Merge branch 'mueller/master' into eive/develop

bumped subversion
corrected version number
2021-07-24 15:04:01 +02:00 · 2021-07-24 14:39:43 +02:00 · 2021-07-24 13:43:13 +02:00 · 2021-07-23 18:26:39 +02:00 · 2021-07-23 18:06:36 +02:00 · 2021-07-19 19:03:20 +02:00
1351 changed files with 54758 additions and 77797 deletions
--- a/.clang-format
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 ---
 BasedOnStyle: Google
 IndentWidth: 2
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 Language: Cpp
 ColumnLimit: 100
 ---
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 # PyCharm and CLion
 .idea/*
 !/.idea/runConfigurations
 !/.idea/cmake.xml
 !/.idea/codeStyles
 # Eclipse
 .cproject
 .project
 .settings
 .metadata
 /build*
 /cmake-build*
--- a/.idea/cmake.xml
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 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
  <component name="CMakeSharedSettings">
    <configurations>
      <configuration PROFILE_NAME="Debug Test" ENABLED="true" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON" NO_GENERATOR="true" />
    </configurations>
  </component>
 </project>
--- a/.idea/codeStyles/Project.xml
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 <component name="ProjectCodeStyleConfiguration">
  <code_scheme name="Project" version="173">
    <clangFormatSettings>
      <option name="ENABLED" value="true" />
    </clangFormatSettings>
    <codeStyleSettings language="CMake">
      <indentOptions>
        <option name="INDENT_SIZE" value="2" />
        <option name="CONTINUATION_INDENT_SIZE" value="0" />
        <option name="TAB_SIZE" value="2" />
      </indentOptions>
    </codeStyleSettings>
  </code_scheme>
 </component>
--- a/.idea/codeStyles/codeStyleConfig.xml
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 <component name="ProjectCodeStyleConfiguration">
  <state>
    <option name="USE_PER_PROJECT_SETTINGS" value="true" />
  </state>
 </component>
--- a/175
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 # Changed from ASTP 1.1.0 to 1.2.0
 ## API Changes
 ### FSFW Architecture
 - New src folder which contains all source files except the HAL, contributed code and test code
 - External and internal API mostly stayed the same
 - Folder names are now all smaller case: internalError was renamed to internalerror and
  FreeRTOS was renamed to freertos
 - Warning if optional headers are used but the modules was not added to the source files to compile
 ### HAL
 - HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
  made using it more complicated than necessary
 ## Bugfixes
 ### FreeRTOS QueueMapManager
 - Fixed a bug which causes the first generated Queue ID to be invalid
 ## Enhancements
 ### FSFW Architecture
 - See API changes chapter. This change will keep the internal API consistent in the future
 # Changes from ASTP 1.0.0 to 1.1.0
 ## API Changes
 ### PUS
 - Added PUS C support
 - SUBSYSTEM_IDs added for PUS Services
 - Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
 ### ObjectManager
 - ObjectManager is now a singelton
 ### Configuration
 - Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
  need to be specified in FSFWConfig.h
 ### CMake
 - Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
 ## Bugfixes 
 - timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
 - TCP server fixes
 ## Enhancements
 ### FreeRTOS Queue Handles
 - Fixed an internal issue how FreeRTOS MessageQueues were handled
 ### Linux OSAL
 - Better printf error messages
 ### CMake
 - Check for C++11 as mininimum required Version
 ### Debug Output
 - Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
 # Changes from ASTP 0.0.1 to 1.0.0
 ### Host OSAL
 - Bugfix in MessageQueue, which caused the sender not to be set properly
 ### FreeRTOS OSAL
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
 ### PUS Services
 - It is now possible to change the message queue depth for the telecommand verification service (PUS1)
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
 ### EnhancedControllerBase
 - New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
 ### Local Pool
 - Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
 bucket number of the pools per page and the number of pages are passed to the ctor instead of
 two ctor arguments and a template parameter
 ### Parameter Service
 - The API of the parameter service has been changed to prevent inconsistencies
 between documentation and actual code and to clarify usage.
 - The parameter ID now consists of:
 	1. Domain ID (1 byte)
 	2. Unique Identifier (1 byte)
 	3. Linear Index (2 bytes)
 The linear index can be used for arrays as well as matrices.
 The parameter load command now explicitely expects the ECSS PTC and PFC
 information as well as  the rows and column number. Rows and column will
 default to one, which is equivalent to one scalar parameter (the most
 important use-case)
 ### File System Interface
 - A new interfaces specifies the functions for a software object which exposes the file system of
 a given hardware to use message based file handling (e.g. PUS commanding)
 ### Internal Error Reporter
 - The new internal error reporter uses the local data pools. The pool IDs for
 the exisiting three error values and the new error set will be hardcoded for
 now, the the constructor for the internal error reporter just takes an object
 ID for now.
 ### Device Handler Base
 - There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
 that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
 a clear distinction between operation and communication steps
 - setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
 - getTransitionDelayMs is now an abstract method
 ### DeviceHandlerIF
 - Typo for UNKNOWN_DEVICE_REPLY 
 ### Events
 - makeEvent function: Now takes three input parameters instead of two and
 allows setting a unique ID. Event.cpp source file removed, functions now
 defined in header directly. Namespaces renamed. Functions declared `constexpr`
 now
 ### Commanding Service Base
 - CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
 CSB instance. This variable has to be set in the FSFWConfig.h file
 ### Service Interface
 - Proper printf support contained in ServiceInterfacePrinter.h
 - CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
 - Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. 
  Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
 - If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. 
  For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
  For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
  If this is not the case, everything should work as usual.
 ### ActionHelper and ActionMessage
 - ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
 information whether to report a success or failure message instead of deriving it implicitely 
 from returnvalue
 ### PUS Parameter Service 20
 Added PUS parameter service 20 (only custom subservices available).
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -1,790 +0,0 @@
 Change Log
 =======
 All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 # [unreleased]
 ## Fixes
 - The `PusTmCreator` API only accepted 255 bytes of source data. It can now accept source
  data with a size limited only by the size of `size_t`.
 - Important bugfix in CFDP PDU header format: The entity length field and the transaction sequence
  number fields stored the actual length of the field instead of the length minus 1 like specified
  in the CFDP standard.
 - PUS Health Service: Size check for set health command.
  Perform operation completion for announce health command.
  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/746
 - Linux OSAL `getUptime` fix: Check validity of `/proc/uptime` file before reading uptime.
  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/745
 - Small tweak for version getter
  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/744
 ## Added
 - add CFDP subsystem ID
  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
 - `PusTmZcWriter` now exposes API to set message counter field.
 - Relative timeshift in the PUS time service.
 ## Changed
 - The PUS time service now dumps the time before setting a new time and after having set the
  time.
 - HK generation is now countdown based.
 - Bump ETL version to 20.35.14
  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
 - Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
 - Add new `PowerSwitchIF::SWITCH_UNKNOWN` returnvalue.
  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
 - Assert that `FixedArrayList` is larger than 0 at compile time.
  https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
 - Health functions are virtual now.
 - PUS Service Base request queue depth and maximum number of handled packets per cycle is now
  configurable.
 # [v6.0.0] 2023-02-10
 ## Fixes
 - Mode Service: Add allowed subservice
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/739
 - `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
  subservice not working properly.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/736
 - Memory leak fixes for the TCP/IP TMTC bridge.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
 - `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval
  seconds instead of uptime.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/726
 - HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously,
  only the X scaling factor was used.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/724
 - HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/733
 - DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
  to false correctly because the `read` and `write` calls were missing.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/728
 - PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
  of the correct unsegmented flags (0b11) as specified in the standard.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/727
 - TC Scheduler Service 11: Add size and CRC check for contained TC.
  Bug: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/issues/719
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/720
 - Only delete health table entry in `HealthHelper` destructor if
  health table was set.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/710
 - I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator.
  Also properly reset the reply size for successfull transfers and erroneous transfers.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/700
 - Bugfix for Serial Buffer Stream: Setting `doActive` to false now
  actually fully disables printing.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/680
 - `TcpTmTcServer.cpp`: The server was actually not able to handle
  CCSDS packets which were clumped together. This has been fixed now.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
 - `CServiceHealthCommanding`: Add announce all health info implementation
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
 - various fixes related to linux Unittests and memory leaks
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
 - small fix to allow teardown handling
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/713
 - fix compiler warning for fixed array list copy ctor
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/704
 - missing include
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/703
 - defaultconfig did not build anymore
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/702
 - hotfix
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/699
 - small fix for helper
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/698
 - missing retval conv
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/697
 - DHB Countdown Bug
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/693
 - doc corrections
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/687
 - better error printout
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/686
 - include correction
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/683
 - better warning for missing include paths
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/676
 - Service 11 regression
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/670
 ## Added
 - `CServiceHealthCommanding`: Add announce all health info implementation
  PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
 - Empty constructor for `CdsShortTimeStamper` which does not do an object manager registration.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/730
 - `Service9TimeManagement`: Add `DUMP_TIME` (129) subservice.
 - `TcpTmTcServer`: Allow setting the `SO_REUSEADDR` and `SO_REUSEPORT`
  option on the TCP server. CTOR prototype has changed and expects an explicit
  TCP configuration struct to be passed.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/722
 - `DleParser` helper class to parse DLE encoded packets from a byte stream.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/711
 - `UioMapper` is able to resolve symlinks now.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/709
 - Add new `UnsignedByteField` class
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
 - publish documentation for development and master branch
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/681
 - Add Linux HAL options
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/663
 - Expand SerializeIF
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/656
 - PUS Service 11: Additional Safety Check
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/666
 - improvements for auto-formatter script
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/665
 - provide a weak print char impl
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/674
 ## Removed
 - now that doc server is up, remove markdown files
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/688
 - remove bsp specific code
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/679
 ## Changes
 - `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
  service ID customizable now. `CServiceHealthCommanding` expects configuration struct
  `HealthServiceCfg` now
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/725
 - `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
 - Moved some container returnvalues to dedicated header and namespace
  so they can be used without template specification.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/707
 - Remove default secondary header argument for
  `uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)` and
  `uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag)`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/689
 - Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
  constants.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
 - Overhaul of the TMTC stack, including various changes and improvements
  for other modules
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
  which also includes a migration guide
 - Bump Catch2 dependency to regular version `v3.1.0`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/678
 - `SerialBufferAdapter`: Rename `setBuffer` to `setConstBuffer` and update
  API to expect `const uint8_t*` accordingly.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/677
 - Remove the following user includes from `fsfw/events/Event.h` and
  `fsfw/returnvalues/returnvalue.h`:
  - `#include "events/subsystemIdRanges.h"`
  - `#include "returnvalues/classIds.h"`
  The user has to include those themselves now
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/675
 - `DeviceHandlerBase`: Set command sender before calling `buildCommandFromCommand`.
  This allows finishing action commands immediately inside the function.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/672
 - `DeviceHandlerBase`: New signature of `handleDeviceTm` which expects
  a `const SerializeIF&` and additional helper variant which expects `const uint8_t*`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/671
 - Improvements for `AcceptsTelemetryIF` and `AcceptsTelecommandsIF`:
  - Make functions `const` where it makes sense
  - Add `const char* getName const` abstract function
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/684
 - Generic TMTC Bridge Update
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/734
 - comment tweak to event parser can read everything
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/732
 - CMakeLists file updates
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/731
 - improve srv20 error messages
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/723
 - I2C Linux: remove duplicate printout
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/718
 - printout handling improvements
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/717
 - vec getter, reset for content
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/716
 - updates for source sequence counter
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/714
 - SP reader getPacketData is const now
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/708
 - refactoring of serial drivers for linux
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/705
 - Local Pool Update Remove Add Data Ignore Fault Argument
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/701
 - Switch to new documentation server
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/694
 - Windows Tweaks
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/691
 - Refactor Local Pool API
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/667
 - group MGM data in local pool vectors
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/664
 ## CFDP
 - Refactoring of CFDP stack which was done during implementation of the CFDP source and destination
  handlers.
   - New filesystem module, changes for filesystem abstraction `HasFileSystemIF` to better
     fit requirements of CFDP
   - New `HostFilesystem` implementation of the `HasFileSystemIF`
   - New `cfdp::UserBase` class which is the abstraction for the CFDP user in an OBSW context.
   - mib module for the CFDP stack
   - PDU classes renamed from `...Serializer`/`...Deserializer` to `...Creator`/`...Reader`
     respetively
   - Renamed `TcDistributor` to `TcDistributorBase` to prevent confusion
   - Refactored `TcDisitributorBase` to be more flexible and usable for CFDP distribution
   - Renamed `CCSDSDistributor` to `CcsdsDistributor` and add feature which allows it
     to remove the CCSDS header when routing a packet. This allows CCSDS agnostic receiver
     implementation without an extra component
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/682
 # [v5.0.0] 2022-07-25
 ## Changes
 - Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
  If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
  compiler supports it
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
 - `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
  Buffer and rejects such writeData calls with `returnvalue::FAILED`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
 - Major update for version handling, using `git describe` to fetch version information with git.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
    manually now. Those should not change too often and only a small subset is needed
  - Separate folder for easier update and for distinction
  - LICENSE file included
  - use `int` for version numbers to allow unset or uninitialized version
  - Initialize Version object with numbers set to -1
  - Instead of hardcoding the git hash, it is now retrieved from git
  - `Version` now allows specifying additional version information like the git SHA1 hash and the
    versions since the last tag
  - Additional information is set to the last part of the git describe output for `FSFW_VERSION` now.
  - Version still need to be hand-updated if the FSFW is not included as a submodule for now.
 - IPC Message Queue Handling: Allow passing an optional `MqArgs` argument into the MessageQueue
  creation call. It allows passing context information and an arbitrary user argument into
  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
 - Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
 ### Task Module Refactoring
 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
 **Refactoring general task code**
 - There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
  Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
 **Refactor PeriodicTaskIF**
 - Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
  `virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
  the operation code passed to `performOperation`. Updated API taking
  an `ExecutableObjectIF` accordingly
 **Refactor FixedTimeslotTaskIF**
 - Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
 **Refactor FixedSequenceSlot**
 - Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
 - Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
  `ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
  for the custom checker
 **Linux Task Module**
 - Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
  member of the class
 ### HAL
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 - HAL Linux SPI: Set the Clock Default State when setting new SPI speed
  and mode
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
 - GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
  name clashes with Windows defines.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
 ### Time
 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/584 and
 https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 - `timeval` to `TimeOfDay_t`
 - Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
 - Moved the statics used by Clock in ClockCommon.cpp to this file
 - Better check for leap seconds
 - Added Unittests for Clock (only getter)
 ### Power 
 - `PowerSwitchIF`: Remove `const` specifier from `sendSwitchCommand` and `sendFuseOnCommand` and
  also specify a `ReturnValue_t` return type
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 - Extend `PowerSwitcher` module to optionally check current state when calling `turnOn` or
  `turnOff`. Tis can be helpful to avoid commanding switches which do not need commanding
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 ## Removed
 - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
  datapools have been implemented.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
 ## Additions
 - New constructor for PoolEntry which allows to simply specify the length of the pool entry.
  This is also the new default constructor for scalar value with 0 as an initial value
 - Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
  whether it is running in CI/CD
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
 - Basic `clion` support: Update `.gitignore` and add some basic run configurations
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
 - LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
  the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
  can make good use of it and it usually makes the code faster and/or smaller.
  After some more research:
  Enabling LTO will actually cause the compiler to only produce thin LTO by adding 
  `-flto -fno-fat-lto-objects` to the compiler options. I am not sure this is an ideal choice
  because if an application linking against the FSFW does not use LTO, there can be compile
  issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as
  can be seen in the multiple CMake issues for it: 
    - https://gitlab.kitware.com/cmake/cmake/-/issues/22913, 
    - https://gitlab.kitware.com/cmake/cmake/-/issues/16808, 
    - https://gitlab.kitware.com/cmake/cmake/-/issues/21696
  Easiest solution for now: Keep this option OFF by default.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616
 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 - Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
  inside `fsfw/version.h`
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
 - Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library
  (ETL) dependency.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/594
 - Added ETL dependency and improved library dependency management
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
 - Add a `DummyPowerSwitcher` module which can be useful for test setups when no PCDU is available
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 - New typedef for switcher type
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 - `Subsystem`: New API to add table and sequence entries
 ## Fixed
 - TCP TMTC Server: `MutexGuard` was not created properly in
  `TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent)` call.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/618
 - Fix infinite recursion in `prepareHealthSetReply` of PUS Health Service 201.
  Is not currently used right now but might be used in the future
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/617
 - Move some CMake directives further up top so they are not ignored
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/621
 - Small bugfix in STM32 HAL for SPI
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599
 - HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO
  configuration fails, the function will exit prematurely with a dedicated error code
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602
 # [v4.0.0]
 ## Additions
 - CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
  allow sending of CFDP packets to the CCSDS handlers.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
 - added virtual function to print datasets
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
 - doSendRead Hook
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
 - Dockumentation for DHB
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
 ### HAL additions
 - Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
 - uio Mapper
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
 ## Changes
 - Applied the `clang-format` auto-formatter to all source code
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
 - Updated Catch2 to v3.0.0-preview4
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
 - Changed CI to use prebuilt docker image
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
 ## Bugfix
 - CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
  if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
  could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
 - Fix for build regression in Catch2 v3.0.0-preview4
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
 - Fix in unittest which failed on CI
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
 - Fix in helper script
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
 ## API Changes
 - Aforementioned changes to existing TMTC stack
 ## Known bugs
 - 
 # [v3.0.1]
 ## API Changes
 * 
 ## Bugfixes
 * Version number was not updated for v3.0.0 #542
 ## Enhancement
 * 
 ## Known bugs
 * 
 # [v3.0.0]
 ## API Changes
 #### TCP Socket Changes
 * Keep Open TCP Implementation #496
    * The socket will now kept open after disconnect. This allows reconnecting. 
    * Only one connection is allowed
    * No internal influence but clients need to change their Code.
 ### GPIO IF
 * Add feature to open GPIO by line name #506
 ### Bitutil
 * Unittests for Op Divider and Bitutility #510
 ### Filesystem IF changed
 *  Filesystem Base Interface: Use IF instead of void pointer #511 
 ### STM32
 * STM32 SPI Updates #518
 ## Bugfixes
 * Small bugfix for LIS3 handler #504
 * Spelling fixed for function names #509
 * CMakeLists fixes #517
 * Out of bound reads and writes in unittests #519
 * Bug in TmPacketStoredPusC (#478)
 * Windows ifdef fixed #529
 ## Enhancement
 * FSFW.h.in more default values #491
 * Minor updates for PUS services #498
 * HasReturnvaluesIF naming for parameter #499
 * Tests can now be built as part of FSFW and versioning moved to CMake #500
 *  Added integration test code #508 
 * More printouts for rejected TC packets #505
 * Arrayprinter format improvements #514
 * Adding code for CI with docker and jenkins #520
 * Added new function in SerializeAdapter  #513
    *  Enables simple deSerialize if you keep track of the buffer position yourself
    *  `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
            size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
 * Unittest helper scripts has a new Parameter to open the coverage html in the webrowser  #525
    * ``'-o', '--open', Open coverage data in webbrowser`` 
 * Documentation updated. Sphinx Documentation can now be build with python script #526
 ## Known bugs
 * Version number was not updated for v3.0.0 #542
 All Pull Requests:
 Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
 # [v2.0.0]
 ## API Changes
 ### File Structure changed to fit more common structure
 * See pull request (#445)
  * HAL is now part of the main project
    * **See Instructions below:**
 #### Instruction how to update existing / user code
 * Changes in `#include`:
  * Rename `internalError` in includes to `internalerror`
  * Rename `fsfw/hal` to `fsfw_hal`
  * Rename `fsfw/tests` to `fsfw_tests`
  * Rename `osal/FreeRTOS` to `osal/freertos`
 * Changes in `CMakeLists.txt`: 
  * Rename `OS_FSFW` to `FSFW_OSAL`
 * Changes in `DleEncoder.cpp`
    * Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
 ### Removed osal/linux/Timer (#486)
 * Was redundant to timemanager/Countdown
 #### Instruction how to update existing / user code
 * Use timemanager/Countdown instead
 ## Bugfixes
 ### TM Stack
 * Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
 #### Host OSAL / FreeRTOS 
 * QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
 #### Events
 * Event output is now consistent (#447)
 #### DLE Encoder
 * Fixed possible out of bounds access in DLE Encoder (#492)
 ## Enhancment
 * HAL as major new feature, also includes three MEMS devicehandlers as part of #481
 * Linux HAL updates (#456)
 * FreeRTOS Header cleaning update and Cmake tweaks (#442)
 * Printer updates (#453)
 * New returnvalue for for empty PST (#485)
 * TMTC Bridge: Increase limit of packets stored (#484)
 ## Known bugs
 * Bug in TmPacketStoredPusC (#478)
 All Pull Requests:
 Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
 # [v1.2.0]
 ## API Changes
 ### FSFW Architecture
 - New src folder which contains all source files except the HAL, contributed code and test code
 - External and internal API mostly stayed the same
 - Folder names are now all smaller case: internalError was renamed to internalerror and
  FreeRTOS was renamed to freertos
 - Warning if optional headers are used but the modules was not added to the source files to compile
 ### HAL
 - HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
  made using it more complicated than necessary
 ## Bugfixes
 ### FreeRTOS QueueMapManager
 - Fixed a bug which causes the first generated Queue ID to be invalid
 ## Enhancements
 ### FSFW Architecture
 - See API changes chapter. This change will keep the internal API consistent in the future
 # [v1.1.0]
 ## API Changes
 ### PUS
 - Added PUS C support
 - SUBSYSTEM_IDs added for PUS Services
 - Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
 ### ObjectManager
 - ObjectManager is now a singelton
 ### Configuration
 - Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
  need to be specified in FSFWConfig.h
 ### CMake
 - Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
 ## Bugfixes 
 - timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
 - TCP server fixes
 ## Enhancements
 ### FreeRTOS Queue Handles
 - Fixed an internal issue how FreeRTOS MessageQueues were handled
 ### Linux OSAL
 - Better printf error messages
 ### CMake
 - Check for C++11 as mininimum required Version
 ### Debug Output
 - Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
 # Changes from ASTP 0.0.1 to 1.0.0
 ### Host OSAL
 - Bugfix in MessageQueue, which caused the sender not to be set properly
 ### FreeRTOS OSAL
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
 ### PUS Services
 - It is now possible to change the message queue depth for the telecommand verification service (PUS1)
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
 ### EnhancedControllerBase
 - New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
 ### Local Pool
 - Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
 bucket number of the pools per page and the number of pages are passed to the ctor instead of
 two ctor arguments and a template parameter
 ### Parameter Service
 - The API of the parameter service has been changed to prevent inconsistencies
 between documentation and actual code and to clarify usage.
