-
-CFDPHandler::~CFDPHandler() {}
-
-ReturnValue_t CFDPHandler::initialize() {
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != RETURN_OK) {
-    return result;
-  }
-  this->distributor->registerHandler(this);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::debug << "CFDPHandler::handleRequest" << std::endl;
-#else
-  sif::printDebug("CFDPHandler::handleRequest\n");
-#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif
-
-  // TODO read out packet from store using storeId
-
-  return RETURN_OK;
-}
-
-ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
-  ReturnValue_t status = RETURN_OK;
-  CommandMessage currentMessage;
-  for (status = this->requestQueue->receiveMessage(&currentMessage); status == RETURN_OK;
-       status = this->requestQueue->receiveMessage(&currentMessage)) {
-    store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
-    this->handleRequest(storeId);
-  }
-  return RETURN_OK;
-}
-
-uint16_t CFDPHandler::getIdentifier() { return 0; }
-
-MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }

src/fsfw/cfdp/CFDPHandler.h

@@ -1,63 +0,0 @@
-#ifndef FSFW_CFDP_CFDPHANDLER_H_
-#define FSFW_CFDP_CFDPHANDLER_H_
-
-#include "fsfw/ipc/MessageQueueIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tcdistribution/CFDPDistributor.h"
-#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
-
-namespace Factory {
-void setStaticFrameworkObjectIds();
-}
-
-class CFDPHandler : public ExecutableObjectIF,
-                    public AcceptsTelecommandsIF,
-                    public SystemObject,
-                    public HasReturnvaluesIF {
-  friend void(Factory::setStaticFrameworkObjectIds)();
-
- public:
-  CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
-  /**
-   * The destructor is empty.
-   */
-  virtual ~CFDPHandler();
-
-  virtual ReturnValue_t handleRequest(store_address_t storeId);
-
-  virtual ReturnValue_t initialize() override;
-  virtual uint16_t getIdentifier() override;
-  MessageQueueId_t getRequestQueue() override;
-  ReturnValue_t performOperation(uint8_t opCode) override;
-
- protected:
-  /**
-   * This is a complete instance of the telecommand reception queue
-   * of the class. It is initialized on construction of the class.
-   */
-  MessageQueueIF* requestQueue = nullptr;
-
-  CFDPDistributor* distributor = nullptr;
-
-  /**
-   * The current CFDP packet to be processed.
-   * It is deleted after handleRequest was executed.
-   */
-  CFDPPacketStored currentPacket;
-
-  static object_id_t packetSource;
-
-  static object_id_t packetDestination;
-
- private:
-  /**
-   * This constant sets the maximum number of packets accepted per call.
-   * Remember that one packet must be completely handled in one
-   * #handleRequest call.
-   */
-  static const uint8_t CFDP_HANDLER_MAX_RECEPTION = 100;
-};
-
-#endif /* FSFW_CFDP_CFDPHANDLER_H_ */

src/fsfw/cfdp/CFDPMessage.cpp

@@ -1,17 +0,0 @@
-#include "CFDPMessage.h"
-
-CFDPMessage::CFDPMessage() {}
-
-CFDPMessage::~CFDPMessage() {}
-
-void CFDPMessage::setCommand(CommandMessage *message, store_address_t cfdpPacket) {
-  message->setParameter(cfdpPacket.raw);
-}
-
-store_address_t CFDPMessage::getStoreId(const CommandMessage *message) {
-  store_address_t storeAddressCFDPPacket;
-  storeAddressCFDPPacket = message->getParameter();
-  return storeAddressCFDPPacket;
-}
-
-void CFDPMessage::clear(CommandMessage *message) {}

src/fsfw/cfdp/CFDPMessage.h

@@ -1,23 +0,0 @@
-#ifndef FSFW_CFDP_CFDPMESSAGE_H_
-#define FSFW_CFDP_CFDPMESSAGE_H_
-
-#include "fsfw/ipc/CommandMessage.h"
-#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/storagemanager/StorageManagerIF.h"
-
-class CFDPMessage {
- private:
-  CFDPMessage();
-
- public:
-  static const uint8_t MESSAGE_ID = messagetypes::CFDP;
-
-  virtual ~CFDPMessage();
-  static void setCommand(CommandMessage* message, store_address_t cfdpPacket);
-
-  static store_address_t getStoreId(const CommandMessage* message);
-
-  static void clear(CommandMessage* message);
-};
-
-#endif /* FSFW_CFDP_CFDPMESSAGE_H_ */