 - The parameter ID now consists of:
 	1. Domain ID (1 byte)
 	2. Unique Identifier (1 byte)
 	3. Linear Index (2 bytes)
 The linear index can be used for arrays as well as matrices.
 The parameter load command now explicitely expects the ECSS PTC and PFC
 information as well as  the rows and column number. Rows and column will
 default to one, which is equivalent to one scalar parameter (the most
 important use-case)
 ### File System Interface
 - A new interfaces specifies the functions for a software object which exposes the file system of
 a given hardware to use message based file handling (e.g. PUS commanding)
 ### Internal Error Reporter
 - The new internal error reporter uses the local data pools. The pool IDs for
 the exisiting three error values and the new error set will be hardcoded for
 now, the the constructor for the internal error reporter just takes an object
 ID for now.
 ### Device Handler Base
 - There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
 that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
 a clear distinction between operation and communication steps
 - setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
 - getTransitionDelayMs is now an abstract method
 ### DeviceHandlerIF
 - Typo for UNKNOWN_DEVICE_REPLY 
 ### Events
 - makeEvent function: Now takes three input parameters instead of two and
 allows setting a unique ID. Event.cpp source file removed, functions now
 defined in header directly. Namespaces renamed. Functions declared `constexpr`
 now
 ### Commanding Service Base
 - CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
 CSB instance. This variable has to be set in the FSFWConfig.h file
 ### Service Interface
 - Proper printf support contained in ServiceInterfacePrinter.h
 - CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
 - Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. 
  Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
 - If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. 
  For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
  For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
  If this is not the case, everything should work as usual.
 ### ActionHelper and ActionMessage
 - ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
 information whether to report a success or failure message instead of deriving it implicitely 
 from returnvalue
 ### PUS Parameter Service 20
 Added PUS parameter service 20 (only custom subservices available).
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,129 +1,15 @@
 cmake_minimum_required(VERSION 3.13)
 set(MSG_PREFIX "fsfw |")
 # Add the cmake folder so the FindSphinx module is found
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH
     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/bilke")
 list(APPEND CMAKE_MODULE_PATH
     "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake-modules/rpavlik")
 # ##############################################################################
 # Version file handling  #
 # ##############################################################################
 set(FSFW_VERSION_IF_GIT_FAILS 6)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 set(FSFW_GIT_VER_HANDLING_OK FALSE)
 # Version handling
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
  message(STATUS "${MSG_PREFIX} Determining version information with git")
  include(FsfwHelpers)
  determine_version_with_git("--exclude" "docker_*")
  if(GIT_INFO)
    set(FSFW_GIT_INFO
        ${GIT_INFO}
        CACHE STRING "Version information retrieved with git describe")
    list(GET FSFW_GIT_INFO 1 FSFW_VERSION)
    list(GET FSFW_GIT_INFO 2 FSFW_SUBVERSION)
    list(GET FSFW_GIT_INFO 3 FSFW_REVISION)
    list(GET FSFW_GIT_INFO 4 FSFW_VCS_INFO)
    if(NOT FSFW_VERSION)
      set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
    endif()
    if(NOT FSFW_SUBVERSION)
      set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
    endif()
    if(NOT FSFW_REVISION)
      set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
    endif()
    set(FSFW_GIT_VER_HANDLING_OK TRUE)
  else()
    set(FSFW_GIT_VER_HANDLING_OK FALSE)
  endif()
 endif()
 if(NOT FSFW_GIT_VER_HANDLING_OK)
  set(FSFW_VERSION ${FSFW_VERSION_IF_GIT_FAILS})
  set(FSFW_SUBVERSION ${FSFW_SUBVERSION_IF_GIT_FAILS})
  set(FSFW_REVISION ${FSFW_REVISION_IF_GIT_FAILS})
 endif()
 set(LIB_FSFW_NAME fsfw)
 project(${LIB_FSFW_NAME}
        VERSION ${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION})
 if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  set(CMAKE_CXX_STANDARD_REQUIRED True)
 elseif(${CMAKE_CXX_STANDARD} LESS 17)
  message(
    FATAL_ERROR
      "${MSG_PREFIX} Compiling the FSFW requires a minimum of C++17 support")
 endif()
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 set(FSFW_ETL_LIB_NAME etl)
 set(FSFW_ETL_LINK_TARGET etl::etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION
    20
    CACHE STRING "ETL library major version requirement")
 set(FSFW_ETL_LIB_VERSION
    ${FSFW_ETL_LIB_MAJOR_VERSION}.35.14
    CACHE STRING "ETL library exact version requirement")
 set(FSFW_ETL_LINK_TARGET etl::etl)
 set(FSFW_CATCH2_LIB_MAJOR_VERSION
    3
    CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
    CACHE STRING "Catch2 library exact version requirement")
 # Keep this off by default for now. See PR:
 # https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/616 for information which
 # keeping this on by default is problematic
 option(
  FSFW_ENABLE_IPO
  "Enable interprocedural optimization or link-time optimization if available"
  OFF)
 if(FSFW_ENABLE_IPO)
  include(CheckIPOSupported)
  check_ipo_supported(RESULT IPO_SUPPORTED OUTPUT IPO_ERROR)
  if(NOT IPO_SUPPORTED)
    message(STATUS "FSFW | IPO/LTO not supported: ${IPO_ERROR}")
  endif()
 endif()
 option(FSFW_GENERATE_SECTIONS
-       "Generate function and data sections. Required to remove unused code" ON)
+    "Generate function and data sections. Required to remove unused code" ON
 )
 if(FSFW_GENERATE_SECTIONS)
-  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 option(FSFW_BUILD_TESTS
       "Build unittest binary in addition to static library. Requires Catch2"
       OFF)
 option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_TESTS)
  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
 if(UNIX)
  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
         OFF)
  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
  option(FSFW_HAL_LINUX_ADD_SERIAL_DRIVERS "Add serial drivers" ON)
 endif()
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
@ -135,348 +21,172 @@ option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
 option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 # Contrib sources
-option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
+option(FSFW_ADD_SPG4_PROPAGATOR "Add SPG4 propagator code" OFF)
 set(FSFW_TEST_TGT fsfw-tests)
 set(FSFW_DUMMY_TGT fsfw-dummy)
 set(LIB_FSFW_NAME fsfw)
 add_library(${LIB_FSFW_NAME})
 if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
  set_property(TARGET ${LIB_FSFW_NAME} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                TRUE)
 endif()
 if(FSFW_BUILD_TESTS)
  message(
    STATUS
      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
  )
  # Check whether the user has already installed Catch2 first
  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} QUIET)
  # Not installed, so use FetchContent to download and provide Catch2
  if(NOT Catch2_FOUND)
    message(
      STATUS
        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
    )
    include(FetchContent)
    FetchContent_Declare(
      Catch2
      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
  endif()
  set(FSFW_CONFIG_PATH unittests/testcfg)
  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
  project(${FSFW_TEST_TGT} CXX C)
  add_executable(${FSFW_TEST_TGT})
  if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
    set_property(TARGET ${FSFW_TEST_TGT} PROPERTY INTERPROCEDURAL_OPTIMIZATION
                                                  TRUE)
  endif()
  if(FSFW_TESTS_GEN_COV)
    message(STATUS "${MSG_PREFIX} Generating coverage data for the library")
    message(STATUS "${MSG_PREFIX} Targets linking against ${LIB_FSFW_NAME} "
                   "will be compiled with coverage data as well")
    set(CMAKE_BUILD_TYPE "Debug")
    include(CodeCoverage)
  endif()
 endif()
 message(
  STATUS
    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
 )
 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
  message(
    STATUS
      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
  )
  include(FetchContent)
  FetchContent_Declare(
    ${FSFW_ETL_LIB_NAME}
    GIT_REPOSITORY https://github.com/ETLCPP/etl
    GIT_TAG ${FSFW_ETL_LIB_VERSION})
  list(APPEND FSFW_FETCH_CONTENT_TARGETS ${FSFW_ETL_LIB_NAME})
 endif()
 # The documentation for FetchContent recommends declaring all the dependencies
 # before making them available. We make all declared dependency available here
 # after their declaration
 if(FSFW_FETCH_CONTENT_TARGETS)
  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
  if(TARGET ${FSFW_ETL_LIB_NAME})
    add_library(${FSFW_ETL_LINK_TARGET} ALIAS ${FSFW_ETL_LIB_NAME})
  endif()
  if(TARGET Catch2)
    # Fixes regression -preview4, to be confirmed in later releases Related
    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
  endif()
 endif()
 set(FSFW_CORE_INC_PATH "inc")
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
-# For configure files
+if(NOT CMAKE_CXX_STANDARD)
-target_include_directories(${LIB_FSFW_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+    set(CMAKE_CXX_STANDARD 11)
-target_include_directories(${LIB_FSFW_NAME}
+    set(CMAKE_CXX_STANDARD_REQUIRED True)
-                           INTERFACE ${CMAKE_CURRENT_BINARY_DIR})
+elseif(${CMAKE_CXX_STANDARD} LESS 11)
    message(FATAL_ERROR "Compiling the FSFW requires a minimum of C++11 support")
 endif()
 # Backwards comptability
-if(OS_FSFW AND NOT FSFW_OSAL)
+if(OS_FSFW)
-  message(
+    message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
-    WARNING
+    set(FSFW_OSAL OS_FSFW)
      "${MSG_PREFIX} Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
  set(FSFW_OSAL OS_FSFW)
 endif()
 if(NOT FSFW_OSAL)
-  message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
+	message(STATUS "No OS for FSFW via FSFW_OSAL set. Assuming host OS")
-  # Assume host OS and autodetermine from OS_FSFW
+	# Assume host OS and autodetermine from OS_FSFW
-  if(UNIX)
+	if(UNIX)
-    set(FSFW_OSAL
+		set(FSFW_OSAL  "linux" 
-        "linux"
+			CACHE STRING 
-        CACHE STRING "OS abstraction layer used in the FSFW")
+			"OS abstraction layer used in the FSFW"
-  elseif(WIN32)
+		)
-    set(FSFW_OSAL
+	elseif(WIN32)
-        "host"
+		set(FSFW_OSAL  "host" 
-        CACHE STRING "OS abstraction layer used in the FSFW")
+			CACHE STRING "OS abstraction layer used in the FSFW"
-  endif()
+		)
 	endif()
 endif()
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 if(FSFW_OSAL MATCHES host)
-  set(FSFW_OS_NAME "Host")
+	set(OS_FSFW_NAME "Host")
  set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
-  set(FSFW_OS_NAME "Linux")
+	set(OS_FSFW_NAME "Linux")
-  set(FSFW_OSAL_LINUX ON)
+	set(FSFW_OSAL_DEFINITION FSFW_OSAL_LINUX)
 elseif(FSFW_OSAL MATCHES freertos)
-  set(FSFW_OS_NAME "FreeRTOS")
+	set(OS_FSFW_NAME "FreeRTOS")
-  set(FSFW_OSAL_FREERTOS ON)
+	set(FSFW_OSAL_DEFINITION FSFW_OSAL_FREERTOS)
-  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_OS_NAME})
+	target_link_libraries(${LIB_FSFW_NAME} PRIVATE
        ${LIB_OS_NAME}
 	)
 elseif(FSFW_OSAL STREQUAL rtems)
-  set(FSFW_OS_NAME "RTEMS")
+	set(OS_FSFW_NAME "RTEMS")
-  set(FSFW_OSAL_RTEMS ON)
+    set(FSFW_OSAL_DEFINITION FSFW_OSAL_RTEMS)
 else()
-  message(
+	message(WARNING 
-    WARNING
+		"Invalid operating system for FSFW specified! Setting to host.."
-      "${MSG_PREFIX} Invalid operating system for FSFW specified! Setting to host.."
+	)
-  )
+	set(OS_FSFW_NAME "Host")
-  set(FSFW_OS_NAME "Host")
+	set(OS_FSFW "host")
  set(OS_FSFW "host")
 endif()
-configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
-configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
+    ${FSFW_OSAL_DEFINITION}
 message(
  STATUS "${MSG_PREFIX} Compiling FSFW for the ${FSFW_OS_NAME} operating system"
 )
 target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
    ${FSFW_OSAL_DEFINITION}
 )
 message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
 add_subdirectory(src)
 add_subdirectory(tests)
 add_subdirectory(hal)
 add_subdirectory(contrib)
 if(FSFW_BUILD_TESTS)
  add_subdirectory(unittests)
 endif()
 if(FSFW_BUILD_DOCS)
  add_subdirectory(docs)
 endif()
-if(FSFW_BUILD_TESTS)
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
-  if(FSFW_TESTS_GEN_COV)
+# If this is not given, we include the default configuration and emit a warning.
    if(CMAKE_COMPILER_IS_GNUCXX)
      include(CodeCoverage)
      # Remove quotes.
      separate_arguments(COVERAGE_COMPILER_FLAGS NATIVE_COMMAND
                         "${COVERAGE_COMPILER_FLAGS}")
      # Add compile options manually, we don't want coverage for Catch2
      target_compile_options(${FSFW_TEST_TGT}
                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
      target_compile_options(${LIB_FSFW_NAME}
                             PRIVATE "${COVERAGE_COMPILER_FLAGS}")
      # Exclude directories here
      if(WIN32)
        set(GCOVR_ADDITIONAL_ARGS "--exclude-throw-branches"
                                  "--exclude-unreachable-branches")
        set(COVERAGE_EXCLUDES "/c/msys64/mingw64/*" "*/fsfw_hal/*")
      elseif(UNIX)
        set(COVERAGE_EXCLUDES
            "/usr/include/*"
            "/usr/bin/*"
            "Catch2/*"
            "/usr/local/include/*"
            "*/fsfw_tests/*"
            "*/catch2-src/*"
            "*/fsfw_hal/*"
            "unittests/*")
      endif()
      target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
                          -ftest-coverage)
      target_link_options(${LIB_FSFW_NAME} PRIVATE -fprofile-arcs
                          -ftest-coverage)
      # Need to specify this as an interface, otherwise there will the compile
      # issues
      target_link_options(${LIB_FSFW_NAME} INTERFACE -fprofile-arcs
                          -ftest-coverage)
      if(WIN32)
        setup_target_for_coverage_gcovr_html(
          NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
          DEPENDENCIES ${FSFW_TEST_TGT})
      else()
        setup_target_for_coverage_lcov(
          NAME
          ${FSFW_TEST_TGT}_coverage
          EXECUTABLE
          ${FSFW_TEST_TGT}
          DEPENDENCIES
          ${FSFW_TEST_TGT}
          GENHTML_ARGS
          --html-epilog
          ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
      endif()
    endif()
  endif()
  target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                 ${LIB_FSFW_NAME})
 endif()
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If
 # this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-  set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
+	message(WARNING "Flight Software Framework configuration path not set!")
-  if(NOT FSFW_BUILD_DOCS)
+	message(WARNING "Setting default configuration!")
-    message(
+	add_subdirectory(defaultcfg/fsfwconfig)
      WARNING
        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
    )
    message(
      WARNING
        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
  endif()
  add_subdirectory(${DEF_CONF_PATH})
  set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
-# FSFW might be part of a possibly complicated folder structure, so we extract
+# FSFW might be part of a possibly complicated folder structure, so we 
-# the absolute path of the fsfwconfig folder.
+# extract the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
-  set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
+	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-  get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH} REALPATH
+	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
-                         BASE_DIR ${CMAKE_SOURCE_DIR})
+		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
 	)
 endif()
 foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATHS})
-  if(IS_ABSOLUTE ${INCLUDE_PATH})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
-    set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-  else()
+    else()
-    get_filename_component(CURR_ABS_INC_PATH ${INCLUDE_PATH} REALPATH BASE_DIR
+        get_filename_component(CURR_ABS_INC_PATH
-                           ${CMAKE_SOURCE_DIR})
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
-  endif()
+    endif()
-  if(CMAKE_VERBOSE)
+    if(CMAKE_VERBOSE)
-    message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-  endif()
+    endif()
-  list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+    list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
 endforeach()
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  if(NOT DEFINED FSFW_WARNING_FLAGS)
+    if(NOT DEFINED FSFW_WARNING_FLAGS)
-    set(FSFW_WARNING_FLAGS
+	   set(FSFW_WARNING_FLAGS
-        -Wall
+		  -Wall
-        -Wextra
+		  -Wextra
-        -Wimplicit-fallthrough=1
+		  -Wimplicit-fallthrough=1
-        -Wno-unused-parameter
+		  -Wno-unused-parameter
-        -Wno-psabi
+		  -Wno-psabi
-        -Wduplicated-cond # check for duplicate conditions
+        )
-        -Wduplicated-branches # check for duplicate branches
+    endif()
        -Wlogical-op # Search for bitwise operations instead of logical
        -Wnull-dereference # Search for NULL dereference
        -Wundef # Warn if undefind marcos are used
        -Wformat=2 # Format string problem detection
        -Wformat-overflow=2 # Formatting issues in printf
        -Wformat-truncation=2 # Formatting issues in printf
        -Wformat-security # Search for dangerous printf operations
        -Wstrict-overflow=3 # Warn if integer overflows might happen
        -Warray-bounds=2 # Some array bounds violations will be found
        -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
        -Wcast-qual # Warn if the constness is cast away
        -Wstringop-overflow=4
        # -Wstack-protector # Emits a few false positives for low level access
        # -Wconversion # Creates many false positives -Warith-conversion # Use
        # with Wconversion to find more implicit conversions -fanalyzer # Should
        # be used to look through problems
    )
  endif()
-  if(FSFW_GENERATE_SECTIONS)
+    if(FSFW_GENERATE_SECTIONS)
-    target_compile_options(${LIB_FSFW_NAME} PRIVATE "-ffunction-sections"
+        target_compile_options(${LIB_FSFW_NAME} PRIVATE
-                                                    "-fdata-sections")
+            "-ffunction-sections"
-  endif()
+            "-fdata-sections"
-
+        )
-  if(FSFW_REMOVE_UNUSED_CODE)
+    endif()
    target_link_options(${LIB_FSFW_NAME} PRIVATE "Wl,--gc-sections")
  endif()
  if(FSFW_WARNING_SHADOW_LOCAL_GCC)
    list(APPEND WARNING_FLAGS "-Wshadow=local")
  endif()
    if(FSFW_REMOVE_UNUSED_CODE)
        target_link_options(${LIB_FSFW_NAME} PRIVATE
            "Wl,--gc-sections"
        )
    endif()
    if(FSFW_WARNING_SHADOW_LOCAL_GCC)
        list(APPEND WARNING_FLAGS "-Wshadow=local")
    endif()
 endif()
 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-  set(COMPILER_FLAGS "/permissive-")
+	set(COMPILER_FLAGS "/permissive-")
 endif()
 # Required include paths to compile the FSFW
-target_include_directories(
+target_include_directories(${LIB_FSFW_NAME} INTERFACE 
-  ${LIB_FSFW_NAME} INTERFACE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
+	${CMAKE_SOURCE_DIR}
-                             ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
+	${FSFW_CONFIG_PATH_ABSOLUTE}
 	${FSFW_CORE_INC_PATH}
 	${FSFW_ADD_INC_PATHS_ABS}
 )
-# Includes path required to compile FSFW itself as well We assume that the
+# Includes path required to compile FSFW itself as well
-# fsfwconfig folder uses include relative to the project root here!
+# We assume that the fsfwconfig folder uses include relative to the project
-target_include_directories(
+# root here!
-  ${LIB_FSFW_NAME} PRIVATE ${CMAKE_SOURCE_DIR} ${FSFW_CONFIG_PATH_ABSOLUTE}
+target_include_directories(${LIB_FSFW_NAME} PRIVATE 
-                           ${FSFW_CORE_INC_PATH} ${FSFW_ADD_INC_PATHS_ABS})
+	${CMAKE_SOURCE_DIR}
 	${FSFW_CONFIG_PATH_ABSOLUTE}
 	${FSFW_CORE_INC_PATH}
 	${FSFW_ADD_INC_PATHS_ABS}
 )
-target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
+target_compile_options(${LIB_FSFW_NAME} PRIVATE 
-                                                ${COMPILER_FLAGS})
+	${FSFW_WARNING_FLAGS}
 	${COMPILER_FLAGS}
 )
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
+    ${FSFW_ADDITIONAL_LINK_LIBS}
-
+)
 string(
  CONCAT
    POST_BUILD_COMMENT
    "######################################################################\n"
    "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
    "Target OSAL: ${FSFW_OS_NAME}\n"
    "######################################################################\n")
 add_custom_command(
  TARGET ${LIB_FSFW_NAME}
  POST_BUILD
  COMMENT ${POST_BUILD_COMMENT})
--- a/FSFWVersion.h.in
+++ b/FSFWVersion.h.in
--- a/README.md
+++ b/README.md
@ -1,4 +1,4 @@
-![FSFW Logo](misc/logo/FSFW_Logo_V3_bw.png)
+![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
 # Flight Software Framework (FSFW)
@ -11,15 +11,9 @@ with Airbus Defence and Space GmbH.
 ## Quick facts
-The framework is designed for systems, which communicate with external devices, perform control loops, 
+The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
 receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore,
 a mode and health system provides control over the states of the software and the controlled devices.
 In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
-The FSFW provides abstraction layers for operating systems to provide a uniform operating system
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is also very useful for developers to implement the same application logic on different operating systems with a uniform interface.
 abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
 also very useful for developers to implement the same application logic on different operating
 systems with a uniform interface.
 Currently, the FSFW provides the following OSALs:
@ -28,181 +22,28 @@ Currently, the FSFW provides the following OSALs:
 - FreeRTOS
 - RTEMS
-The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
+The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile Memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC. The `fsfw` was also successfully run on the STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active satellite mission Flying Laptop.
 memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
 ISISPACE IOBC or a Zynq-7020 SoC. The `fsfw` was also successfully run on the
 STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
 satellite mission Flying Laptop.
 ## Getting started
-The [Hosted FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted) provides a
+The [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example) provides a good starting point and a demo to see the FSFW capabilities and build it with the Make or the CMake build system. It is recommended to evaluate the FSFW by building and playing around with the demo application.
 good starting point and a demo to see the FSFW capabilities.
 It is recommended to get started by building and playing around with the demo application.
 There are also other examples provided for all OSALs using the popular embedded platforms
 Raspberry Pi, Beagle Bone Black and STM32H7.
-Generally, the FSFW is included in a project by providing
+Generally, the FSFW is included in a project by compiling the FSFW sources and providing
-a configuration folder, building the static library and linking against it. 
+a configuration folder and adding it to the include path. There are some functions like `printChar` which are different depending on the target architecture and need to be implemented by the mission developer.
 There are some functions like `printChar` which are different depending on the target architecture
 and need to be implemented by the mission developer.
 A template configuration folder was provided and can be copied into the project root to have
-a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
+a starting point. The [configuration section](doc/README-config.md#top) provides more specific information about the possible options.
 information about the possible options.
 ## Prerequisites
 The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
 installed and provided by the build system unless the correction version was installed.
 The current recommended version can be found inside the fsfw `CMakeLists.txt` file or by using
 `ccmake` and looking up the `FSFW_ETL_LIB_MAJOR_VERSION` variable.
 You can install the ETL library like this. On Linux, it might be necessary to add `sudo` before
 the install call:
 ```cpp
 git clone https://github.com/ETLCPP/etl
 cd etl
 git checkout <currentRecommendedVersion>
 mkdir build && cd build
 cmake ..
 cmake --install .
 ```
 It is recommended to install `20.27.2` or newer for the package version handling of
 ETL to work.
 ## Adding the library
 The following steps show how to add and use FSFW components. It is still recommended to
 try out the example mentioned above to get started, but the following steps show how to
 add and link against the FSFW library in general.
 1. Add this repository as a submodule
   ```sh
   git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw   
   ```
 2. Add the following directive inside the uppermost `CMakeLists.txt` file of your project
   ```cmake
   add_subdirectory(fsfw)
   ```
 3. Make sure to provide a configuration folder and supply the path to that folder with
   the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
   It is also necessary to provide the `printChar` function. You can find an example
   implementation for a hosted build 
   [here](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c).
 4. Link against the FSFW library
   ```sh
   target_link_libraries(${YourProjectName} PRIVATE fsfw)
   ```
 5. It should now be possible use the FSFW as a static library from the user code.
 ## Building the unittests
 The FSFW also has unittests which use the [Catch2 library](https://github.com/catchorg/Catch2).
 These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 You can install the Catch2 library, which prevents the build system to avoid re-downloading
 the dependency if the unit tests are completely rebuilt. The current recommended version
 can be found inside the fsfw `CMakeLists.txt` file or by using `ccmake` and looking up
 the `FSFW_CATCH2_LIB_VERSION` variable.
 ```sh
 git clone https://github.com/catchorg/Catch2.git
 cd Catch2
 git checkout <currentRecommendedVersion>
 cmake -Bbuild -H. -DBUILD_TESTING=OFF
 sudo cmake --build build/ --target install
 ```
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
 You can use the following commands inside the `fsfw` folder to set up the build system
 ```sh
 mkdir build-tests && cd build-tests
 cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 You can also use `-DFSFW_OSAL=linux` on Linux systems.
 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
 To build the unittests, run them and then generate the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 ```sh
 cmake --build . -- fsfw-tests_coverage -j
 ```
 The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
 ## Building the documentations
 The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
 instructions provided in  [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
 want to do this locally, set up the prerequisites first. This requires a ``python3``
 installation as well. Example here is for Ubuntu.
 ```sh
 sudo apt-get install doxygen graphviz
 ```
 And the following Python packages
 ```sh
 python3 -m pip install sphinx breathe
 ```
 You can set up a documentation build system using the following commands
 ```sh
 mkdir build-docs && cd build-docs
 cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 ```
 Then you can generate the documentation using
 ```sh
 cmake --build . -- Sphinx -j
 ```
 You can find the generated documentation inside the `docs/sphinx` folder inside the build
 folder. Simply open the `index.html` in the webbrowser of your choice.
 The `helper.py` script located in the script` folder can also be used to create, build
 and open the documentation conveniently. Try `helper.py -h for more information.
 ## Formatting the sources
 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
 can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
 ````sh
 sudo pip install cmakelang
 ````
 ## Index
-[1. High-level overview](docs/README-highlevel.md#top) <br>
+[1. High-level overview](doc/README-highlevel.md#top) <br>
-[2. Core components](docs/README-core.md#top) <br>
+[2. Core components](doc/README-core.md#top) <br>
-[3. Configuration](docs/README-config.md#top) <br>
+[3. Configuration](doc/README-config.md#top) <br>
-[4. OSAL overview](docs/README-osal.md#top) <br>
+[4. OSAL overview](doc/README-osal.md#top) <br>
-[5. PUS services](docs/README-pus.md#top) <br>
+[5. PUS services](doc/README-pus.md#top) <br>
-[6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
+[6. Device Handler overview](doc/README-devicehandlers.md#top) <br>
-[7. Controller overview](docs/README-controllers.md#top) <br>
+[7. Controller overview](doc/README-controllers.md#top) <br>
-[8. Local Data Pools](docs/README-localpools.md#top) <br>
+[8. Local Data Pools](doc/README-localpools.md#top) <br>
--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@ -1,29 +0,0 @@
 FROM ubuntu:focal
 RUN apt-get update
 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 python3 pip doxygen graphviz rsync
 RUN python3 -m pip install sphinx breathe
 RUN git clone https://github.com/catchorg/Catch2.git && \
        cd Catch2 && \
        git checkout v3.1.0 && \
        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
        cmake --build build/ --target install
 RUN git clone https://github.com/ETLCPP/etl.git && \
        cd etl && \
        git checkout 20.28.0 && \
        cmake -B build . && \
        cmake --install build/
 #ssh needs a valid user to work
 RUN adduser --uid 114 jenkins
 #add documentation server to known hosts
 RUN echo "|1|/LzCV4BuTmTb2wKnD146l9fTKgQ=|NJJtVjvWbtRt8OYqFgcYRnMQyVw= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
 RUN echo "|1|CcBvBc3EG03G+XM5rqRHs6gK/Gg=|oGeJQ+1I8NGI2THIkJsW92DpTzs= ecdsa-sha2-nistp256 AAAAE2VjZHNhLXNoYTItbmlzdHAyNTYAAAAIbmlzdHAyNTYAAABBBNL8ssTonYtgiR/6RRlSIK9WU1ywOcJmxFTLcEblAwH7oifZzmYq3XRfwXrgfMpylEfMFYfCU8JRqtmi19xc21A=" >> /etc/ssh/ssh_known_hosts
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -1,127 +0,0 @@
 pipeline {
    environment {
        BUILDDIR_HOST = 'cmake-build-tests-host'
        BUILDDIR_LINUX = 'cmake-build-tests-linux'
        DOCDDIR = 'cmake-build-documentation'
    }
    agent {
        docker { 
            image 'fsfw-ci:d6'
            args '--network host --sysctl fs.mqueue.msg_max=100'
        }
    }
    stages {
        stage('Host') {
            stages{
                stage('Clean') {
                    steps {
                        sh 'rm -rf $BUILDDIR_HOST'
                    }
                }
                stage('Configure') {
                    steps {
                        dir(BUILDDIR_HOST) {
                            sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                        }
                    }
                }
                stage('Build') {
                    steps {
                        dir(BUILDDIR_HOST) {
                            sh 'cmake --build . -j4'
                        }
                    }
                }
                stage('Unittests') {
                    steps {
                        dir(BUILDDIR_HOST) {
                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
                        }
                    }
                }
                stage('Valgrind') {
                    steps {
                        dir(BUILDDIR_HOST) {
                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                        }
                    }
                }
            }
        }
        stage('Linux') {
            stages{
                stage('Clean') {
                    steps {
                        sh 'rm -rf $BUILDDIR_LINUX'
                    }
                }
                stage('Configure') {
                    steps {
                        dir(BUILDDIR_LINUX) {
                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                        }
                    }
                }
                stage('Build') {
                    steps {
                        dir(BUILDDIR_LINUX) {
                            sh 'cmake --build . -j4'
                        }
                    }
                }
                stage('Unittests') {
                    steps {
                        dir(BUILDDIR_LINUX) {
                            sh 'cmake --build . -- fsfw-tests_coverage -j4'
                        }
                    }
                }
                stage('Valgrind') {
                    steps {
                        dir(BUILDDIR_LINUX) {
                            sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                        }
                    }
                }
            }
        }
        stage('Documentation') {
            when {
                branch 'development'
            }
            steps {
                dir(DOCDDIR) {
                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                    sh 'make Sphinx'
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
                    }
                }
                dir(BUILDDIR) {
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
                    }
                }
            }
        }
        stage('Master Documentation') {
            when {
                branch 'master'
            }
            steps {
                dir(DOCDDIR) {
                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                    sh 'make Sphinx'
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
                    }
                }
                dir(BUILDDIR) {
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
                    }
                }
            }
        }
    }
 }
--- a/cmake/FindSphinx.cmake
+++ b/cmake/FindSphinx.cmake
@ -1,13 +0,0 @@
 # Look for an executable called sphinx-build
 find_program(SPHINX_EXECUTABLE
             NAMES sphinx-build
             DOC "Path to sphinx-build executable")
 include(FindPackageHandleStandardArgs)
 # Handle standard arguments to find_package like REQUIRED and QUIET
 find_package_handle_standard_args(
    Sphinx
    "Failed to find sphinx-build executable"
    SPHINX_EXECUTABLE
 )
--- a/cmake/FsfwHelpers.cmake
+++ b/cmake/FsfwHelpers.cmake
@ -1,28 +0,0 @@
 # Determines the git version with git describe and returns it by setting
 # the GIT_INFO list in the parent scope. The list has the following entries
 # 1. Full version string
 # 2. Major version
 # 3. Minor version
 # 4. Revision
 # 5. git SHA hash and commits since tag
 function(determine_version_with_git)
    include(GetGitRevisionDescription)
    git_describe(VERSION ${ARGN})
    string(FIND ${VERSION} "." VALID_VERSION)
    if(VALID_VERSION EQUAL -1)
        message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
        return()
    endif()
    # Parse the version information into pieces.
    string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" _VERSION_MAJOR "${VERSION}")
    string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
    set(GIT_INFO ${VERSION})
    list(APPEND GIT_INFO ${_VERSION_MAJOR})
    list(APPEND GIT_INFO ${_VERSION_MINOR})
    list(APPEND GIT_INFO ${_VERSION_PATCH})
    list(APPEND GIT_INFO ${VERSION_SHA1})
    set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
    message(STATUS "${MSG_PREFIX} Set git version info into GIT_INFO from the git tag ${VERSION}")
 endfunction()
--- a/cmake/cmake-modules/README.md
+++ b/cmake/cmake-modules/README.md
@ -1,7 +0,0 @@
 The files in the `bilke` folder were manually copy and pasted from the
 [cmake-modules repository](https://github.com/bilke/cmake-modules). It was decided to do
 this because only a small subset of its provided functions are needed.
 The files in the `rpavlik` folder were manually copy and pasted from the
 [cmake-modules repository](https://github.com/rpavlik/cmake-modules). It was decided to do
 this because only a small subset of its provided functions are needed.
--- a/cmake/cmake-modules/bilke/CodeCoverage.cmake
+++ b/cmake/cmake-modules/bilke/CodeCoverage.cmake
@ -1,719 +0,0 @@
 # Copyright (c) 2012 - 2017, Lars Bilke
 # All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without modification,
 # are permitted provided that the following conditions are met:
 #
 # 1. Redistributions of source code must retain the above copyright notice, this
 #    list of conditions and the following disclaimer.
 #
 # 2. Redistributions in binary form must reproduce the above copyright notice,
 #    this list of conditions and the following disclaimer in the documentation
 #    and/or other materials provided with the distribution.
 #
 # 3. Neither the name of the copyright holder nor the names of its contributors
 #    may be used to endorse or promote products derived from this software without
 #    specific prior written permission.
 #
 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 # WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 # ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 # ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #
 # CHANGES:
 #
 # 2012-01-31, Lars Bilke
 # - Enable Code Coverage
 #
 # 2013-09-17, Joakim Söderberg
 # - Added support for Clang.
 # - Some additional usage instructions.
 #
 # 2016-02-03, Lars Bilke
 # - Refactored functions to use named parameters
 #
 # 2017-06-02, Lars Bilke
 # - Merged with modified version from github.com/ufz/ogs
 #
 # 2019-05-06, Anatolii Kurotych
 # - Remove unnecessary --coverage flag
 #
 # 2019-12-13, FeRD (Frank Dana)
 # - Deprecate COVERAGE_LCOVR_EXCLUDES and COVERAGE_GCOVR_EXCLUDES lists in favor
 #   of tool-agnostic COVERAGE_EXCLUDES variable, or EXCLUDE setup arguments.
 # - CMake 3.4+: All excludes can be specified relative to BASE_DIRECTORY
 # - All setup functions: accept BASE_DIRECTORY, EXCLUDE list
 # - Set lcov basedir with -b argument
 # - Add automatic --demangle-cpp in lcovr, if 'c++filt' is available (can be
 #   overridden with NO_DEMANGLE option in setup_target_for_coverage_lcovr().)
 # - Delete output dir, .info file on 'make clean'
 # - Remove Python detection, since version mismatches will break gcovr
 # - Minor cleanup (lowercase function names, update examples...)
 #
 # 2019-12-19, FeRD (Frank Dana)
 # - Rename Lcov outputs, make filtered file canonical, fix cleanup for targets
 #
 # 2020-01-19, Bob Apthorpe
 # - Added gfortran support
 #
 # 2020-02-17, FeRD (Frank Dana)
 # - Make all add_custom_target()s VERBATIM to auto-escape wildcard characters
 #   in EXCLUDEs, and remove manual escaping from gcovr targets
 #
 # 2021-01-19, Robin Mueller
 # - Add CODE_COVERAGE_VERBOSE option which will allow to print out commands which are run
 # - Added the option for users to set the GCOVR_ADDITIONAL_ARGS variable to supply additional
 #   flags to the gcovr command
 #
 # 2020-05-04, Mihchael Davis
 #     - Add -fprofile-abs-path to make gcno files contain absolute paths
 #     - Fix BASE_DIRECTORY not working when defined
 #     - Change BYPRODUCT from folder to index.html to stop ninja from complaining about double defines
 #
 # 2021-05-10, Martin Stump
 #     - Check if the generator is multi-config before warning about non-Debug builds
 #
 # 2022-02-22, Marko Wehle
 #     - Change gcovr output from -o <filename> for --xml <filename> and --html <filename> output respectively.
 #       This will allow for Multiple Output Formats at the same time by making use of GCOVR_ADDITIONAL_ARGS, e.g. GCOVR_ADDITIONAL_ARGS "--txt".
 #
 # USAGE:
 #
 # 1. Copy this file into your cmake modules path.
 #
 # 2. Add the following line to your CMakeLists.txt (best inside an if-condition
 #    using a CMake option() to enable it just optionally):
 #      include(CodeCoverage)
 #
 # 3. Append necessary compiler flags for all supported source files:
 #      append_coverage_compiler_flags()
 #    Or for specific target:
 #      append_coverage_compiler_flags_to_target(YOUR_TARGET_NAME)
 #
 # 3.a (OPTIONAL) Set appropriate optimization flags, e.g. -O0, -O1 or -Og
 #
 # 4. If you need to exclude additional directories from the report, specify them
 #    using full paths in the COVERAGE_EXCLUDES variable before calling
 #    setup_target_for_coverage_*().
 #    Example:
 #      set(COVERAGE_EXCLUDES
 #          '${PROJECT_SOURCE_DIR}/src/dir1/*'
 #          '/path/to/my/src/dir2/*')
 #    Or, use the EXCLUDE argument to setup_target_for_coverage_*().
 #    Example:
 #      setup_target_for_coverage_lcov(
 #          NAME coverage
 #          EXECUTABLE testrunner
 #          EXCLUDE "${PROJECT_SOURCE_DIR}/src/dir1/*" "/path/to/my/src/dir2/*")
 #
 # 4.a NOTE: With CMake 3.4+, COVERAGE_EXCLUDES or EXCLUDE can also be set
 #     relative to the BASE_DIRECTORY (default: PROJECT_SOURCE_DIR)
 #     Example:
 #       set(COVERAGE_EXCLUDES "dir1/*")
 #       setup_target_for_coverage_gcovr_html(
 #           NAME coverage
 #           EXECUTABLE testrunner
 #           BASE_DIRECTORY "${PROJECT_SOURCE_DIR}/src"
 #           EXCLUDE "dir2/*")
 #
 # 5. Use the functions described below to create a custom make target which
 #    runs your test executable and produces a code coverage report.
 #
 # 6. Build a Debug build:
 #      cmake -DCMAKE_BUILD_TYPE=Debug ..
 #      make
 #      make my_coverage_target
 #
 include(CMakeParseArguments)
 option(CODE_COVERAGE_VERBOSE "Verbose information" FALSE)
 # Check prereqs
 find_program( GCOV_PATH gcov )
 find_program( LCOV_PATH  NAMES lcov lcov.bat lcov.exe lcov.perl)
 find_program( FASTCOV_PATH NAMES fastcov fastcov.py )
 find_program( GENHTML_PATH NAMES genhtml genhtml.perl genhtml.bat )
 find_program( GCOVR_PATH gcovr )
 find_program( CPPFILT_PATH NAMES c++filt )
 if(NOT GCOV_PATH)
    message(FATAL_ERROR "gcov not found! Aborting...")
 endif() # NOT GCOV_PATH
 get_property(LANGUAGES GLOBAL PROPERTY ENABLED_LANGUAGES)
 list(GET LANGUAGES 0 LANG)
 if("${CMAKE_${LANG}_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
    if("${CMAKE_${LANG}_COMPILER_VERSION}" VERSION_LESS 3)
        message(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
    endif()
 elseif(NOT CMAKE_COMPILER_IS_GNUCXX)
    if("${CMAKE_Fortran_COMPILER_ID}" MATCHES "[Ff]lang")
        # Do nothing; exit conditional without error if true
    elseif("${CMAKE_Fortran_COMPILER_ID}" MATCHES "GNU")
        # Do nothing; exit conditional without error if true
    else()
        message(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
    endif()
 endif()
 set(COVERAGE_COMPILER_FLAGS "-g -fprofile-arcs -ftest-coverage"
    CACHE INTERNAL "")
 if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
    include(CheckCXXCompilerFlag)
    check_cxx_compiler_flag(-fprofile-abs-path HAVE_fprofile_abs_path)
    if(HAVE_fprofile_abs_path)
        set(COVERAGE_COMPILER_FLAGS "${COVERAGE_COMPILER_FLAGS} -fprofile-abs-path")
    endif()
 endif()
 set(CMAKE_Fortran_FLAGS_COVERAGE
    ${COVERAGE_COMPILER_FLAGS}
    CACHE STRING "Flags used by the Fortran compiler during coverage builds."