src/fsfw/cfdp/CMakeLists.txt

@@ -1,7 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    CFDPHandler.cpp
-    CFDPMessage.cpp
-)
-
-add_subdirectory(pdu)
-add_subdirectory(tlv)

src/fsfw/cfdp/FileSize.h

@@ -1,78 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_FILESIZE_H_
-#define FSFW_SRC_FSFW_CFDP_FILESIZE_H_
-
-#include "fsfw/serialize/SerializeAdapter.h"
-#include "fsfw/serialize/SerializeIF.h"
-
-namespace cfdp {
-
-struct FileSize : public SerializeIF {
- public:
-  FileSize() : largeFile(false){};
-
-  FileSize(uint64_t fileSize, bool isLarge = false) { setFileSize(fileSize, isLarge); };
-
-  ReturnValue_t serialize(bool isLarge, uint8_t **buffer, size_t *size, size_t maxSize,
-                          Endianness streamEndianness) {
-    this->largeFile = isLarge;
-    return serialize(buffer, size, maxSize, streamEndianness);
-  }
-
-  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                          Endianness streamEndianness) const override {
-    if (not largeFile) {
-      uint32_t fileSizeTyped = fileSize;
-      return SerializeAdapter::serialize(&fileSizeTyped, buffer, size, maxSize, streamEndianness);
-    }
-    return SerializeAdapter::serialize(&fileSize, buffer, size, maxSize, streamEndianness);
-  }
-
-  size_t getSerializedSize() const override {
-    if (largeFile) {
-      return 8;
-    } else {
-      return 4;
-    }
-  }
-
-  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-                            Endianness streamEndianness) override {
-    if (largeFile) {
-      return SerializeAdapter::deSerialize(&size, buffer, size, streamEndianness);
-    } else {
-      uint32_t sizeTmp = 0;
-      ReturnValue_t result =
-          SerializeAdapter::deSerialize(&sizeTmp, buffer, size, streamEndianness);
-      if (result == HasReturnvaluesIF::RETURN_OK) {
-        fileSize = sizeTmp;
-      }
-      return result;
-    }
-  }
-
-  ReturnValue_t setFileSize(uint64_t fileSize, bool largeFile) {
-    if (not largeFile and fileSize > UINT32_MAX) {
-      // TODO: emit warning here
-      return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    this->fileSize = fileSize;
-    this->largeFile = largeFile;
-    return HasReturnvaluesIF::RETURN_OK;
-  }
-
-  bool isLargeFile() const { return largeFile; }
-  uint64_t getSize(bool *largeFile = nullptr) const {
-    if (largeFile != nullptr) {
-      *largeFile = this->largeFile;
-    }
-    return fileSize;
-  }
-
- private:
-  uint64_t fileSize = 0;
-  bool largeFile = false;
-};
-
-}  // namespace cfdp
-
-#endif /* FSFW_SRC_FSFW_CFDP_FILESIZE_H_ */