    FORCE )
 set(CMAKE_CXX_FLAGS_COVERAGE
    ${COVERAGE_COMPILER_FLAGS}
    CACHE STRING "Flags used by the C++ compiler during coverage builds."
    FORCE )
 set(CMAKE_C_FLAGS_COVERAGE
    ${COVERAGE_COMPILER_FLAGS}
    CACHE STRING "Flags used by the C compiler during coverage builds."
    FORCE )
 set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
    ""
    CACHE STRING "Flags used for linking binaries during coverage builds."
    FORCE )
 set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
    ""
    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
    FORCE )
 mark_as_advanced(
    CMAKE_Fortran_FLAGS_COVERAGE
    CMAKE_CXX_FLAGS_COVERAGE
    CMAKE_C_FLAGS_COVERAGE
    CMAKE_EXE_LINKER_FLAGS_COVERAGE
    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
 get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
 if(NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG))
    message(WARNING "Code coverage results with an optimised (non-Debug) build may be misleading")
 endif() # NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR GENERATOR_IS_MULTI_CONFIG)
 if(CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_Fortran_COMPILER_ID STREQUAL "GNU")
    link_libraries(gcov)
 endif()
 # Defines a target for running and collection code coverage information
 # Builds dependencies, runs the given executable and outputs reports.
 # NOTE! The executable should always have a ZERO as exit code otherwise
 # the coverage generation will not complete.
 #
 # setup_target_for_coverage_lcov(
 #     NAME testrunner_coverage                    # New target name
 #     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
 #     DEPENDENCIES testrunner                     # Dependencies to build first
 #     BASE_DIRECTORY "../"                        # Base directory for report
 #                                                 #  (defaults to PROJECT_SOURCE_DIR)
 #     EXCLUDE "src/dir1/*" "src/dir2/*"           # Patterns to exclude (can be relative
 #                                                 #  to BASE_DIRECTORY, with CMake 3.4+)
 #     NO_DEMANGLE                                 # Don't demangle C++ symbols
 #                                                 #  even if c++filt is found
 # )
 function(setup_target_for_coverage_lcov)
    set(options NO_DEMANGLE)
    set(oneValueArgs BASE_DIRECTORY NAME)
    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES LCOV_ARGS GENHTML_ARGS)
    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
    if(NOT LCOV_PATH)
        message(FATAL_ERROR "lcov not found! Aborting...")
    endif() # NOT LCOV_PATH
    if(NOT GENHTML_PATH)
        message(FATAL_ERROR "genhtml not found! Aborting...")
    endif() # NOT GENHTML_PATH
    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
    if(DEFINED Coverage_BASE_DIRECTORY)
        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
    else()
        set(BASEDIR ${PROJECT_SOURCE_DIR})
    endif()
    # Collect excludes (CMake 3.4+: Also compute absolute paths)
    set(LCOV_EXCLUDES "")
    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_LCOV_EXCLUDES})
        if(CMAKE_VERSION VERSION_GREATER 3.4)
            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
        endif()
        list(APPEND LCOV_EXCLUDES "${EXCLUDE}")
    endforeach()
    list(REMOVE_DUPLICATES LCOV_EXCLUDES)
    # Conditional arguments
    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
      set(GENHTML_EXTRA_ARGS "--demangle-cpp")
    endif()
    # Setting up commands which will be run to generate coverage data.
    # Cleanup lcov
    set(LCOV_CLEAN_CMD 
        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -directory . 
        -b ${BASEDIR} --zerocounters
    )
    # Create baseline to make sure untouched files show up in the report
    set(LCOV_BASELINE_CMD 
        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -c -i -d . -b 
        ${BASEDIR} -o ${Coverage_NAME}.base
    )
    # Run tests
    set(LCOV_EXEC_TESTS_CMD 
        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
    )    
    # Capturing lcov counters and generating report
    set(LCOV_CAPTURE_CMD 
        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --directory . -b 
        ${BASEDIR} --capture --output-file ${Coverage_NAME}.capture
    )
    # add baseline counters
    set(LCOV_BASELINE_COUNT_CMD
        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} -a ${Coverage_NAME}.base 
        -a ${Coverage_NAME}.capture --output-file ${Coverage_NAME}.total
    ) 
    # filter collected data to final coverage report
    set(LCOV_FILTER_CMD 
        ${LCOV_PATH} ${Coverage_LCOV_ARGS} --gcov-tool ${GCOV_PATH} --remove 
        ${Coverage_NAME}.total ${LCOV_EXCLUDES} --output-file ${Coverage_NAME}.info
    )    
    # Generate HTML output
    set(LCOV_GEN_HTML_CMD
        ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS} -o 
        ${Coverage_NAME} ${Coverage_NAME}.info
    )
    if(CODE_COVERAGE_VERBOSE)
        message(STATUS "Executed command report")
        message(STATUS "Command to clean up lcov: ")
        string(REPLACE ";" " " LCOV_CLEAN_CMD_SPACED "${LCOV_CLEAN_CMD}")
        message(STATUS "${LCOV_CLEAN_CMD_SPACED}")
        message(STATUS "Command to create baseline: ")
        string(REPLACE ";" " " LCOV_BASELINE_CMD_SPACED "${LCOV_BASELINE_CMD}")
        message(STATUS "${LCOV_BASELINE_CMD_SPACED}")
        message(STATUS "Command to run the tests: ")
        string(REPLACE ";" " " LCOV_EXEC_TESTS_CMD_SPACED "${LCOV_EXEC_TESTS_CMD}")
        message(STATUS "${LCOV_EXEC_TESTS_CMD_SPACED}")
        message(STATUS "Command to capture counters and generate report: ")
        string(REPLACE ";" " " LCOV_CAPTURE_CMD_SPACED "${LCOV_CAPTURE_CMD}")
        message(STATUS "${LCOV_CAPTURE_CMD_SPACED}")
        message(STATUS "Command to add baseline counters: ")
        string(REPLACE ";" " " LCOV_BASELINE_COUNT_CMD_SPACED "${LCOV_BASELINE_COUNT_CMD}")
        message(STATUS "${LCOV_BASELINE_COUNT_CMD_SPACED}")
        message(STATUS "Command to filter collected data: ")
        string(REPLACE ";" " " LCOV_FILTER_CMD_SPACED "${LCOV_FILTER_CMD}")
        message(STATUS "${LCOV_FILTER_CMD_SPACED}")
        message(STATUS "Command to generate lcov HTML output: ")
        string(REPLACE ";" " " LCOV_GEN_HTML_CMD_SPACED "${LCOV_GEN_HTML_CMD}")
        message(STATUS "${LCOV_GEN_HTML_CMD_SPACED}")
    endif()
    # Setup target
    add_custom_target(${Coverage_NAME}
        COMMAND ${LCOV_CLEAN_CMD}
        COMMAND ${LCOV_BASELINE_CMD} 
        COMMAND ${LCOV_EXEC_TESTS_CMD}
        COMMAND ${LCOV_CAPTURE_CMD}
        COMMAND ${LCOV_BASELINE_COUNT_CMD}
        COMMAND ${LCOV_FILTER_CMD} 
        COMMAND ${LCOV_GEN_HTML_CMD}
        # Set output files as GENERATED (will be removed on 'make clean')
        BYPRODUCTS
            ${Coverage_NAME}.base
            ${Coverage_NAME}.capture
            ${Coverage_NAME}.total
            ${Coverage_NAME}.info
            ${Coverage_NAME}/index.html
        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
        DEPENDS ${Coverage_DEPENDENCIES}
        VERBATIM # Protect arguments to commands
        COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
    )
    # Show where to find the lcov info report
    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
        COMMAND ;
        COMMENT "Lcov code coverage info report saved in ${Coverage_NAME}.info."
    )
    # Show info where to find the report
    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
        COMMAND ;
        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
    )
 endfunction() # setup_target_for_coverage_lcov
 # Defines a target for running and collection code coverage information
 # Builds dependencies, runs the given executable and outputs reports.
 # NOTE! The executable should always have a ZERO as exit code otherwise
 # the coverage generation will not complete.
 #
 # setup_target_for_coverage_gcovr_xml(
 #     NAME ctest_coverage                    # New target name
 #     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
 #     DEPENDENCIES executable_target         # Dependencies to build first
 #     BASE_DIRECTORY "../"                   # Base directory for report
 #                                            #  (defaults to PROJECT_SOURCE_DIR)
 #     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
 #                                            #  to BASE_DIRECTORY, with CMake 3.4+)
 # )
 # The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
 # GCVOR command.
 function(setup_target_for_coverage_gcovr_xml)
    set(options NONE)
    set(oneValueArgs BASE_DIRECTORY NAME)
    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
    if(NOT GCOVR_PATH)
        message(FATAL_ERROR "gcovr not found! Aborting...")
    endif() # NOT GCOVR_PATH
    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
    if(DEFINED Coverage_BASE_DIRECTORY)
        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
    else()
        set(BASEDIR ${PROJECT_SOURCE_DIR})
    endif()
    # Collect excludes (CMake 3.4+: Also compute absolute paths)
    set(GCOVR_EXCLUDES "")
    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
        if(CMAKE_VERSION VERSION_GREATER 3.4)
            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
        endif()
        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
    endforeach()
    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
    # Combine excludes to several -e arguments
    set(GCOVR_EXCLUDE_ARGS "")
    foreach(EXCLUDE ${GCOVR_EXCLUDES})
        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
    endforeach()
    # Set up commands which will be run to generate coverage data
    # Run tests
    set(GCOVR_XML_EXEC_TESTS_CMD
        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
    )
    # Running gcovr
    set(GCOVR_XML_CMD
        ${GCOVR_PATH} --xml ${Coverage_NAME}.xml -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
    )
    if(CODE_COVERAGE_VERBOSE)
        message(STATUS "Executed command report")
        message(STATUS "Command to run tests: ")
        string(REPLACE ";" " " GCOVR_XML_EXEC_TESTS_CMD_SPACED "${GCOVR_XML_EXEC_TESTS_CMD}")
        message(STATUS "${GCOVR_XML_EXEC_TESTS_CMD_SPACED}")
        message(STATUS "Command to generate gcovr XML coverage data: ")
        string(REPLACE ";" " " GCOVR_XML_CMD_SPACED "${GCOVR_XML_CMD}")
        message(STATUS "${GCOVR_XML_CMD_SPACED}")
    endif()
    add_custom_target(${Coverage_NAME}
        COMMAND ${GCOVR_XML_EXEC_TESTS_CMD}
        COMMAND ${GCOVR_XML_CMD}
        BYPRODUCTS ${Coverage_NAME}.xml
        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
        DEPENDS ${Coverage_DEPENDENCIES}
        VERBATIM # Protect arguments to commands
        COMMENT "Running gcovr to produce Cobertura code coverage report."
    )
    # Show info where to find the report
    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
        COMMAND ;
        COMMENT "Cobertura code coverage report saved in ${Coverage_NAME}.xml."
    )
 endfunction() # setup_target_for_coverage_gcovr_xml
 # Defines a target for running and collection code coverage information
 # Builds dependencies, runs the given executable and outputs reports.
 # NOTE! The executable should always have a ZERO as exit code otherwise
 # the coverage generation will not complete.
 #
 # setup_target_for_coverage_gcovr_html(
 #     NAME ctest_coverage                    # New target name
 #     EXECUTABLE ctest -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
 #     DEPENDENCIES executable_target         # Dependencies to build first
 #     BASE_DIRECTORY "../"                   # Base directory for report
 #                                            #  (defaults to PROJECT_SOURCE_DIR)
 #     EXCLUDE "src/dir1/*" "src/dir2/*"      # Patterns to exclude (can be relative
 #                                            #  to BASE_DIRECTORY, with CMake 3.4+)
 # )
 # The user can set the variable GCOVR_ADDITIONAL_ARGS to supply additional flags to the
 # GCVOR command.
 function(setup_target_for_coverage_gcovr_html)
    set(options NONE)
    set(oneValueArgs BASE_DIRECTORY NAME)
    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
    if(NOT GCOVR_PATH)
        message(FATAL_ERROR "gcovr not found! Aborting...")
    endif() # NOT GCOVR_PATH
    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
    if(DEFINED Coverage_BASE_DIRECTORY)
        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
    else()
        set(BASEDIR ${PROJECT_SOURCE_DIR})
    endif()
    # Collect excludes (CMake 3.4+: Also compute absolute paths)
    set(GCOVR_EXCLUDES "")
    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_GCOVR_EXCLUDES})
        if(CMAKE_VERSION VERSION_GREATER 3.4)
            get_filename_component(EXCLUDE ${EXCLUDE} ABSOLUTE BASE_DIR ${BASEDIR})
        endif()
        list(APPEND GCOVR_EXCLUDES "${EXCLUDE}")
    endforeach()
    list(REMOVE_DUPLICATES GCOVR_EXCLUDES)
    # Combine excludes to several -e arguments
    set(GCOVR_EXCLUDE_ARGS "")
    foreach(EXCLUDE ${GCOVR_EXCLUDES})
        list(APPEND GCOVR_EXCLUDE_ARGS "-e")
        list(APPEND GCOVR_EXCLUDE_ARGS "${EXCLUDE}")
    endforeach()
    # Set up commands which will be run to generate coverage data
    # Run tests
    set(GCOVR_HTML_EXEC_TESTS_CMD
        ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS}
    )
    # Create folder
    set(GCOVR_HTML_FOLDER_CMD
        ${CMAKE_COMMAND} -E make_directory ${PROJECT_BINARY_DIR}/${Coverage_NAME}
    )
    # Running gcovr
    set(GCOVR_HTML_CMD
        ${GCOVR_PATH} --html ${Coverage_NAME}/index.html --html-details -r ${BASEDIR} ${GCOVR_ADDITIONAL_ARGS}
        ${GCOVR_EXCLUDE_ARGS} --object-directory=${PROJECT_BINARY_DIR}
    )
    if(CODE_COVERAGE_VERBOSE)
        message(STATUS "Executed command report")
        message(STATUS "Command to run tests: ")
        string(REPLACE ";" " " GCOVR_HTML_EXEC_TESTS_CMD_SPACED "${GCOVR_HTML_EXEC_TESTS_CMD}")
        message(STATUS "${GCOVR_HTML_EXEC_TESTS_CMD_SPACED}")
        message(STATUS "Command to create a folder: ")
        string(REPLACE ";" " " GCOVR_HTML_FOLDER_CMD_SPACED "${GCOVR_HTML_FOLDER_CMD}")
        message(STATUS "${GCOVR_HTML_FOLDER_CMD_SPACED}")
        message(STATUS "Command to generate gcovr HTML coverage data: ")
        string(REPLACE ";" " " GCOVR_HTML_CMD_SPACED "${GCOVR_HTML_CMD}")
        message(STATUS "${GCOVR_HTML_CMD_SPACED}")
    endif()
    add_custom_target(${Coverage_NAME}
        COMMAND ${GCOVR_HTML_EXEC_TESTS_CMD}
        COMMAND ${GCOVR_HTML_FOLDER_CMD}
        COMMAND ${GCOVR_HTML_CMD}
        BYPRODUCTS ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html  # report directory
        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
        DEPENDS ${Coverage_DEPENDENCIES}
        VERBATIM # Protect arguments to commands
        COMMENT "Running gcovr to produce HTML code coverage report."
    )
    # Show info where to find the report
    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
        COMMAND ;
        COMMENT "Open ./${Coverage_NAME}/index.html in your browser to view the coverage report."
    )
 endfunction() # setup_target_for_coverage_gcovr_html
 # Defines a target for running and collection code coverage information
 # Builds dependencies, runs the given executable and outputs reports.
 # NOTE! The executable should always have a ZERO as exit code otherwise
 # the coverage generation will not complete.
 #
 # setup_target_for_coverage_fastcov(
 #     NAME testrunner_coverage                    # New target name
 #     EXECUTABLE testrunner -j ${PROCESSOR_COUNT} # Executable in PROJECT_BINARY_DIR
 #     DEPENDENCIES testrunner                     # Dependencies to build first
 #     BASE_DIRECTORY "../"                        # Base directory for report
 #                                                 #  (defaults to PROJECT_SOURCE_DIR)
 #     EXCLUDE "src/dir1/" "src/dir2/"             # Patterns to exclude.
 #     NO_DEMANGLE                                 # Don't demangle C++ symbols
 #                                                 #  even if c++filt is found
 #     SKIP_HTML                                   # Don't create html report
 #     POST_CMD perl -i -pe s!${PROJECT_SOURCE_DIR}/!!g ctest_coverage.json  # E.g. for stripping source dir from file paths
 # )
 function(setup_target_for_coverage_fastcov)
    set(options NO_DEMANGLE SKIP_HTML)
    set(oneValueArgs BASE_DIRECTORY NAME)
    set(multiValueArgs EXCLUDE EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES FASTCOV_ARGS GENHTML_ARGS POST_CMD)
    cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
    if(NOT FASTCOV_PATH)
        message(FATAL_ERROR "fastcov not found! Aborting...")
    endif()
    if(NOT Coverage_SKIP_HTML AND NOT GENHTML_PATH)
        message(FATAL_ERROR "genhtml not found! Aborting...")
    endif()
    # Set base directory (as absolute path), or default to PROJECT_SOURCE_DIR
    if(Coverage_BASE_DIRECTORY)
        get_filename_component(BASEDIR ${Coverage_BASE_DIRECTORY} ABSOLUTE)
    else()
        set(BASEDIR ${PROJECT_SOURCE_DIR})
    endif()
    # Collect excludes (Patterns, not paths, for fastcov)
    set(FASTCOV_EXCLUDES "")
    foreach(EXCLUDE ${Coverage_EXCLUDE} ${COVERAGE_EXCLUDES} ${COVERAGE_FASTCOV_EXCLUDES})
        list(APPEND FASTCOV_EXCLUDES "${EXCLUDE}")
    endforeach()
    list(REMOVE_DUPLICATES FASTCOV_EXCLUDES)
    # Conditional arguments
    if(CPPFILT_PATH AND NOT ${Coverage_NO_DEMANGLE})
        set(GENHTML_EXTRA_ARGS "--demangle-cpp")
    endif()
    # Set up commands which will be run to generate coverage data
    set(FASTCOV_EXEC_TESTS_CMD ${Coverage_EXECUTABLE} ${Coverage_EXECUTABLE_ARGS})
    set(FASTCOV_CAPTURE_CMD ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
        --search-directory ${BASEDIR}
        --process-gcno
        --output ${Coverage_NAME}.json
        --exclude ${FASTCOV_EXCLUDES}
        --exclude ${FASTCOV_EXCLUDES}
    )
    set(FASTCOV_CONVERT_CMD ${FASTCOV_PATH}
        -C ${Coverage_NAME}.json --lcov --output ${Coverage_NAME}.info
    )
    if(Coverage_SKIP_HTML)
        set(FASTCOV_HTML_CMD ";")
    else()
        set(FASTCOV_HTML_CMD ${GENHTML_PATH} ${GENHTML_EXTRA_ARGS} ${Coverage_GENHTML_ARGS}
            -o ${Coverage_NAME} ${Coverage_NAME}.info
        )
    endif()
    set(FASTCOV_POST_CMD ";")
    if(Coverage_POST_CMD)
        set(FASTCOV_POST_CMD ${Coverage_POST_CMD})
    endif()
    if(CODE_COVERAGE_VERBOSE)
        message(STATUS "Code coverage commands for target ${Coverage_NAME} (fastcov):")
        message("   Running tests:")
        string(REPLACE ";" " " FASTCOV_EXEC_TESTS_CMD_SPACED "${FASTCOV_EXEC_TESTS_CMD}")
        message("     ${FASTCOV_EXEC_TESTS_CMD_SPACED}")
        message("   Capturing fastcov counters and generating report:")
        string(REPLACE ";" " " FASTCOV_CAPTURE_CMD_SPACED "${FASTCOV_CAPTURE_CMD}")
        message("     ${FASTCOV_CAPTURE_CMD_SPACED}")
        message("   Converting fastcov .json to lcov .info:")
        string(REPLACE ";" " " FASTCOV_CONVERT_CMD_SPACED "${FASTCOV_CONVERT_CMD}")
        message("     ${FASTCOV_CONVERT_CMD_SPACED}")
        if(NOT Coverage_SKIP_HTML)
            message("   Generating HTML report: ")
            string(REPLACE ";" " " FASTCOV_HTML_CMD_SPACED "${FASTCOV_HTML_CMD}")
            message("     ${FASTCOV_HTML_CMD_SPACED}")
        endif()
        if(Coverage_POST_CMD)
            message("   Running post command: ")
            string(REPLACE ";" " " FASTCOV_POST_CMD_SPACED "${FASTCOV_POST_CMD}")
            message("     ${FASTCOV_POST_CMD_SPACED}")
        endif()
    endif()
    # Setup target
    add_custom_target(${Coverage_NAME}
        # Cleanup fastcov
        COMMAND ${FASTCOV_PATH} ${Coverage_FASTCOV_ARGS} --gcov ${GCOV_PATH}
            --search-directory ${BASEDIR}
            --zerocounters
        COMMAND ${FASTCOV_EXEC_TESTS_CMD}
        COMMAND ${FASTCOV_CAPTURE_CMD}
        COMMAND ${FASTCOV_CONVERT_CMD}
        COMMAND ${FASTCOV_HTML_CMD}
        COMMAND ${FASTCOV_POST_CMD}
        # Set output files as GENERATED (will be removed on 'make clean')
        BYPRODUCTS
             ${Coverage_NAME}.info
             ${Coverage_NAME}.json
             ${Coverage_NAME}/index.html  # report directory
        WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
        DEPENDS ${Coverage_DEPENDENCIES}
        VERBATIM # Protect arguments to commands
        COMMENT "Resetting code coverage counters to zero. Processing code coverage counters and generating report."
    )
    set(INFO_MSG "fastcov code coverage info report saved in ${Coverage_NAME}.info and ${Coverage_NAME}.json.")
    if(NOT Coverage_SKIP_HTML)
        string(APPEND INFO_MSG " Open ${PROJECT_BINARY_DIR}/${Coverage_NAME}/index.html in your browser to view the coverage report.")
    endif()
    # Show where to find the fastcov info report
    add_custom_command(TARGET ${Coverage_NAME} POST_BUILD
        COMMAND ${CMAKE_COMMAND} -E echo ${INFO_MSG}
    )
 endfunction() # setup_target_for_coverage_fastcov
 function(append_coverage_compiler_flags)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
    set(CMAKE_Fortran_FLAGS "${CMAKE_Fortran_FLAGS} ${COVERAGE_COMPILER_FLAGS}" PARENT_SCOPE)
    message(STATUS "Appending code coverage compiler flags: ${COVERAGE_COMPILER_FLAGS}")
 endfunction() # append_coverage_compiler_flags
 # Setup coverage for specific library
 function(append_coverage_compiler_flags_to_target name)
    target_compile_options(${name}
        PRIVATE ${COVERAGE_COMPILER_FLAGS})
 endfunction()
--- a/cmake/cmake-modules/bilke/LICENSE_1_0.txt
+++ b/cmake/cmake-modules/bilke/LICENSE_1_0.txt
@ -1,23 +0,0 @@
 Boost Software License - Version 1.0 - August 17th, 2003
 Permission is hereby granted, free of charge, to any person or organization
 obtaining a copy of the software and accompanying documentation covered by
 this license (the "Software") to use, reproduce, display, distribute,
 execute, and transmit the Software, and to prepare derivative works of the
 Software, and to permit third-parties to whom the Software is furnished to
 do so, all subject to the following:
 The copyright notices in the Software and this entire statement, including
 the above license grant, this restriction and the following disclaimer,
 must be included in all copies of the Software, in whole or in part, and
 all derivative works of the Software, unless such copies or derivative
 works are solely in the form of machine-executable object code generated by
 a source language processor.
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
 SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
 FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 DEALINGS IN THE SOFTWARE.
--- a/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake
+++ b/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake
@ -1,284 +0,0 @@
 # - Returns a version string from Git
 #
 # These functions force a re-configure on each git commit so that you can
 # trust the values of the variables in your build system.
 #
 #  get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
 #
 # Returns the refspec and sha hash of the current head revision
 #
 #  git_describe(<var> [<additional arguments to git describe> ...])
 #
 # Returns the results of git describe on the source tree, and adjusting
 # the output so that it tests false if an error occurs.
 #
 #  git_describe_working_tree(<var> [<additional arguments to git describe> ...])
 #
 # Returns the results of git describe on the working tree (--dirty option),
 # and adjusting the output so that it tests false if an error occurs.
 #
 #  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
 #
 # Returns the results of git describe --exact-match on the source tree,
 # and adjusting the output so that it tests false if there was no exact
 # matching tag.
 #
 #  git_local_changes(<var>)
 #
 # Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
 # Uses the return code of "git diff-index --quiet HEAD --".
 # Does not regard untracked files.
 #
 # Requires CMake 2.6 or newer (uses the 'function' command)
 #
 # Original Author:
 # 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
 # http://academic.cleardefinition.com
 #
 # Copyright 2009-2013, Iowa State University.
 # Copyright 2013-2020, Ryan Pavlik
 # Copyright 2013-2020, Contributors
 # SPDX-License-Identifier: BSL-1.0
 # Distributed under the Boost Software License, Version 1.0.
 # (See accompanying file LICENSE_1_0.txt or copy at
 # http://www.boost.org/LICENSE_1_0.txt)
 if(__get_git_revision_description)
    return()
 endif()
 set(__get_git_revision_description YES)
 # We must run the following at "include" time, not at function call time,
 # to find the path to this module rather than the path to a calling list file
 get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
 # Function _git_find_closest_git_dir finds the next closest .git directory
 # that is part of any directory in the path defined by _start_dir.
 # The result is returned in the parent scope variable whose name is passed
 # as variable _git_dir_var. If no .git directory can be found, the
 # function returns an empty string via _git_dir_var.
 #
 # Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
 # neither foo nor bar contain a file/directory .git. This wil return
 # C:/bla/.git
 #
 function(_git_find_closest_git_dir _start_dir _git_dir_var)
    set(cur_dir "${_start_dir}")
    set(git_dir "${_start_dir}/.git")
    while(NOT EXISTS "${git_dir}")
        # .git dir not found, search parent directories
        set(git_previous_parent "${cur_dir}")
        get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
        if(cur_dir STREQUAL git_previous_parent)
            # We have reached the root directory, we are not in git
            set(${_git_dir_var}
                ""
                PARENT_SCOPE)
            return()
        endif()
        set(git_dir "${cur_dir}/.git")
    endwhile()
    set(${_git_dir_var}
        "${git_dir}"
        PARENT_SCOPE)
 endfunction()
 function(get_git_head_revision _refspecvar _hashvar)
    _git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
    if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
    else()
        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
    endif()
    if(NOT "${GIT_DIR}" STREQUAL "")
        file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
             "${GIT_DIR}")
        if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
            # We've gone above the CMake root dir.
            set(GIT_DIR "")
        endif()
    endif()
    if("${GIT_DIR}" STREQUAL "")
        set(${_refspecvar}
            "GITDIR-NOTFOUND"
            PARENT_SCOPE)
        set(${_hashvar}
            "GITDIR-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    # Check if the current source dir is a git submodule or a worktree.
    # In both cases .git is a file instead of a directory.
    #
    if(NOT IS_DIRECTORY ${GIT_DIR})
        # The following git command will return a non empty string that
        # points to the super project working tree if the current
        # source dir is inside a git submodule.
        # Otherwise the command will return an empty string.
        #
        execute_process(
            COMMAND "${GIT_EXECUTABLE}" rev-parse
                    --show-superproject-working-tree
            WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
            OUTPUT_VARIABLE out
            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
        if(NOT "${out}" STREQUAL "")
            # If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
            file(READ ${GIT_DIR} submodule)
            string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
                                 ${submodule})
            string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
            get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
                                   ABSOLUTE)
            set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
        else()
            # GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
            file(READ ${GIT_DIR} worktree_ref)
            # The .git directory contains a path to the worktree information directory
            # inside the parent git repo of the worktree.
            #
            string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
                                 ${worktree_ref})
            string(STRIP ${git_worktree_dir} git_worktree_dir)
            _git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
            set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
        endif()
    else()
        set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
    endif()
    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
    if(NOT EXISTS "${GIT_DATA}")
        file(MAKE_DIRECTORY "${GIT_DATA}")
    endif()
    if(NOT EXISTS "${HEAD_SOURCE_FILE}")
        return()
    endif()
    set(HEAD_FILE "${GIT_DATA}/HEAD")
    configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
                   "${GIT_DATA}/grabRef.cmake" @ONLY)
    include("${GIT_DATA}/grabRef.cmake")
    set(${_refspecvar}
        "${HEAD_REF}"
        PARENT_SCOPE)
    set(${_hashvar}
        "${HEAD_HASH}"
        PARENT_SCOPE)
 endfunction()
 function(git_describe _var)
    if(NOT GIT_FOUND)
        find_package(Git QUIET)
    endif()
    get_git_head_revision(refspec hash)
    if(NOT GIT_FOUND)
        set(${_var}
            "GIT-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    if(NOT hash)
        set(${_var}
            "HEAD-HASH-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    # TODO sanitize
    #if((${ARGN}" MATCHES "&&") OR
    #   (ARGN MATCHES "||") OR
    #   (ARGN MATCHES "\\;"))
    #   message("Please report the following error to the project!")
    #   message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
    #endif()
    #message(STATUS "Arguments to execute_process: ${ARGN}")
    execute_process(
        COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
        RESULT_VARIABLE res
        OUTPUT_VARIABLE out
        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(NOT res EQUAL 0)
        set(out "${out}-${res}-NOTFOUND")
    endif()
    set(${_var}
        "${out}"
        PARENT_SCOPE)
 endfunction()
 function(git_describe_working_tree _var)
    if(NOT GIT_FOUND)
        find_package(Git QUIET)
    endif()
    if(NOT GIT_FOUND)
        set(${_var}
            "GIT-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    execute_process(
        COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
        RESULT_VARIABLE res
        OUTPUT_VARIABLE out
        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(NOT res EQUAL 0)
        set(out "${out}-${res}-NOTFOUND")
    endif()
    set(${_var}
        "${out}"
        PARENT_SCOPE)
 endfunction()
 function(git_get_exact_tag _var)
    git_describe(out --exact-match ${ARGN})
    set(${_var}
        "${out}"
        PARENT_SCOPE)
 endfunction()
 function(git_local_changes _var)
    if(NOT GIT_FOUND)
        find_package(Git QUIET)
    endif()
    get_git_head_revision(refspec hash)
    if(NOT GIT_FOUND)
        set(${_var}
            "GIT-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    if(NOT hash)
        set(${_var}
            "HEAD-HASH-NOTFOUND"
            PARENT_SCOPE)
        return()
    endif()
    execute_process(
        COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
        RESULT_VARIABLE res
        OUTPUT_VARIABLE out
        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(res EQUAL 0)
        set(${_var}
            "CLEAN"
            PARENT_SCOPE)
    else()
        set(${_var}
            "DIRTY"
            PARENT_SCOPE)
    endif()
 endfunction()
--- a/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in
+++ b/cmake/cmake-modules/rpavlik/GetGitRevisionDescription.cmake.in
@ -1,43 +0,0 @@
 #
 # Internal file for GetGitRevisionDescription.cmake
 #
 # Requires CMake 2.6 or newer (uses the 'function' command)
 #
 # Original Author:
 # 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
 # http://academic.cleardefinition.com
 # Iowa State University HCI Graduate Program/VRAC
 #
 # Copyright 2009-2012, Iowa State University
 # Copyright 2011-2015, Contributors
 # Distributed under the Boost Software License, Version 1.0.
 # (See accompanying file LICENSE_1_0.txt or copy at
 # http://www.boost.org/LICENSE_1_0.txt)
 # SPDX-License-Identifier: BSL-1.0
 set(HEAD_HASH)
 file(READ "@HEAD_FILE@" HEAD_CONTENTS LIMIT 1024)
 string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
 if(HEAD_CONTENTS MATCHES "ref")
    # named branch
    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
        configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
    else()
        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
            set(HEAD_HASH "${CMAKE_MATCH_1}")
        endif()
    endif()
 else()
    # detached HEAD
    configure_file("@GIT_DIR@/HEAD" "@GIT_DATA@/head-ref" COPYONLY)
 endif()
 if(NOT HEAD_HASH)
    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
    string(STRIP "${HEAD_HASH}" HEAD_HASH)
 endif()
--- a/cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSES/BSD-3-Clause.txt
@ -1,26 +0,0 @@
 Copyright (c) <year> <owner>. All rights reserved.
 Redistribution and use in source and binary forms, with or without modification,
 are permitted provided that the following conditions are met:
 1. Redistributions of source code must retain the above copyright notice,
 this list of conditions and the following disclaimer.
 2. Redistributions in binary form must reproduce the above copyright notice,
 this list of conditions and the following disclaimer in the documentation
 and/or other materials provided with the distribution.
 3. Neither the name of the copyright holder nor the names of its contributors
 may be used to endorse or promote products derived from this software without
 specific prior written permission.
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
 USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--- a/cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSES/BSL-1.0.txt
@ -1,23 +0,0 @@
 Boost Software License - Version 1.0 - August 17th, 2003
 Permission is hereby granted, free of charge, to any person or organization
 obtaining a copy of the software and accompanying documentation covered by
 this license (the "Software") to use, reproduce, display, distribute, execute,
 and transmit the Software, and to prepare derivative works of the Software,
 and to permit third-parties to whom the Software is furnished to do so, all
 subject to the following:
 The copyright notices in the Software and this entire statement, including
 the above license grant, this restriction and the following disclaimer, must
 be included in all copies of the Software, in whole or in part, and all derivative
 works of the Software, unless such copies or derivative works are solely in
 the form of machine-executable object code generated by a source language
 processor.
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE
 COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES
 OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 THE SOFTWARE.
--- a/cmake/cmake-modules/rpavlik/LICENSE_1_0.txt
+++ b/cmake/cmake-modules/rpavlik/LICENSE_1_0.txt
@ -1,23 +0,0 @@
 Boost Software License - Version 1.0 - August 17th, 2003
 Permission is hereby granted, free of charge, to any person or organization
 obtaining a copy of the software and accompanying documentation covered by
 this license (the "Software") to use, reproduce, display, distribute,
 execute, and transmit the Software, and to prepare derivative works of the
 Software, and to permit third-parties to whom the Software is furnished to
 do so, all subject to the following:
 The copyright notices in the Software and this entire statement, including
 the above license grant, this restriction and the following disclaimer,
 must be included in all copies of the Software, in whole or in part, and
 all derivative works of the Software, unless such copies or derivative
 works are solely in the form of machine-executable object code generated by
 a source language processor.
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
 SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
 FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
 ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 DEALINGS IN THE SOFTWARE.
--- a/contrib/CMakeLists.txt
+++ b/contrib/CMakeLists.txt
@ -1,9 +1,11 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
+if(FSFW_ADD_SPG4_PROPAGATOR)
-    ${CMAKE_CURRENT_SOURCE_DIR}
+    target_sources(${LIB_FSFW_NAME} PRIVATE
-)
+        sgp4/sgp4unit.cpp
-
+    )
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
+        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
-)
+    )
-
+    target_include_directories(${LIB_FSFW_NAME} INTERFACE
-add_subdirectory(fsfw_contrib)
+        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
    )
 endif()
--- a/contrib/fsfw_contrib/CMakeLists.txt
+++ b/contrib/fsfw_contrib/CMakeLists.txt
@ -1,11 +0,0 @@
 if(FSFW_ADD_SGP4_PROPAGATOR)
    target_sources(${LIB_FSFW_NAME} PRIVATE
        sgp4/sgp4unit.cpp
    )
    target_include_directories(${LIB_FSFW_NAME} PRIVATE
        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
    )
    target_include_directories(${LIB_FSFW_NAME} INTERFACE
        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
    )
 endif()
--- a/contrib/fsfw_contrib/sgp4/LICENSE
+++ b/contrib/fsfw_contrib/sgp4/LICENSE
--- a/contrib/fsfw_contrib/sgp4/sgp4unit.cpp
+++ b/contrib/fsfw_contrib/sgp4/sgp4unit.cpp
--- a/contrib/fsfw_contrib/sgp4/sgp4unit.h
+++ b/contrib/fsfw_contrib/sgp4/sgp4unit.h
--- a/doc/README-config.md
+++ b/doc/README-config.md
@ -0,0 +1,40 @@
 Configuring the FSFW
 ======
 The FSFW can be configured via the `fsfwconfig` folder. A template folder has
 been provided to have a starting point for this. The folder should be added
 to the include path. The primary configuration file is the `FSFWConfig.h` folder. Some
 of the available options will be explained in more detail here.
 # Auto-Translation of Events
 The FSFW allows the automatic translation of events, which allows developers to track triggered
 events directly via console output. Using this feature requires:
 1. `FSFW_OBJ_EVENT_TRANSLATION` set to 1 in the configuration file.
 2. Special auto-generated translation files which translate event IDs and object IDs into
   human readable strings. These files can be generated using the 
   [modgen Python scripts](https://git.ksat-stuttgart.de/source/modgen.git).
 3. The generated translation files for the object IDs should be named `translatesObjects.cpp`
   and `translateObjects.h` and should be copied to the `fsfwconfig/objects` folder
 4. The generated translation files for the event IDs should be named `translateEvents.cpp` and
   `translateEvents.h` and should be copied to the `fsfwconfig/events` folder
 An example implementations of these translation file generators can be found as part
 of the [SOURCE project here](https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/development/generators)
 or the [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/generators)
 ## Configuring the Event Manager
 The number of allowed subscriptions can be modified with the following
 parameters:
 ``` c++
 namespace fsfwconfig {
 //! Configure the allocated pool sizes for the event manager.
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
 static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
 static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 }
 ```
--- a/doc/README-controllers.md
+++ b/doc/README-controllers.md
@ -0,0 +1 @@
 ## Controllers
--- a/doc/README-core.md
+++ b/doc/README-core.md
@ -0,0 +1,55 @@
 ## FSFW Core Modules
 These core modules provide the most important functionalities of the 
 Flight Software Framework
 ### Clock
 * This is a class of static functions that can be used at anytime
 * Leap Seconds must be set if any time conversions from UTC to other times is used
 ### ObjectManager
 * Must be created during program startup
 * The component which handles all references. All SystemObjects register at this component. 
 * Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
 * A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
 A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
 ```cpp
 template <typename T> T* ObjectManagerIF::get( object_id_t id )
 ```
 * A typical way to create all objects on startup is a handing a static produce function to the
  ObjectManager on creation. By calling objectManager->initialize() the produce function will be
  called and all SystemObjects will be initialized afterwards.
 ### Event Manager
 * Component which allows routing of events
 * Other objects can subscribe to specific events, ranges of events or all events of an object.
 * Subscriptions can be done during runtime but should be done during initialization
 * Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
 ### Health Table
 * A component which holds every health state 
 * Provides a thread safe way to access all health states without the need of message exchanges
 ### Stores
 * The message based communication can only exchange a few bytes of information inside the message
  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
  store address must be exchanged in the message.
 * Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
  Store is used. For outgoing TM a TM store is used.
 * All of them should use the Thread Safe Class storagemanager/PoolManager
 ### Tasks
 There are two different types of tasks:
 * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
   insertion to the Tasks.
 * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
   DeviceHandlers, where polling should be in a defined order. An example can be found in 
   `defaultcfg/fsfwconfig/pollingSequence` folder
--- a/doc/README-devicehandlers.md
+++ b/doc/README-devicehandlers.md
@ -0,0 +1 @@
 ## Device Handlers
--- a/doc/README-highlevel.md
+++ b/doc/README-highlevel.md
@ -0,0 +1,135 @@
 High-level overview
 ======
 # Structure
 The general structure is driven by the usage of interfaces provided by objects. 
 The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
 widely available, even with older compilers.
 The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
 This simplifies the instantiation of objects and allows the usage of some standard containers. 
 Dynamic Allocation after initialization is discouraged and different solutions are provided in the
 FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
 # Failure Handling
 Functions should return a defined `ReturnValue_t` to signal to the caller that something has
 gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
 or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
 See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
 `fsfwconfig` folder.