src/fsfw/cfdp/definitions.h

@@ -1,137 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_
-
-#include <fsfw/serialize/SerializeIF.h>
-
-#include <cstddef>
-#include <cstdint>
-
-#include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
-namespace cfdp {
-
-static constexpr uint8_t VERSION_BITS = 0b00100000;
-
-static constexpr uint8_t CFDP_CLASS_ID = CLASS_ID::CFDP;
-
-static constexpr ReturnValue_t INVALID_TLV_TYPE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 1);
-static constexpr ReturnValue_t INVALID_DIRECTIVE_FIELDS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 2);
-static constexpr ReturnValue_t INVALID_PDU_DATAFIELD_LEN =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 3);
-static constexpr ReturnValue_t INVALID_ACK_DIRECTIVE_FIELDS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 4);
-//! Can not parse options. This can also occur because there are options
-//! available but the user did not pass a valid options array
-static constexpr ReturnValue_t METADATA_CANT_PARSE_OPTIONS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 5);
-static constexpr ReturnValue_t NAK_CANT_PARSE_OPTIONS =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
-static constexpr ReturnValue_t FINISHED_CANT_PARSE_FS_RESPONSES =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 6);
-static constexpr ReturnValue_t FILESTORE_REQUIRES_SECOND_FILE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 8);
-//! Can not parse filestore response because user did not pass a valid instance
-//! or remaining size is invalid
-static constexpr ReturnValue_t FILESTORE_RESPONSE_CANT_PARSE_FS_MESSAGE =
-    HasReturnvaluesIF::makeReturnCode(CFDP_CLASS_ID, 9);
-
-//! Checksum types according to the SANA Checksum Types registry
-//! https://sanaregistry.org/r/checksum_identifiers/
-enum ChecksumType {
-  // Modular legacy checksum
-  MODULAR = 0,
-  CRC_32_PROXIMITY_1 = 1,
-  CRC_32C = 2,
-  CRC_32 = 3,
-  NULL_CHECKSUM = 15
-};
-
-enum PduType : bool { FILE_DIRECTIVE = 0, FILE_DATA = 1 };
-
-enum TransmissionModes : bool { ACKNOWLEDGED = 0, UNACKNOWLEDGED = 1 };
-
-enum SegmentMetadataFlag : bool { NOT_PRESENT = 0, PRESENT = 1 };
-
-enum Direction : bool { TOWARDS_RECEIVER = 0, TOWARDS_SENDER = 1 };
-
-enum SegmentationControl : bool {
-  NO_RECORD_BOUNDARIES_PRESERVATION = 0,
-  RECORD_BOUNDARIES_PRESERVATION = 1
-};
-
-enum WidthInBytes : uint8_t {
-  // Only those are supported for now
-  ONE_BYTE = 1,
-  TWO_BYTES = 2,
-  FOUR_BYTES = 4,
-};
-
-enum FileDirectives : uint8_t {
-  INVALID_DIRECTIVE = 0x0f,
-  EOF_DIRECTIVE = 0x04,
-  FINISH = 0x05,
-  ACK = 0x06,
-  METADATA = 0x07,
-  NAK = 0x08,
-  PROMPT = 0x09,
-  KEEP_ALIVE = 0x0c
-};
-
-enum ConditionCode : uint8_t {
-  NO_CONDITION_FIELD = 0xff,
-  NO_ERROR = 0b0000,
-  POSITIVE_ACK_LIMIT_REACHED = 0b0001,
-  KEEP_ALIVE_LIMIT_REACHED = 0b0010,
-  INVALID_TRANSMISSION_MODE = 0b0011,
-  FILESTORE_REJECTION = 0b0100,
-  FILE_CHECKSUM_FAILURE = 0b0101,
-  FILE_SIZE_ERROR = 0b0110,
-  NAK_LIMIT_REACHED = 0b0111,
-  INACTIVITY_DETECTED = 0b1000,
-  CHECK_LIMIT_REACHED = 0b1010,
-  UNSUPPORTED_CHECKSUM_TYPE = 0b1011,
-  SUSPEND_REQUEST_RECEIVED = 0b1110,
-  CANCEL_REQUEST_RECEIVED = 0b1111
-};
-
-enum AckTransactionStatus {
-  UNDEFINED = 0b00,
-  ACTIVE = 0b01,
-  TERMINATED = 0b10,
-  UNRECOGNIZED = 0b11
-};
-
-enum FinishedDeliveryCode { DATA_COMPLETE = 0, DATA_INCOMPLETE = 1 };
-
-enum FinishedFileStatus {
-  DISCARDED_DELIBERATELY = 0,
-  DISCARDED_FILESTORE_REJECTION = 1,
-  RETAINED_IN_FILESTORE = 2,
-  FILE_STATUS_UNREPORTED = 3
-};
-
-enum PromptResponseRequired : bool { PROMPT_NAK = 0, PROMPT_KEEP_ALIVE = 1 };
-
-enum TlvTypes : uint8_t {
-  FILESTORE_REQUEST = 0x00,
-  FILESTORE_RESPONSE = 0x01,
-  MSG_TO_USER = 0x02,
-  FAULT_HANDLER = 0x04,
-  FLOW_LABEL = 0x05,
-  ENTITY_ID = 0x06,
-  INVALID_TLV = 0xff,
-};
-
-enum RecordContinuationState {
-  NO_START_NO_END = 0b00,
-  CONTAINS_START_NO_END = 0b01,
-  CONTAINS_END_NO_START = 0b10,
-  CONTAINS_START_AND_END = 0b11
-};
-
-}  // namespace cfdp
-
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_DEFINITIONS_H_ */