 # OSAL
 The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
 The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
 The [OSAL README](doc/README-osal.md#top) provides more detailed information on provided components
 and how to use them.
 # Core Components 
 The FSFW has following core components. More detailed informations can be found in the
 [core component section](doc/README-core.md#top):
 1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks 
   with fixed timeslots
 2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
   to the object handles.
 3. Static Stores: Different stores are provided to store data of variable size (like telecommands 
   or small telemetry) in a pool structure without using dynamic memory allocation.
   These pools are allocated up front.
 3. Clock: This module provided common time related functions
 4. EventManager: This module allows routing of events generated by `SystemObjects`
 5. HealthTable: A component which stores the health states of objects
 # Static IDs in the framework
 Some parts of the framework use a static routing address for communication. 
 An example setup of ids can be found in the example config in `defaultcft/fsfwconfig/objects`
 inside the function `Factory::setStaticFrameworkObjectIds()`.
 # Events
 Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. 
 This works analog to the returnvalues. Every object that needs own EventIds has to get a
 unique SUBSYSTEM_ID. Every SystemObject can call triggerEvent from the parent class.
 Therefore, event messages contain the specific EventId and the objectId of the object that
 has triggered.
 # Internal Communication
 Components communicate mostly via Messages through Queues. 
 Those queues are created by calling the singleton `QueueFactory::instance()->create()` which
 will create `MessageQueue` instances for the used OSAL.
 # External Communication
 The external communication with the mission control system is mostly up to the user implementation.
 The FSFW provides PUS Services which can be used to but don't need to be used. 
 The services can be seen as a conversion from a TC to a message based communication and back.
 ## TMTC Communication
 The FSFW provides some components to facilitate TMTC handling via the PUS commands.
 For example, a UDP or TCP PUS server socket can be opened on a specific port using the
 files located in `osal/common`. The FSFW example uses this functionality to allow sending telecommands
 and receiving telemetry using the [TMTC commander application](https://github.com/spacefisch/tmtccmd).
 Simple commands like the PUS Service 17 ping service can be tested by simply running the
 `tmtc_client_cli.py` or `tmtc_client_gui.py` utility in 
 the [example tmtc folder](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc)
 while the `fsfw_example` application is running.
 More generally, any class responsible for handling incoming telecommands and sending telemetry
 can implement the generic `TmTcBridge` class located in `tmtcservices`. Many applications
 also use a dedicated polling task for reading telecommands which passes telecommands
 to the `TmTcBridge` implementation.
 ## CCSDS Frames, CCSDS Space Packets and PUS
 If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
 distributed the packets to the corresponding services. Those can be found in `tcdistribution`. 
 If Space Packets are used, a timestamper has to be provided by the user. 
 An example can be found in the `timemanager` folder, which uses `CCSDSTime::CDS_short`.
 # Device Handlers
 DeviceHandlers are another important component of the FSFW. 
 The idea is, to have a software counterpart of every physical device to provide a simple mode,
 health and commanding interface. By separating the underlying Communication Interface with 
 `DeviceCommunicationIF`, a device handler (DH) can be tested on different hardware.
 The DH has mechanisms to monitor the communication with the physical device which allow
 for FDIR reaction.  Device Handlers can be created by implementing `DeviceHandlerBase`. 
 A standard FDIR component for the DH will be created automatically but can
 be overwritten by the user. More information on DeviceHandlers can be found in the
 related [documentation section](doc/README-devicehandlers.md#top).
 # Modes and Health
 The two interfaces `HasModesIF` and `HasHealthIF` provide access for commanding and monitoring
 of components. On-board Mode Management is implement in hierarchy system. 
 DeviceHandlers and Controllers are the lowest part of the hierarchy. 
 The next layer are Assemblies. Those assemblies act as a component which handle
 redundancies of handlers. Assemblies share a common core with the next level which
 are the Subsystems. 
 Those Assemblies are intended to act as auto-generated components from a database which describes
 the subsystem modes. The definitions contain transition and target tables which contain the DH,
 Assembly and Controller Modes to be commanded.
 Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
 switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
 controller as last component. 
 The target table is used to describe the state that is checked continuously by the subsystem. 
 All of this allows System Modes to be generated as Subsystem object as well from the same database. 
 This System contains list of subsystem modes in the transition and target tables. 
 Therefore, it allows a modular system to create system modes and easy commanding of those, because
 only the highest components must be commanded.
 The health state represents if the component is able to perform its tasks. 
 This can be used to signal the system to avoid using this component instead of a redundant one.
 The on-board FDIR uses the health state for isolation and recovery. 
 # Unit Tests
 Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include
 catch2 itself. More information on how to run these tests can be found in the separate
 [`fsfw_tests` reposoitory](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests)
--- a/doc/README-localpools.md
+++ b/doc/README-localpools.md
@ -0,0 +1,172 @@
 ## Local Data Pools Developer Information
 The following text is targeted towards mission software developers which would like
 to use the local data pools provided by the FSFW to store data like sensor values so they can be 
 used by other software objects like controllers as well. If a custom class should have a local 
 pool which  can be used by other software objects as well, following steps have to be performed:
 1. Create a `LocalDataPoolManager` member object in the custom class
 2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
 and the class owning the local pool.
 The local data pool manager is also able to process housekeeping service requests in form
 of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
 variables and datasets and process notifications and snapshots coming from other objects.
 The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
 while the later two are related to data consumers like controllers only acting on data change 
 detected by the data creator instead of checking the data manually each cycle. Two important 
 framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
 shown above so the steps required are altered slightly.
 ### Storing and Accessing pool data 
 The pool manager is responsible for thread-safe access of the pool data, but the actual
 access to the pool data from the point of view of a mission software developer happens via proxy
 classes like pool variable classes. These classes store a copy
 of the pool variable with the matching datatype and copy the actual data from the local pool
 on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
 The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
 and data consumers. Generally, a user will create a dataset class which in turn groups all 
 cohesive pool variables. These sets simply iterator over the list of variables and call the 
 `read` and `commit` functions of each variable. The following diagram shows the
 high-level architecture of the local data pools.
 <img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
 An example is shown for using the local data pools with a Gyroscope.
 For example, the following code shows an implementation to access data from a Gyroscope taken
 from the SOURCE CubeSat project:
 ```cpp
 class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
 public:
    /**
     * Constructor for data users
     * @param gyroId
     */
    GyroPrimaryDataset(object_id_t gyroId):
            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
        setAllVariablesReadOnly();
    }
    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
            gyrodefs::ANGULAR_VELOCITY_X, this);
    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
            gyrodefs::ANGULAR_VELOCITY_Y, this);
    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
            gyrodefs::ANGULAR_VELOCITY_Z, this);
 private:
    friend class GyroHandler;
    /**
     * Constructor for data creator
     * @param hkOwner
     */
    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
 };
 ```
 There is a public constructor for users which sets all variables to read-only and there is a
 constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
 as a friend class. Both the atittude controller and the `GyroHandler` can now
 use the same class definition to access the pool variables with `read` and `commit` semantics
 in a thread-safe way. Generally, each class requiring access will have the set class as a member
 class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
 steps are necessary to expose the set for housekeeping purposes.
 ### Using the local data pools in a `DeviceHandlerBase` subclass
 It is very common to store data generated by devices like a sensor into a pool which can 
 then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
 local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
 as a member:
 ```cpp
 class GyroHandler: ... {
 public:
 	...
 private:
 	...
 	GyroPrimaryDataset gyroData;
 	...
 };
 ```
 The constructor used for the creators expects the owner class as a parameter, so we initialize
 the object in the `GyroHandler` constructor like this:
 ```cpp
 GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
        CookieIF *comCookie, uint8_t switchId):
        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
 		gyroData(this) {}
 ```
 We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
 The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
 `sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
 generating update messages. We need to assign our custom set class in some way so that the local 
 pool manager can access the custom data sets as well.
 By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
 `DeviceHandlerBase` subclass will use the internal command map to retrieve 
 a handle to a dataset from a given reply ID. Therefore,
 we assign the set in the `fillCommandAndReplyMap` function:
 ```cpp
 void GyroHandler::fillCommandAndReplyMap() {
 	...
 	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
 	...
 }
 ```
 Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
 function. Here, we also immediately subscribe for periodic housekeeping packets 
 with an interval of 4 seconds. They are still disabled in this example and can be enabled 
 with a housekeeping service command.
 ```cpp
 ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 		LocalDataPoolManager &poolManager) {
 	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
 			new PoolEntry<float>({0.0}));
 	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
 			new PoolEntry<float>({0.0}));
 	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
 			new PoolEntry<float>({0.0}));
 	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
 			new PoolEntry<uint8_t>({0}));
 	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
 			new PoolEntry<uint8_t>({0}));
 	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 ```
 Now, if we receive some sensor data and converted them into the right format, 
 we can write it into the pool like this, using a guard class to ensure the set is commited back 
 in any case:
 ```cpp
 PoolReadGuard readHelper(&gyroData);
 if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 	if(not gyroData.isValid()) {
 		gyroData.setValidity(true, true);
 	}
 	gyroData.angVelocityX = angularVelocityX;
 	gyroData.angVelocityY = angularVelocityY;
 	gyroData.angVelocityZ = angularVelocityZ;
 }
 ```
 The guard class will commit the changed data on destruction automatically.
 ### Using the local data pools in a `ExtendedControllerBase` subclass
 Coming soon
--- a/doc/README-osal.md
+++ b/doc/README-osal.md
@ -0,0 +1,32 @@
 # Operating System Abstraction Layer (OSAL)
 Some specific information on the provided OSALs are provided.
 ## Linux OSAL
 This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for 
 embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
 and real-time functionalities. For most UNIX systems, this is done by adding `-lrt` and `-lpthread` to the linked libraries in the compilation process. The CMake build support provided will do this automatically for the `fsfw` target. It should be noted that most UNIX systems need to be configured specifically to allow the real-time functionalities required by the FSFW.
 More information on how to set up a Linux system accordingly can be found in the 
 [Linux README of the FSFW example application](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example/src/branch/master/doc/README-linux.md#top)
 ## Hosted OSAL
 This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation). Cross-platform serial port (USB) support might be added soon.
 ## FreeRTOS OSAL
 FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and adding the `FreeRTOSConfig.h` file location to the include path. This OSAL has only been tested extensively with the pre-emptive scheduler configuration so far but it should in principle also be possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme. When using newlib (nano), it is also recommended to add `#define configUSE_NEWLIB_REENTRANT` to the FreeRTOS configuration file to ensure thread-safety.
 When using this OSAL, developers also need to provide an implementation for the `vRequestContextSwitchFromISR` function. This has been done because the call to request a context switch from an ISR is generally located in the `portmacro.h` header and is different depending on the target architecture or device.
 ## RTEMS OSAL
 The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
 ## TCP/IP socket abstraction
 The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets have been imlemented. This is very useful to test TMTC handling either on the host computer directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending TMTC packets via Ethernet.
--- a/doc/README-pus.md
+++ b/doc/README-pus.md
@ -0,0 +1 @@
 ## PUS Services
--- a/docs/doxy/.gitignore
+++ b/docs/doxy/.gitignore
--- a/docs/doxy/OPUS.doxyfile
+++ b/docs/doxy/OPUS.doxyfile
--- a/docs/images/PoolArchitecture.png
+++ b/docs/images/PoolArchitecture.png
--- a/docs/.gitignore
+++ b/docs/.gitignore
@ -1 +0,0 @@
 /_build
--- a/docs/CMakeLists.txt
+++ b/docs/CMakeLists.txt
@ -1,66 +0,0 @@
 # This is based on this excellent posting provided by Sy: 
 # https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/
 find_package(Doxygen REQUIRED)
 find_package(Sphinx REQUIRED)
 get_target_property(LIB_FSFW_PUBLIC_HEADER_DIRS ${LIB_FSFW_NAME} INTERFACE_INCLUDE_DIRECTORIES)
 # TODO: Add HAL as well
 file(GLOB_RECURSE LIB_FSFW_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/src/*.h)
 file(GLOB_RECURSE RST_DOC_FILES ${PROJECT_SOURCE_DIR}/docs/*.rst)
 set(DOXYGEN_INPUT_DIR ${PROJECT_SOURCE_DIR}/src)
 set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen)
 set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
 set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
 set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
 # Replace variables inside @@ with the current values
 configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
 # Doxygen won't create this for us
 file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
 # Only regenerate Doxygen when the Doxyfile or public headers change
 add_custom_command(
  OUTPUT ${DOXYGEN_INDEX_FILE}
  DEPENDS ${LIB_FSFW_PUBLIC_HEADERS}
  COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
  MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
  COMMENT "Generating docs"
  VERBATIM
 )
 # Nice named target so we can run the job easily
 add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
 set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
 set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
 set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
 # Only regenerate Sphinx when:
 # - Doxygen has rerun
 # - Our doc files have been updated
 # - The Sphinx config has been updated
 add_custom_command(
  OUTPUT ${SPHINX_INDEX_FILE}
  COMMAND
    ${SPHINX_EXECUTABLE} -b html
    # Tell Breathe where to find the Doxygen output
    -Dbreathe_projects.fsfw=${DOXYGEN_OUTPUT_DIR}/xml
  ${SPHINX_SOURCE} ${SPHINX_BUILD}
  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
  DEPENDS
  # Other docs files you want to track should go here (or in some variable)
  ${RST_DOC_FILES}
  ${DOXYGEN_INDEX_FILE}
  MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
  COMMENT "Generating documentation with Sphinx"
 )
 # Nice named target so we can run the job easily
 add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
 # Add an install target to install the docs
 include(GNUInstallDirs)
 install(DIRECTORY ${SPHINX_BUILD}
 DESTINATION ${CMAKE_INSTALL_DOCDIR})
--- a/docs/Doxyfile.in
+++ b/docs/Doxyfile.in
@ -1,7 +0,0 @@
 INPUT = "@DOXYGEN_INPUT_DIR@"
 RECURSIVE = YES
 OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
 GENERATE_XML = YES
--- a/docs/Makefile
+++ b/docs/Makefile
@ -1,20 +0,0 @@
 # Minimal makefile for Sphinx documentation
 #
 # You can set these variables from the command line, and also
 # from the environment for the first two.
 SPHINXOPTS    ?=
 SPHINXBUILD   ?= sphinx-build
 SOURCEDIR     = .
 BUILDDIR      = _build
 # Put it first so that "make" without argument is like "make help".
 help:
 	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 .PHONY: help Makefile
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
 	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
--- a/docs/api.rst
+++ b/docs/api.rst
@ -1,17 +0,0 @@
 API
 ====
 .. toctree::
   :maxdepth: 4
   api/cfdp
   api/objectmanager
   api/task
   api/ipc
   api/returnvalue
   api/event
   api/modes
   api/health
   api/action
   api/devicehandler
   api/controller
--- a/docs/api/action.rst
+++ b/docs/api/action.rst
@ -1,15 +0,0 @@
 Action Module API
 =================
 ``ActionHelper``
 -----------------
 .. doxygenclass:: ActionHelper
 	:members:
 ``HasActionsIF``
 -----------------
 .. doxygenclass:: HasActionsIF
 	:members:
 	:protected-members:
--- a/docs/api/cfdp.rst
+++ b/docs/api/cfdp.rst
@ -1,8 +0,0 @@
 CFDP API
 =================
 ``UserBase``
 -----------------
 .. doxygenclass:: cfdp::UserBase
 	:members:
--- a/docs/api/controller.rst
+++ b/docs/api/controller.rst
@ -1,16 +0,0 @@
 Controller API
 =================
 ``ControllerBase``
 -------------------------
 .. doxygenclass:: ControllerBase
 	:members:
 	:protected-members:
 ``ExtendedControllerBase``
 -----------------------------
 .. doxygenclass:: ExtendedControllerBase
 	:members:
 	:protected-members:
--- a/docs/api/devicehandler.rst
+++ b/docs/api/devicehandler.rst
@ -1,16 +0,0 @@
 Device Handler Base API
 =========================
 ``DeviceHandlerBase``
 -----------------------
 .. doxygenclass:: DeviceHandlerBase
 	:members:
 	:protected-members:
 ``DeviceHandlerIF``
 -----------------------
 .. doxygenclass:: DeviceHandlerIF
 	:members:
 	:protected-members:
--- a/docs/api/event.rst
+++ b/docs/api/event.rst
@ -1,6 +0,0 @@
 .. _eventapi:
 Event API
 ============
 .. doxygenfile:: Event.h
--- a/docs/api/health.rst
+++ b/docs/api/health.rst
@ -1,9 +0,0 @@
 Health API
 ===========
 ``HasHealthIF``
 ------------------
 .. doxygenclass:: HasHealthIF
 	:members:
 	:protected-members:
--- a/docs/api/ipc.rst
+++ b/docs/api/ipc.rst
@ -1,9 +0,0 @@
 IPC Module API
 =================
 ``MessageQueueIF``
 -------------------
 .. doxygenclass:: MessageQueueIF
 	:members:
 	:protected-members:
--- a/docs/api/modes.rst
+++ b/docs/api/modes.rst
@ -1,10 +0,0 @@
 Modes API
 =========
 ``HasModesIF``
 ---------------
 .. doxygenclass:: HasModesIF
 	:members:
 	:protected-members:
--- a/docs/api/objectmanager.rst
+++ b/docs/api/objectmanager.rst
@ -1,30 +0,0 @@
 Object Manager API
 =========================
 ``SystemObject``
 --------------------
 .. doxygenclass:: SystemObject
 	:members:
 	:protected-members:
 ``ObjectManager``
 -----------------------
 .. doxygenclass:: ObjectManager
 	:members:
 	:protected-members:
 ``SystemObjectIF``
 --------------------
 .. doxygenclass:: SystemObjectIF
 	:members:
 	:protected-members:
 ``ObjectManagerIF``
 -----------------------
 .. doxygenclass:: ObjectManagerIF
 	:members:
 	:protected-members:
--- a/docs/api/returnvalue.rst
+++ b/docs/api/returnvalue.rst
@ -1,10 +0,0 @@
 .. _retvalapi:
 Returnvalue API
 ==================
 .. doxygenfile:: returnvalue.h
 .. _fwclassids:
 .. doxygenfile:: FwClassIds.h
--- a/docs/api/task.rst
+++ b/docs/api/task.rst
@ -1,8 +0,0 @@
 Task API
 =========
 ``ExecutableObjectIF``
 -----------------------
 .. doxygenclass:: ExecutableObjectIF
 	:members:
--- a/docs/conf.py
+++ b/docs/conf.py
@ -1,64 +0,0 @@
 # Configuration file for the Sphinx documentation builder.
 #
 # This file only contains a selection of the most common options. For a full
 # list see the documentation:
 # https://www.sphinx-doc.org/en/master/usage/configuration.html
 # -- Path setup --------------------------------------------------------------
 # If extensions (or modules to document with autodoc) are in another directory,
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 # import os
 # import sys
 # sys.path.insert(0, os.path.abspath('.'))
 # -- Project information -----------------------------------------------------
 project = "Flight Software Framework"
 copyright = "2021, Institute of Space Systems (IRS)"
 author = "Institute of Space Systems (IRS)"
 # The full version, including alpha/beta/rc tags
 release = "5.0.0"
 # -- General configuration ---------------------------------------------------
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = ["breathe"]
 breathe_default_project = "fsfw"
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ["_templates"]
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
 exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 # -- Options for HTML output -------------------------------------------------
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
 html_theme = "alabaster"
 html_theme_options = {
    "extra_nav_links": {
        "Impressum": "https://www.uni-stuttgart.de/impressum",
        "Datenschutz": "https://info.irs.uni-stuttgart.de/datenschutz/datenschutzWebmit.html",
    }
 }
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
 html_static_path = []
--- a/docs/config.rst
+++ b/docs/config.rst
@ -1,41 +0,0 @@
 Configuring the FSFW
 =====================
 The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
 ``misc/defaultcfg`` to have a starting point for this. The folder should be added
 to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
 of the available options will be explained in more detail here.
 Auto-Translation of Events
 ----------------------------
 The FSFW allows the automatic translation of events, which allows developers to track triggered
 events directly via console output. Using this feature requires:
 1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
 2. Special auto-generated translation files which translate event IDs and object IDs into
   human readable strings. These files can be generated using the
   `fsfwgen Python scripts <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen>`_.
 3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
   and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
 4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
   ``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
 An example implementations of these translation file generators can be found as part
 of the `SOURCE project here <https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/develop/generators>`_
 or the `FSFW example <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/generators>`_
 Configuring the Event Manager
 ----------------------------------
 The number of allowed subscriptions can be modified with the following
 parameters:
 .. code-block:: cpp
   namespace fsfwconfig {
   //! Configure the allocated pool sizes for the event manager.
   static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
   static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
   static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
   }
--- a/docs/controllers.rst
+++ b/docs/controllers.rst
@ -1,2 +0,0 @@
 Controllers
 =============
--- a/docs/core.rst
+++ b/docs/core.rst
@ -1,70 +0,0 @@
 .. _core:
 Core Modules
 =============
 The core modules provide the most important functionalities of the Flight Software Framework.