src/fsfw/cfdp/pdu/AckInfo.cpp

@@ -1,45 +0,0 @@
-#include "AckInfo.h"
-
-AckInfo::AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
-                 cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode)
-    : ackedDirective(ackedDirective),
-      ackedConditionCode(ackedConditionCode),
-      transactionStatus(transactionStatus),
-      directiveSubtypeCode(directiveSubtypeCode) {
-  if (ackedDirective == cfdp::FileDirectives::FINISH) {
-    this->directiveSubtypeCode = 0b0001;
-  } else {
-    this->directiveSubtypeCode = 0b0000;
-  }
-}
-
-cfdp::ConditionCode AckInfo::getAckedConditionCode() const { return ackedConditionCode; }
-
-void AckInfo::setAckedConditionCode(cfdp::ConditionCode ackedConditionCode) {
-  this->ackedConditionCode = ackedConditionCode;
-  if (ackedDirective == cfdp::FileDirectives::FINISH) {
-    this->directiveSubtypeCode = 0b0001;
-  } else {
-    this->directiveSubtypeCode = 0b0000;
-  }
-}
-
-cfdp::FileDirectives AckInfo::getAckedDirective() const { return ackedDirective; }
-
-void AckInfo::setAckedDirective(cfdp::FileDirectives ackedDirective) {
-  this->ackedDirective = ackedDirective;
-}
-
-uint8_t AckInfo::getDirectiveSubtypeCode() const { return directiveSubtypeCode; }
-
-void AckInfo::setDirectiveSubtypeCode(uint8_t directiveSubtypeCode) {
-  this->directiveSubtypeCode = directiveSubtypeCode;
-}
-
-cfdp::AckTransactionStatus AckInfo::getTransactionStatus() const { return transactionStatus; }
-
-AckInfo::AckInfo() {}
-
-void AckInfo::setTransactionStatus(cfdp::AckTransactionStatus transactionStatus) {
-  this->transactionStatus = transactionStatus;
-}

src/fsfw/cfdp/pdu/AckInfo.h

@@ -1,31 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_
-
-#include "../definitions.h"
-
-class AckInfo {
- public:
-  AckInfo();
-  AckInfo(cfdp::FileDirectives ackedDirective, cfdp::ConditionCode ackedConditionCode,
-          cfdp::AckTransactionStatus transactionStatus, uint8_t directiveSubtypeCode = 0);
-
-  cfdp::ConditionCode getAckedConditionCode() const;
-  void setAckedConditionCode(cfdp::ConditionCode ackedConditionCode);
-
-  cfdp::FileDirectives getAckedDirective() const;
-  void setAckedDirective(cfdp::FileDirectives ackedDirective);
-
-  uint8_t getDirectiveSubtypeCode() const;
-  void setDirectiveSubtypeCode(uint8_t directiveSubtypeCode);
-
-  cfdp::AckTransactionStatus getTransactionStatus() const;
-  void setTransactionStatus(cfdp::AckTransactionStatus transactionStatus);
-
- private:
-  cfdp::FileDirectives ackedDirective = cfdp::FileDirectives::INVALID_DIRECTIVE;
-  cfdp::ConditionCode ackedConditionCode = cfdp::ConditionCode::NO_CONDITION_FIELD;
-  cfdp::AckTransactionStatus transactionStatus = cfdp::AckTransactionStatus::UNDEFINED;
-  uint8_t directiveSubtypeCode = 0;
-};
-
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKINFO_H_ */

src/fsfw/cfdp/pdu/AckPduDeserializer.cpp

@@ -1,37 +0,0 @@
-#include "AckPduDeserializer.h"
-
-AckPduDeserializer::AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info)
-    : FileDirectiveDeserializer(pduBuf, maxSize), info(info) {}
-
-ReturnValue_t AckPduDeserializer::parseData() {
-  ReturnValue_t result = FileDirectiveDeserializer::parseData();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  size_t currentIdx = FileDirectiveDeserializer::getHeaderSize();
-  if (currentIdx + 2 > this->maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  if (not checkAndSetCodes(rawPtr[currentIdx], rawPtr[currentIdx + 1])) {
-    return cfdp::INVALID_ACK_DIRECTIVE_FIELDS;
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-bool AckPduDeserializer::checkAndSetCodes(uint8_t firstByte, uint8_t secondByte) {
-  uint8_t ackedDirective = static_cast<cfdp::FileDirectives>(firstByte >> 4);
-
-  if (ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE and
-      ackedDirective != cfdp::FileDirectives::FINISH) {
-    return false;
-  }
-  this->info.setAckedDirective(static_cast<cfdp::FileDirectives>(ackedDirective));
-  uint8_t directiveSubtypeCode = firstByte & 0x0f;
-  if (directiveSubtypeCode != 0b0000 and directiveSubtypeCode != 0b0001) {
-    return false;
-  }
-  this->info.setDirectiveSubtypeCode(directiveSubtypeCode);
-  this->info.setAckedConditionCode(static_cast<cfdp::ConditionCode>(secondByte >> 4));
-  this->info.setTransactionStatus(static_cast<cfdp::AckTransactionStatus>(secondByte & 0x0f));
-  return true;
-}

src/fsfw/cfdp/pdu/AckPduDeserializer.h

@@ -1,23 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_
-
-#include "AckInfo.h"
-#include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
-
-class AckPduDeserializer : public FileDirectiveDeserializer {
- public:
-  AckPduDeserializer(const uint8_t* pduBuf, size_t maxSize, AckInfo& info);
-
-  /**
-   *
-   * @return
-   *  - cfdp::INVALID_DIRECTIVE_FIELDS: Invalid fields
-   */
-  ReturnValue_t parseData();
-
- private:
-  bool checkAndSetCodes(uint8_t rawAckedByte, uint8_t rawAckedConditionCode);
-  AckInfo& info;
-};
-
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKPDUDESERIALIZER_H_ */

src/fsfw/cfdp/pdu/AckPduSerializer.cpp

@@ -1,36 +0,0 @@
-#include "AckPduSerializer.h"
-
-AckPduSerializer::AckPduSerializer(AckInfo &ackInfo, PduConfig &pduConf)
-    : FileDirectiveSerializer(pduConf, cfdp::FileDirectives::ACK, 2), ackInfo(ackInfo) {}
-
-size_t AckPduSerializer::getSerializedSize() const {
-  return FileDirectiveSerializer::getWholePduSize();
-}
-
-ReturnValue_t AckPduSerializer::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-                                          Endianness streamEndianness) const {
-  ReturnValue_t result =
-      FileDirectiveSerializer::serialize(buffer, size, maxSize, streamEndianness);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  cfdp::FileDirectives ackedDirective = ackInfo.getAckedDirective();
-  uint8_t directiveSubtypeCode = ackInfo.getDirectiveSubtypeCode();
-  cfdp::ConditionCode ackedConditionCode = ackInfo.getAckedConditionCode();
-  cfdp::AckTransactionStatus transactionStatus = ackInfo.getTransactionStatus();
-  if (ackedDirective != cfdp::FileDirectives::FINISH and
-      ackedDirective != cfdp::FileDirectives::EOF_DIRECTIVE) {
-    // TODO: better returncode
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-  if (*size + 2 > maxSize) {
-    return SerializeIF::BUFFER_TOO_SHORT;
-  }
-  **buffer = ackedDirective << 4 | directiveSubtypeCode;
-  *buffer += 1;
-  *size += 1;
-  **buffer = ackedConditionCode << 4 | transactionStatus;
-  *buffer += 1;
-  *size += 1;
-  return HasReturnvaluesIF::RETURN_OK;
-}

src/fsfw/cfdp/pdu/AckPduSerializer.h

@@ -1,30 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_
-
-#include "AckInfo.h"
-#include "FileDirectiveDeserializer.h"
-#include "FileDirectiveSerializer.h"
-
-class AckPduSerializer : public FileDirectiveSerializer {
- public:
-  /**
-   * @brief   Serializer to pack ACK PDUs
-   * @details
-   * Please note that only Finished PDUs and EOF are acknowledged.
-   * @param ackedDirective
-   * @param ackedConditionCode
-   * @param transactionStatus
-   * @param pduConf
-   */
-  AckPduSerializer(AckInfo& ackInfo, PduConfig& pduConf);
-
-  size_t getSerializedSize() const override;
-
-  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                          Endianness streamEndianness) const override;
-
- private:
-  AckInfo& ackInfo;
-};
-
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_ACKPDUSERIALIZER_H_ */