 Clock
 ------
 - This is a class of static functions that can be used at anytime
 - Leap Seconds must be set if any time conversions from UTC to other times is used
 Object Manager
 ---------------
 - Must be created during program startup
 - The component which handles all references. All :cpp:class:`SystemObject`\s register at this
  component.
 - All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
  framework objects.
 - A reference to an object can be retrieved by calling the ``get`` function of
  :cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
  A ``nullptr`` check of the returning pointer must be done. This function is based on
  run-time type information.
 	.. code-block:: cpp
 		template <typename T> T* ObjectManagerIF::get(object_id_t id);
 - A typical way to create all objects on startup is a handing a static produce function to the
  ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
  produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
  afterwards.
 Event Manager
 ---------------
 - Component which allows routing of events
 - Other objects can subscribe to specific events, ranges of events or all events of an object.
 - Subscriptions can be done during runtime but should be done during initialization
 - Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
 Health Table
 ---------------
 - A component which holds every health state
 - Provides a thread safe way to access all health states without the need of message exchanges
 Stores
 --------------
 - The message based communication can only exchange a few bytes of information inside the message
  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
  store address must be exchanged in the message.
 - Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
  Store is used. For outgoing TM a TM store is used.
 - All of them should use the Thread Safe Class storagemanager/PoolManager
 Tasks
 ---------
 There are two different types of tasks:
 - The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
  insertion to the Tasks.
 - FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
  DeviceHandlers, where polling should be in a defined order. An example can be found in 
  ``defaultcfg/fsfwconfig/pollingSequence`` folder
--- a/docs/devicehandlers.rst
+++ b/docs/devicehandlers.rst
@ -1,110 +0,0 @@
 .. _dhb-prim-doc:
 Device Handlers
 ==================
 Device handler components represent, control and monitor equipment, for example sensors or actuators
 of a spacecraft or the payload.
 Most device handlers have the same common functionality or
 requirements, which are fulfilled by implementing certain interfaces:
 - The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
 - The handler needs to communicate with the physical device via a dedicated
  communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
 - The handler has housekeeping data which has to be exposed to the operator and/or other software
  components: :cpp:class:`HasLocalDataPoolIF`
 - The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
  also implements :cpp:class:`HasParametersIF`
 - The handler has health states, for example to indicate a broken device:
  :cpp:class:`HasHealthIF`
 - The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
  and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
  but that it is not periodically polling data from the
  physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
 The device handler base therefore provides abstractions for a lot of common
 functionality, which can potentially avoid high amounts or logic and code duplication.
 Template Device Handler Base File
 ----------------------------------
 This is an example template device handler header file with all necessary
 functions implemented:
 .. code-block:: cpp
 	#ifndef __TESTDEVICEHANDLER_H_
 	#define __TESTDEVICEHANDLER_H_
 	#include <fsfw/devicehandlers/DeviceHandlerBase.h>
 	class TestDeviceHandler: DeviceHandlerBase {
 	public:
 	  TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
 	private:
 	  void doStartUp() override;
 	  void doShutDown() override;
 	  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
 	  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
 	  void fillCommandAndReplyMap() override;
 	  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
 	                                        size_t commandDataLen) override;
 	  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
 	                             size_t* foundLen) override;
 	  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
 	  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
 	  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
 	                                        LocalDataPoolManager& poolManager) override;
 	};
 	#endif /* __TESTDEVICEHANDLER_H_ */
 and the respective source file with sensible default return values:
 .. code-block:: cpp
 	#include "TestDeviceHandler.h"
 	TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
 	    : DeviceHandlerBase(objectId, comIF, cookie) {}
 	void TestDeviceHandler::doStartUp() {}
 	void TestDeviceHandler::doShutDown() {}
 	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 	  return returnvalue::OK;
 	}
 	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
 	  return returnvalue::OK;
 	}
 	void TestDeviceHandler::fillCommandAndReplyMap() {}
 	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 	                                                         const uint8_t* commandData,
 	                                                         size_t commandDataLen) {
 	  return returnvalue::OK;
 	}
 	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
 	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
 	  return returnvalue::OK;
 	}
 	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 	                                                      const uint8_t* packet) {
 	  return returnvalue::OK;
 	}
 	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
 	  return 10000;
 	}
 	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
 	                                                         LocalDataPoolManager& poolManager) {
 	  return returnvalue::OK;
 	}
--- a/docs/getting_started.rst
+++ b/docs/getting_started.rst
@ -1,173 +0,0 @@
 Getting Started
 ================
 Getting started
 ----------------
 The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
 It is recommended to get started by building and playing around with the demo application.
 There are also other examples provided for all OSALs using the popular embedded platforms
 Raspberry Pi, Beagle Bone Black and STM32H7.
 Generally, the FSFW is included in a project by providing
 a configuration folder, building the static library and linking against it. 
 There are some functions like ``printChar`` which are different depending on the target architecture
 and need to be implemented by the mission developer.
 A template configuration folder was provided and can be copied into the project root to have
 a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 Prerequisites
 -------------------
 The Embedded Template Library (etl) is a dependency of the FSFW which is automatically
 installed and provided by the build system unless the correction version was installed.
 The current recommended version can be found inside the fsfw ``CMakeLists.txt`` file or by using
 ``ccmake`` and looking up the ``FSFW_ETL_LIB_MAJOR_VERSION`` variable.
 You can install the ETL library like this. On Linux, it might be necessary to add ``sudo`` before
 the install call:
 .. code-block:: console
   git clone https://github.com/ETLCPP/etl
   cd etl
   git checkout <currentRecommendedVersion>
   mkdir build && cd build
   cmake ..
   cmake --install .
 It is recommended to install ``20.27.2`` or newer for the package version handling of
 ETL to work.
 Adding the library
 -------------------
 The following steps show how to add and use FSFW components. It is still recommended to
 try out the example mentioned above to get started, but the following steps show how to
 add and link against the FSFW library in general.
 1. Add this repository as a submodule
   .. code-block:: console
      git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
 2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
   .. code-block:: cmake
      add_subdirectory(fsfw)
 3. Make sure to provide a configuration folder and supply the path to that folder with
   the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
   It is also necessary to provide the `printChar` function. You can find an example
   implementation for a hosted build
   `here <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c>`_.
 4. Link against the FSFW library
   .. code-block:: cmake
      target_link_libraries(<YourProjectName> PRIVATE fsfw)
 5. It should now be possible use the FSFW as a static library from the user code.
 Building the unittests
 -------------------------
 The FSFW also has unittests which use the `Catch2 library`_.
 These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
 from your project `CMakeLists.txt` file or from the command line.
 You can install the Catch2 library, which prevents the build system to avoid re-downloading
 the dependency if the unit tests are completely rebuilt. The current recommended version
 can be found inside the fsfw ``CMakeLists.txt`` file or by using ``ccmake`` and looking up
 the ``FSFW_CATCH2_LIB_VERSION`` variable.
 .. code-block:: console
   git clone https://github.com/catchorg/Catch2.git
   cd Catch2
   git checkout <currentRecommendedVersion>
   cmake -Bbuild -H. -DBUILD_TESTING=OFF
   sudo cmake --build build/ --target install
 The fsfw-tests binary will be built as part of the static library and dropped alongside it.
 If the unittests are built, the library and the tests will be built with coverage information by
 default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
 You can use the following commands inside the ``fsfw`` folder to set up the build system
 .. code-block:: console
   mkdir build-tests && cd build-tests
   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
 Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
 To build the unittests, run them and then generare the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 .. code-block:: console
   cmake --build . -- fsfw-tests_coverage -j
 The ``helper.py`` script located in the ``script`` folder can also be used to create, build
 and open the unittests conveniently. Try ``helper.py -h`` for more information.
 Building the documentation
 ----------------------------
 The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
 instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
 want to do this locally, set up the prerequisites first. This requires a ``python3``
 installation as well. Example here is for Ubuntu.
 .. code-block:: console
   sudo apt-get install doxygen graphviz
 And the following Python packages
 .. code-block:: console
   python3 -m pip install sphinx breathe
 You can set up a documentation build system using the following commands
 .. code-block:: bash
   mkdir build-docs && cd build-docs
   cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
 Then you can generate the documentation using
 .. code-block:: bash
   cmake --build . -j
 You can find the generated documentation inside the ``docs/sphinx`` folder inside the build
 folder. Simply open the ``index.html`` in the webbrowser of your choice.
 The ``helper.py`` script located in the ``script`` folder can also be used to create, build
 and open the documentation conveniently. Try ``helper.py -h`` for more information.
 Formatting the source
 -----------------------
 The formatting is done by the ``clang-format`` tool. The configuration is contained within the
 ``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
 can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
 .. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
 .. _`Catch2 library`: https://github.com/catchorg/Catch2
 .. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master
--- a/docs/highlevel.rst
+++ b/docs/highlevel.rst
@ -1,150 +0,0 @@
 .. _highlevel:
 High-level overview
 ===================
 Structure
 ----------
 The general structure is driven by the usage of interfaces provided by objects. 
 The FSFW uses C++17 as baseline. Most modern compilers like GCC should have support for this
 standard, even for micocontrollers.
 The FSFW might use dynamic allocation during program initialization but not during runtime.
 It offers pool objects, static containers and it also exposes the
 `Embedded Template Library <https://www.etlcpp.com/>`_ to allow writing code which does not perform
 allocation during runtime. The fsfw uses run-time type information but will not throw exceptions.
 Failure Handling
 -----------------
 Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
 gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
 or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
 See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
 ``fsfwconfig`` folder.
 OSAL
 ------------
 The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
 The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
 The :ref:`OSAL README <osal>` provides more detailed information on provided components
 and how to use them.
 Core Components
 ----------------
 The FSFW has following core components. More detailed informations can be found in the
 :ref:`core component section <core>`:
 1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
   with fixed timeslots
 2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
   to the object handles.
 3. Static Stores: Different stores are provided to store data of variable size (like telecommands
   or small telemetry) in a pool structure without using dynamic memory allocation.
   These pools are allocated up front.
 4. Clock: This module provided common time related functions
 5. EventManager: This module allows routing of events generated by `SystemObjects`
 6. HealthTable: A component which stores the health states of objects
 Static IDs in the framework
 --------------------------------
 Some parts of the framework use a static routing address for communication.
 An example setup of IDs can be found in the example config in ``misc/defaultcfg/fsfwconfig/objects``
 inside the function ``Factory::setStaticFrameworkObjectIds``.
 Events
 ----------------
 Events are tied to objects. EventIds can be generated by calling the
 :ref:`macro MAKE_EVENT <eventapi>` or the function :cpp:func:`event::makeEvent`.
 This works analog to the returnvalues. Every object that needs own Event IDs has to get a
 unique ``SUBSYSTEM_ID``. Every :cpp:class:`SystemObject` can call
 :cpp:func:`SystemObject::triggerEvent` from the parent class.
 Therefore, event messages contain the specific EventId and the objectId of the object that
 has triggered.
 Internal Communication
 -------------------------
 Components communicate mostly via Messages through Queues.
 Those queues are created by calling the singleton ``QueueFactory::instance()->create`` which
 will create `MessageQueue` instances for the used OSAL.
 External Communication
 --------------------------
 The external communication with the mission control system is mostly up to the user implementation.
 The FSFW provides PUS Services which can be used to but don't need to be used.
 The services can be seen as a conversion from a TC to a message based communication and back.
 TMTC Communication
 ~~~~~~~~~~~~~~~~~~~
 The FSFW provides some components to facilitate TMTC handling via the PUS commands.
 For example, a UDP or TCP PUS server socket can be opened on a specific port using the
 files located in ``osal/common``. The FSFW example uses this functionality to allow sending
 telecommands and receiving telemetry using the
 `TMTC commander application <https://github.com/robamu-org/tmtccmd>`_.
 Simple commands like the PUS Service 17 ping service can be tested by simply running the
 ``tmtc_client_cli.py`` or ``tmtc_client_gui.py`` utility in
 the `example tmtc folder <https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc>`_
 while the `fsfw_example` application is running.
 More generally, any class responsible for handling incoming telecommands and sending telemetry
 can implement the generic ``TmTcBridge`` class located in ``tmtcservices``. Many applications
 also use a dedicated polling task for reading telecommands which passes telecommands
 to the ``TmTcBridge`` implementation.
 CCSDS Frames, CCSDS Space Packets and PUS
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
 distributed the packets to the corresponding services. Those can be found in ``tcdistribution``.
 If Space Packets are used, a timestamper has to be provided by the user.
 An example can be found in the ``timemanager`` folder, which uses ``CCSDSTime::CDS_short``.
 Device Handlers
 --------------------------
 DeviceHandlers are another important component of the FSFW. The idea is, to have a software
 counterpart of every physical device to provide a simple mode, health and commanding interface.
 By separating the underlying Communication Interface with
 ``DeviceCommunicationIF``, a device handler (DH) can be tested on different hardware.
 The DH has mechanisms to monitor the communication with the physical device which allow
 for FDIR reaction.  Device Handlers can be created by implementing ``DeviceHandlerBase``.
 A standard FDIR component for the DH will be created automatically but can
 be overwritten by the user. More information on DeviceHandlers can be found in the
 related :ref:`documentation section <dhb-prim-doc>`.
 Modes and Health
 --------------------
 The two interfaces ``HasModesIF`` and ``HasHealthIF`` provide access for commanding and monitoring
 of components. On-board mode management is implement in hierarchy system.
 - Device handlers and controllers are the lowest part of the hierarchy.
 - The next layer are assemblies. Those assemblies act as a component which handle
  redundancies of handlers. Assemblies share a common core with the top level subsystem components
 - The top level subsystem components are used to group assemblies, controllers and device handlers.
  For example, a spacecraft can have a atttitude control subsystem and a power subsystem.
 Those assemblies are intended to act as auto-generated components from a database which describes
 the subsystem modes. The definitions contain transition and target tables which contain the DH,
 Assembly and Controller Modes to be commanded.
 Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
 switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
 controller as last component.
 The target table is used to describe the state that is checked continuously by the subsystem.
 All of this allows System Modes to be generated as Subsystem object as well from the same database.
 This System contains list of subsystem modes in the transition and target tables.
 Therefore, it allows a modular system to create system modes and easy commanding of those, because
 only the highest components must be commanded.
 The health state represents if the component is able to perform its tasks.
 This can be used to signal the system to avoid using this component instead of a redundant one.
 The on-board FDIR uses the health state for isolation and recovery.
--- a/docs/index.rst
+++ b/docs/index.rst
@ -1,69 +0,0 @@
 .. Flight Software Framework documentation master file, created by
   sphinx-quickstart on Tue Nov 30 10:56:03 2021.
   You can adapt this file completely to your liking, but it should at least
   contain the root `toctree` directive.
 Flight Software Framework (FSFW) documentation
 ================================================
 .. image:: ../misc/logo/FSFW_Logo_V3_bw.png
   :alt: FSFW Logo
 The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
 automated systems like Satellites. 
 The initial version of the Flight Software Framework was developed during
 the Flying Laptop Project by the University of Stuttgart in cooperation
 with Airbus Defence and Space GmbH.
 Quick facts
 ---------------
 The framework is designed for systems, which communicate with external devices, perform control
 loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
 Therefore, a mode and health system provides control over the states of the software and the
 controlled devices. In addition, a simple mechanism of event based fault detection, isolation and
 recovery is implemented as well.
 The FSFW provides abstraction layers for operating systems to provide a uniform operating system
 abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
 also very useful for developers to implement the same application logic on different operating
 systems with a uniform interface.
 Currently, the FSFW provides the following OSALs:
 - Linux
 - Host 
 - FreeRTOS
 - RTEMS
 The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
 memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
 ISISPACE IOBC or a Zynq-7020 SoC. The ``fsfw`` was also successfully run on the
 STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
 satellite mission Flying Laptop.
 Index
 -------
 .. toctree::
   :maxdepth: 2
   :caption: Contents:
   getting_started
   highlevel
   core
   config
   osal
   pus
   devicehandlers
   controllers
   localpools
   api
 Indices and tables
 ==================
 * :ref:`genindex`
 * :ref:`modindex`
 * :ref:`search`
--- a/docs/localpools.rst
+++ b/docs/localpools.rst
@ -1,181 +0,0 @@
 Local Data Pools
 =========================================
 The following text is targeted towards mission software developers which would like
 to use the local data pools provided by the FSFW to store data like sensor values so they can be
 used by other software objects like controllers as well. If a custom class should have a local
 pool which  can be used by other software objects as well, following steps have to be performed:
 1. Create a ``LocalDataPoolManager`` member object in the custom class
 2. Implement the ``HasLocalDataPoolIF`` with specifies the interface between the local pool
   manager and the class owning the local pool.
 The local data pool manager is also able to process housekeeping service requests in form
 of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
 variables and datasets and process notifications and snapshots coming from other objects.
 The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
 while the later two are related to data consumers like controllers only acting on data change
 detected by the data creator instead of checking the data manually each cycle. Two important
 framework classes ``DeviceHandlerBase`` and ``ExtendedControllerBase`` already perform the two steps
 shown above so the steps required are altered slightly.
 Storing and Accessing pool data
 -------------------------------------
 The pool manager is responsible for thread-safe access of the pool data, but the actual
 access to the pool data from the point of view of a mission software developer happens via proxy
 classes like pool variable classes. These classes store a copy
 of the pool variable with the matching datatype and copy the actual data from the local pool
 on a ``read`` call. Changed variables can then be written to the local pool with a ``commit`` call.
 The ``read`` and ``commit`` calls are thread-safe and can be called concurrently from data creators
 and data consumers. Generally, a user will create a dataset class which in turn groups all
 cohesive pool variables. These sets simply iterator over the list of variables and call the
 ``read`` and ``commit`` functions of each variable. The following diagram shows the
 high-level architecture of the local data pools.
 .. image:: ../docs/images/PoolArchitecture.png
 	:alt: Pool Architecture
 An example is shown for using the local data pools with a Gyroscope.
 For example, the following code shows an implementation to access data from a Gyroscope taken
 from the SOURCE CubeSat project:
 .. code-block:: cpp
 	class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
 	public:
 	    /**
 	     * Constructor for data users
 	     * @param gyroId
 	     */
 	    GyroPrimaryDataset(object_id_t gyroId):
 	            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
 	        setAllVariablesReadOnly();
 	    }
 	    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
 	            gyrodefs::ANGULAR_VELOCITY_X, this);
 	    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
 	            gyrodefs::ANGULAR_VELOCITY_Y, this);
 	    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
 	            gyrodefs::ANGULAR_VELOCITY_Z, this);
 	private:
 	    friend class GyroHandler;
 	    /**
 	     * Constructor for data creator
 	     * @param hkOwner
 	     */
 	    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
 	            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
 	};
 There is a public constructor for users which sets all variables to read-only and there is a
 constructor for the GyroHandler data creator by marking it private and declaring the ``GyroHandler``
 as a friend class. Both the atittude controller and the ``GyroHandler`` can now
 use the same class definition to access the pool variables with ``read`` and ``commit`` semantics
 in a thread-safe way. Generally, each class requiring access will have the set class as a member
 class. The data creator will also be generally a ``DeviceHandlerBase`` subclass and some additional
 steps are necessary to expose the set for housekeeping purposes.
 Using the local data pools in a ``DeviceHandlerBase`` subclass
 --------------------------------------------------------------
 It is very common to store data generated by devices like a sensor into a pool which can
 then be used by other objects. Therefore, the ``DeviceHandlerBase`` already has a
 local pool. Using the aforementioned example, the ``GyroHandler`` will now have the set class
 as a member:
 .. code-block:: cpp
 	class GyroHandler: ... {
 	public:
 		...
 	private:
 		...
 		GyroPrimaryDataset gyroData;
 		...
 	};
 The constructor used for the creators expects the owner class as a parameter, so we initialize
 the object in the `GyroHandler` constructor like this:
 .. code-block:: cpp
 	GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
 	        CookieIF *comCookie, uint8_t switchId):
 	        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
 			gyroData(this) {}
 We need to assign the set to a reply ID used in the ``DeviceHandlerBase``.
 The combination of the ``GyroHandler`` object ID and the reply ID will be the 64-bit structure ID
 ``sid_t`` and is used to globally identify the set, for example when requesting housekeeping data or
 generating update messages. We need to assign our custom set class in some way so that the local
 pool manager can access the custom data sets as well.
 By default, the ``getDataSetHandle`` will take care of this tasks. The default implementation for a
 ``DeviceHandlerBase`` subclass will use the internal command map to retrieve
 a handle to a dataset from a given reply ID. Therefore,
 we assign the set in the ``fillCommandAndReplyMap`` function:
 .. code-block:: cpp
 	void GyroHandler::fillCommandAndReplyMap() {
 		...
 		this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
 		...