src/fsfw/cfdp/pdu/CMakeLists.txt

@@ -1,32 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    PduConfig.cpp
-    VarLenField.cpp
-    HeaderSerializer.cpp
-    HeaderDeserializer.cpp
-    FileDirectiveDeserializer.cpp
-    FileDirectiveSerializer.cpp
- 
-    AckInfo.cpp
-    AckPduSerializer.cpp
-    AckPduDeserializer.cpp
-    EofInfo.cpp
-    EofPduSerializer.cpp
-    EofPduDeserializer.cpp
-    NakInfo.cpp
-    NakPduSerializer.cpp
-    NakPduDeserializer.cpp
-    FinishedInfo.cpp
-    FinishedPduSerializer.cpp
-    FinishedPduDeserializer.cpp
-    MetadataInfo.cpp
-    MetadataPduSerializer.cpp
-    MetadataPduDeserializer.cpp
-    KeepAlivePduSerializer.cpp
-    KeepAlivePduDeserializer.cpp
-    PromptPduSerializer.cpp
-    PromptPduDeserializer.cpp
-
-    FileDataSerializer.cpp
-    FileDataDeserializer.cpp
-    FileDataInfo.cpp
-)

src/fsfw/cfdp/pdu/EofInfo.cpp

@@ -1,47 +0,0 @@
-#include "EofInfo.h"
-
-EofInfo::EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::FileSize fileSize,
-                 EntityIdTlv* faultLoc)
-    : conditionCode(conditionCode), checksum(checksum), fileSize(fileSize), faultLoc(faultLoc) {}
-
-EofInfo::EofInfo(EntityIdTlv* faultLoc)
-    : conditionCode(cfdp::ConditionCode::NO_CONDITION_FIELD),
-      checksum(0),
-      fileSize(0),
-      faultLoc(faultLoc) {}
-
-uint32_t EofInfo::getChecksum() const { return checksum; }
-
-cfdp::ConditionCode EofInfo::getConditionCode() const { return conditionCode; }
-
-EntityIdTlv* EofInfo::getFaultLoc() const { return faultLoc; }
-
-cfdp::FileSize& EofInfo::getFileSize() { return fileSize; }
-
-void EofInfo::setChecksum(uint32_t checksum) { this->checksum = checksum; }
-
-void EofInfo::setConditionCode(cfdp::ConditionCode conditionCode) {
-  this->conditionCode = conditionCode;
-}
-
-void EofInfo::setFaultLoc(EntityIdTlv* faultLoc) { this->faultLoc = faultLoc; }
-
-size_t EofInfo::getSerializedSize(bool fssLarge) {
-  // Condition code + spare + 4 byte checksum
-  size_t size = 5;
-  if (fssLarge) {
-    size += 8;
-  } else {
-    size += 4;
-  }
-  // Do not account for fault location if the condition code is NO_ERROR. We assume that
-  // a serializer will not serialize the fault location here.
-  if (getFaultLoc() != nullptr and getConditionCode() != cfdp::ConditionCode::NO_ERROR) {
-    size += faultLoc->getSerializedSize();
-  }
-  return size;
-}
-
-ReturnValue_t EofInfo::setFileSize(size_t fileSize, bool isLarge) {
-  return this->fileSize.setFileSize(fileSize, isLarge);
-}

src/fsfw/cfdp/pdu/EofInfo.h

@@ -1,33 +0,0 @@
-#ifndef FSFW_SRC_FSFW_CFDP_PDU_EOFINFO_H_
-#define FSFW_SRC_FSFW_CFDP_PDU_EOFINFO_H_
-
-#include "../FileSize.h"
-#include "../definitions.h"
-#include "fsfw/cfdp/tlv/EntityIdTlv.h"
-
-struct EofInfo {
- public:
-  EofInfo(EntityIdTlv* faultLoc = nullptr);
-  EofInfo(cfdp::ConditionCode conditionCode, uint32_t checksum, cfdp::FileSize fileSize,
-          EntityIdTlv* faultLoc = nullptr);
-
-  size_t getSerializedSize(bool fssLarge = false);
-
-  uint32_t getChecksum() const;
-  cfdp::ConditionCode getConditionCode() const;
-
-  EntityIdTlv* getFaultLoc() const;
-  cfdp::FileSize& getFileSize();
-  void setChecksum(uint32_t checksum);
-  void setConditionCode(cfdp::ConditionCode conditionCode);
-  void setFaultLoc(EntityIdTlv* faultLoc);
-  ReturnValue_t setFileSize(size_t size, bool isLarge);
-
- private:
-  cfdp::ConditionCode conditionCode;
-  uint32_t checksum;
-  cfdp::FileSize fileSize;
-  EntityIdTlv* faultLoc = nullptr;
-};
-
-#endif /* FSFW_SRC_FSFW_CFDP_PDU_EOFINFO_H_ */