 	}
 Now, we need to create the actual pool entries as well, using the ``initializeLocalDataPool``
 function. Here, we also immediately subscribe for periodic housekeeping packets
 with an interval of 4 seconds. They are still disabled in this example and can be enabled
 with a housekeeping service command.
 .. code-block:: cpp
 	ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) {
 		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
 				new PoolEntry<float>({0.0}));
 		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
 				new PoolEntry<float>({0.0}));
 		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
 				new PoolEntry<float>({0.0}));
 		localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
 				new PoolEntry<uint8_t>({0}));
 		localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
 				new PoolEntry<uint8_t>({0}));
 		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
 		return returnvalue::OK;
 	}
 Now, if we receive some sensor data and converted them into the right format,
 we can write it into the pool like this, using a guard class to ensure the set is commited back
 in any case:
 .. code-block:: cpp
 	PoolReadGuard readHelper(&gyroData);
 	if(readHelper.getReadResult() == returnvalue::OK) {
 		if(not gyroData.isValid()) {
 			gyroData.setValidity(true, true);
 		}
 		gyroData.angVelocityX = angularVelocityX;
 		gyroData.angVelocityY = angularVelocityY;
 		gyroData.angVelocityZ = angularVelocityZ;
 	}
 The guard class will commit the changed data on destruction automatically.
 Using the local data pools in a ``ExtendedControllerBase`` subclass
 ----------------------------------------------------------------------
 Coming soon
--- a/docs/make.bat
+++ b/docs/make.bat
@ -1,35 +0,0 @@
@ECHO OFF
 pushd %~dp0
 REM Command file for Sphinx documentation
 if "%SPHINXBUILD%" == "" (
 	set SPHINXBUILD=sphinx-build
 )
 set SOURCEDIR=.
 set BUILDDIR=_build
 if "%1" == "" goto help
 %SPHINXBUILD% >NUL 2>NUL
 if errorlevel 9009 (
 	echo.
 	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
 	echo.installed, then set the SPHINXBUILD environment variable to point
 	echo.to the full path of the 'sphinx-build' executable. Alternatively you
 	echo.may add the Sphinx directory to PATH.
 	echo.
 	echo.If you don't have Sphinx installed, grab it from
 	echo.http://sphinx-doc.org/
 	exit /b 1
 )
 %SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
 goto end
 :help
 %SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
 :end
 popd
--- a/docs/osal.rst
+++ b/docs/osal.rst
@ -1,63 +0,0 @@
 .. _osal:
 Operating System Abstraction Layer (OSAL)
 ============================================
 Some specific information on the provided OSALs are provided.
 Linux
 -------
 This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
 embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
 and real-time functionalities. For most UNIX systems, this is done by adding ``-lrt`` and
 ``-lpthread`` to the linked libraries in the compilation process. The CMake build support provided
 will do this automatically for the ``fsfw`` target. It should be noted that most UNIX systems need
 to be configured specifically to allow the real-time functionalities required by the FSFW.
 Hosted OSAL
 -------------------
 This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be
 implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the
 FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike
 the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation).
 Cross-platform serial port (USB) support might be added soon.
 FreeRTOS OSAL
 ------------------
 FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and
 adding the  ``FreeRTOSConfig.h`` file location to the include path. This OSAL has only been tested
 extensively with the pre-emptive scheduler configuration so far but it should in principle also be
 possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme.
 When using newlib (nano), it is also recommended to add ``#define configUSE_NEWLIB_REENTRANT`` to
 the FreeRTOS configuration file to ensure thread-safety.
 When using this OSAL, developers also need to provide an implementation for the
 ``vRequestContextSwitchFromISR`` function. This has been done because the call to request a context
 switch from an ISR is generally located in the ``portmacro.h`` header and is different depending on
 the target architecture or device.
 RTEMS OSAL
 ---------------
 The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
 TCP/IP socket abstraction
 ------------------------------
 The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets
 have been imlemented. This is very useful to test TMTC handling either on the host computer
 directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending
 TMTC packets via Ethernet.
 Example Applications
 ----------------------
 There are example applications available for each OSAL
 - `Hosted OSAL <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted>`_
 - `Linux OSAL for MCUs <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu>`_
 - `FreeRTOS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos>`_
 - `RTEMS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems>`_
--- a/docs/pus.rst
+++ b/docs/pus.rst
@ -1,2 +0,0 @@
 PUS Services
 ==============
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@ -0,0 +1,41 @@
 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. 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)
 set(LINUX_HAL_PATH_NAME linux)
 set(STM32H7_PATH_NAME stm32h7)
 add_subdirectory(src)
 foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
    if(IS_ABSOLUTE ${INCLUDE_PATH})
        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
    else()
        get_filename_component(CURR_ABS_INC_PATH
            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
    endif()
    if(CMAKE_VERBOSE)
        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
    endif()
    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
 endforeach()
 target_include_directories(${LIB_FSFW_NAME} PRIVATE
    ${FSFW_HAL_ADD_INC_PATHS_ABS}
 )
 target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
    ${FSFW_HAL_DEFINES}
 )
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
    ${FSFW_HAL_LINK_LIBS}
 )
--- a/hal/src/CMakeLists.txt
+++ b/hal/src/CMakeLists.txt
@ -0,0 +1,9 @@
 target_include_directories(${LIB_FSFW_NAME} PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}
 )
 target_include_directories(${LIB_FSFW_NAME} INTERFACE
    ${CMAKE_CURRENT_SOURCE_DIR}
 )
 add_subdirectory(fsfw)
--- a/hal/src/fsfw/CMakeLists.txt
+++ b/hal/src/fsfw/CMakeLists.txt
@ -0,0 +1 @@
 add_subdirectory(hal)
--- a/hal/src/fsfw/hal/CMakeLists.txt
+++ b/hal/src/fsfw/hal/CMakeLists.txt
@ -1,11 +1,10 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
 add_subdirectory(host)
-if(UNIX)
+if(FSFW_HAL_ADD_LINUX)
-  add_subdirectory(linux)
+    add_subdirectory(linux)
 endif()
 if(FSFW_HAL_ADD_STM32H7)
-  add_subdirectory(stm32h7)
+    add_subdirectory(stm32h7)
 endif()
--- a/hal/src/fsfw/hal/common/CMakeLists.txt
+++ b/hal/src/fsfw/hal/common/CMakeLists.txt
@ -0,0 +1 @@
 add_subdirectory(gpio)
--- a/hal/src/fsfw/hal/common/gpio/CMakeLists.txt
+++ b/hal/src/fsfw/hal/common/gpio/CMakeLists.txt
@ -0,0 +1,3 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
    GpioCookie.cpp
 )
--- a/hal/src/fsfw/hal/common/gpio/GpioCookie.cpp
+++ b/hal/src/fsfw/hal/common/gpio/GpioCookie.cpp
@ -0,0 +1,50 @@
 #include "fsfw/hal/common/gpio/GpioCookie.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 GpioCookie::GpioCookie() {
 }
 ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
    if (gpioConfig == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
 #else
        sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
 #endif
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    auto gpioMapIter = gpioMap.find(gpioId);
    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;
 #else
            sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
 #endif
 #endif
            return HasReturnvaluesIF::RETURN_FAILED;
        }
        return HasReturnvaluesIF::RETURN_OK;
    }
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
 #else
    sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
 #endif
 #endif
    return HasReturnvaluesIF::RETURN_FAILED;
 }
 GpioMap GpioCookie::getGpioMap() const {
    return gpioMap;
 }
 GpioCookie::~GpioCookie() {
    for(auto& config: gpioMap) {
        delete(config.second);
    }
 }
--- a/hal/src/fsfw/hal/common/gpio/GpioCookie.h
+++ b/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/returnvalue.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
@ -17,24 +17,25 @@
 *
 * @author 	J. Meier
 */
-class GpioCookie : public CookieIF {
+class GpioCookie: public CookieIF {
- public:
+public:
  GpioCookie();
-  virtual ~GpioCookie();
+    GpioCookie();
-  ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
+    virtual ~GpioCookie();
-  /**
+    ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
   * @brief	Get map with registered GPIOs.
   */
  GpioMap getGpioMap() const;
- private:
+    /**
-  /**
+     * @brief	Get map with registered GPIOs.
-   * Returns a copy of the internal GPIO map.
+     */
-   */
+    GpioMap getGpioMap() const;
-  GpioMap gpioMap;
+
 private:
    /**
     * Returns a copy of the internal GPIO map.
     */
    GpioMap gpioMap;
 };
 #endif /* COMMON_GPIO_GPIOCOOKIE_H_ */
--- a/hal/src/fsfw/hal/common/gpio/GpioIF.h
+++ b/hal/src/fsfw/hal/common/gpio/GpioIF.h
@ -0,0 +1,54 @@
 #ifndef COMMON_GPIO_GPIOIF_H_
 #define COMMON_GPIO_GPIOIF_H_
 #include "gpioDefinitions.h"
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
 class GpioCookie;
 /**
 * @brief	This class defines the interface for objects requiring the control
 * 			over GPIOs.
 * @author	J. Meier
 */
 class GpioIF : public HasReturnvaluesIF {
 public:
 	virtual ~GpioIF() {};
 	/**
 	 * @brief   Called by the GPIO using object.
 	 * @param cookie	Cookie specifying informations of the GPIOs required
 	 * 					by a object.
 	 */
 	virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
 	/**
 	 * @brief	By implementing this function a child must provide the
 	 * 			functionality to pull a certain GPIO to high logic level.
 	 *
 	 * @param gpioId	A unique number which specifies the GPIO to drive.
 	 * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
 	 */
 	virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
 	/**
 	 * @brief	By implementing this function a child must provide the
 	 * 			functionality to pull a certain GPIO to low logic level.
 	 *
 	 * @param gpioId	A unique number which specifies the GPIO to drive.
 	 */
 	virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
 	/**
     * @brief   This function requires a child to implement the functionality to read the state of
     *          an ouput or input gpio.
     *
     * @param gpioId    A unique number which specifies the GPIO to read.
     * @param gpioState State of GPIO will be written to this pointer.
     */
    virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
 };
 #endif /* COMMON_GPIO_GPIOIF_H_ */
--- a/hal/src/fsfw/hal/common/gpio/gpioDefinitions.h
+++ b/hal/src/fsfw/hal/common/gpio/gpioDefinitions.h
@ -0,0 +1,110 @@
 #ifndef COMMON_GPIO_GPIODEFINITIONS_H_
 #define COMMON_GPIO_GPIODEFINITIONS_H_
 #include <string>
 #include <unordered_map>
 #include <map>
 using gpioId_t = uint16_t;
 namespace gpio {
 enum Levels {
    LOW = 0,
    HIGH = 1
 };
 enum Direction {
    IN = 0,
    OUT = 1
 };
 enum GpioOperation {
    READ,
    WRITE
 };
 enum GpioTypes {
    NONE,
    GPIO_REGULAR,
    CALLBACK
 };
 static constexpr gpioId_t NO_GPIO = -1;
 using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
 }
 /**
 * @brief   Struct containing information about the GPIO to use. This is
 *          required by the libgpiod to access and drive a GPIO.
 * @param chipname      String of the chipname specifying the group which contains the GPIO to
 *                      access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
 *                      the linux command line.
 * @param lineNum       The offset of the GPIO within the GPIO group.
 * @param consumer      Name of the consumer. Simply a description of the GPIO configuration.
 * @param direction     Specifies whether the GPIO should be used as in- or output.
 * @param initValue     Defines the initial state of the GPIO when configured as output.
 *                      Only required for output GPIOs.
 * @param lineHandle    The handle returned by gpiod_chip_get_line will be later written to this
 *                      pointer.
 */
 class GpioBase {
 public:
    GpioBase() = default;
    GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
            int initValue):
            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
    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::IN;
    int initValue = 0;
 };
 class GpiodRegular: public GpioBase {
 public:
    GpiodRegular() :
            GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
    }
    ;
    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
            gpio::Direction direction_, int initValue_) :
            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
            chipname(chipname_), lineNum(lineNum_) {
    }
    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
            chipname(chipname_), lineNum(lineNum_) {
    }
    std::string chipname;
    int lineNum = 0;
    struct gpiod_line* lineHandle = nullptr;
 };
 class GpioCallback: public GpioBase {
 public:
    GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
            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;
 using GpioUnorderedMapIter = GpioUnorderedMap::iterator;
 #endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */
--- a/hal/src/fsfw/hal/common/spi/spiCommon.h
+++ b/hal/src/fsfw/hal/common/spi/spiCommon.h
@ -0,0 +1,17 @@
 #ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
 #define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
 #include <cstdint>
 namespace spi {
 enum SpiModes: uint8_t {
    MODE_0,
    MODE_1,
    MODE_2,
    MODE_3
 };
 }
 #endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */
--- a/hal/src/fsfw/hal/devicehandlers/CMakeLists.txt
+++ b/hal/src/fsfw/hal/devicehandlers/CMakeLists.txt
@ -0,0 +1,3 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
    GyroL3GD20Handler.cpp
 )
--- a/hal/src/fsfw/hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw/hal/devicehandlers/GyroL3GD20Handler.cpp
@ -0,0 +1,262 @@
 #include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
        CookieIF *comCookie):
        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
        dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
    debugDivider = new PeriodicOperationDivider(5);
 #endif
 }
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 void GyroHandlerL3GD20H::doStartUp() {
    if(internalState == InternalState::NONE) {
        internalState = InternalState::CONFIGURE;
    }
    if(internalState == InternalState::CONFIGURE) {
        if(commandExecuted) {
            internalState = InternalState::CHECK_REGS;
            commandExecuted = false;
        }
    }
    if(internalState == InternalState::CHECK_REGS) {
        if(commandExecuted) {
            internalState = InternalState::NORMAL;
            if(goNormalModeImmediately) {
                setMode(MODE_NORMAL);
            }
            else {
                setMode(_MODE_TO_ON);
            }
            commandExecuted = false;
        }
    }
 }
 void GyroHandlerL3GD20H::doShutDown() {
    setMode(_MODE_POWER_DOWN);
 }
 ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
    switch(internalState) {
    case(InternalState::NONE):
    case(InternalState::NORMAL): {
        return HasReturnvaluesIF::RETURN_OK;
    }
    case(InternalState::CONFIGURE): {
        *id = L3GD20H::CONFIGURE_CTRL_REGS;
        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;
        command[3] = L3GD20H::CTRL_REG_4_VAL;
        command[4] = L3GD20H::CTRL_REG_5_VAL;
        return buildCommandFromCommand(*id, command, 5);
    }
    case(InternalState::CHECK_REGS): {
        *id = L3GD20H::READ_REGS;
        return buildCommandFromCommand(*id, nullptr, 0);
    }
    default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        /* Might be a configuration error. */
        sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
        std::endl;
 #else
        sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif
        return HasReturnvaluesIF::RETURN_OK;
    }
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
    *id = L3GD20H::READ_REGS;
    return buildCommandFromCommand(*id, nullptr, 0);
 }
 ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
        size_t commandDataLen) {
    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): {
        commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
        if(commandData == nullptr or commandDataLen != 5) {
            return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
        }
        ctrlReg1Value = commandData[0];
        ctrlReg2Value = commandData[1];
        ctrlReg3Value = commandData[2];
        ctrlReg4Value = commandData[3];
        ctrlReg5Value = commandData[4];
        bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
        bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
        if(not fsH and not fsL) {
            sensitivity = L3GD20H::SENSITIVITY_00;
        }
        else if(not fsH and fsL) {
            sensitivity = L3GD20H::SENSITIVITY_01;
        }
        else {
            sensitivity = L3GD20H::SENSITIVITY_11;
        }
        commandBuffer[1] = ctrlReg1Value;
        commandBuffer[2] = ctrlReg2Value;
        commandBuffer[3] = ctrlReg3Value;
        commandBuffer[4] = ctrlReg4Value;
        commandBuffer[5] = ctrlReg5Value;
        rawPacket = commandBuffer;
        rawPacketLen = 6;
        break;
    }
    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;
        rawPacketLen = 6;
        break;
    }
    default:
        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
    }
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
        DeviceCommandId_t *foundId, size_t *foundLen) {
    /* For SPI, the ID will always be the one of the last sent command. */
    *foundId = this->getPendingCommand();
    *foundLen = this->rawPacketLen;
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
        const uint8_t *packet) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    switch(id) {
    case(L3GD20H::CONFIGURE_CTRL_REGS): {
        commandExecuted = true;
        break;
    }
    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 {
            /* Attempt reconfiguration. */
            internalState = InternalState::CONFIGURE;
            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
        }
        break;
    }
    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) {
                commandExecuted = true;
            }
        }
        statusReg = packet[L3GD20H::STATUS_IDX];
        int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
        int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
        int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
        float angVelocX = angVelocXRaw * sensitivity;
        float angVelocY = angVelocYRaw * sensitivity;
        float angVelocZ = angVelocZRaw * sensitivity;
        int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
        float temperature = 25.0 + temperaturOffset;
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
        if(debugDivider->checkAndIncrement()) {
            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
                    std::endl;
            sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
            sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
            sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
 #else
            sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
            sif::printInfo("X: %f\n", angVelocX);
            sif::printInfo("Y: %f\n", angVelocY);
            sif::printInfo("Z: %f\n", angVelocZ);
 #endif
        }
 #endif
        PoolReadGuard readSet(&dataset);
        if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
            dataset.angVelocX = angVelocX;
            dataset.angVelocY = angVelocY;
            dataset.angVelocZ = angVelocZ;
            dataset.temperature = temperature;
            dataset.setValidity(true, true);
        }
        break;
    }
    default:
        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
    }
    return result;
 }
 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
    return 10000;
 }
 void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
    this->goNormalModeImmediately = true;
 }
 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}));
    localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
            new PoolEntry<float>({0.0}));
    return HasReturnvaluesIF::RETURN_OK;
 }
 void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
    insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
    insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
    insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
 }
 void GyroHandlerL3GD20H::modeChanged() {
    internalState = InternalState::NONE;
 }
--- a/hal/src/fsfw/hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/src/fsfw/hal/devicehandlers/GyroL3GD20Handler.h
@ -0,0 +1,86 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #include "OBSWConfig.h"
 #include "devicedefinitions/GyroL3GD20Definitions.h"
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
 #define FSFW_HAL_L3GD20_GYRO_DEBUG   1
 #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
 /**
 * @brief 	Device Handler for the L3GD20H gyroscope sensor
 *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
 * @details
 * Advanced documentation:
 * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
 *
 * 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);
    virtual ~GyroHandlerL3GD20H();
    void setGoNormalModeAtStartup();
 protected:
    /* DeviceHandlerBase overrides */
    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 interpretDeviceReply(DeviceCommandId_t id,
            const uint8_t *packet) override;
    void fillCommandAndReplyMap() override;
    void modeChanged() override;
    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
            LocalDataPoolManager &poolManager) override;
 private:
    GyroPrimaryDataset dataset;
    enum class InternalState {
        NONE,
        CONFIGURE,
        CHECK_REGS,
        NORMAL
    };
    InternalState internalState = InternalState::NONE;
    bool commandExecuted = false;
    uint8_t statusReg = 0;
    bool goNormalModeImmediately = false;
    uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
    uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
    uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
    uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
    uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
    uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
    // Set default value
    float sensitivity = L3GD20H::SENSITIVITY_00;
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
    PeriodicOperationDivider* debugDivider = nullptr;
 #endif
 };
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
--- a/hal/src/fsfw/hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
+++ b/hal/src/fsfw/hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
@ -3,12 +3,9 @@
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <cstdint>
-namespace l3gd20h {
+namespace L3GD20H {
 float ctrlReg4ToSensitivity(uint8_t reg);
 /* Actual size is 15 but we round up a bit */
 static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -39,8 +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 =
+static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
-    SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
+		SET_Y_ENABLE | SET_X_ENABLE;
 /* Register 2 */
 static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
@ -73,10 +70,8 @@ static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
 /* Register 5 */
 static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
 static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
 static constexpr uint8_t SET_OUT_SEL_1 = 1 << 1;
 static constexpr uint8_t SET_OUT_SEL_0 = 1 << 0;
-static constexpr uint8_t CTRL_REG_5_VAL = SET_OUT_SEL_1 | SET_OUT_SEL_0;
+static constexpr uint8_t CTRL_REG_5_VAL = 0b00000000;
 /* Possible range values in degrees per second (DPS). */
 static constexpr uint16_t RANGE_DPS_00 = 245;
@ -107,33 +102,42 @@ static constexpr DeviceCommandId_t READ_REGS = 0;
 static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
 static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
 static constexpr DeviceCommandId_t REQUEST = 0x70;
 static constexpr DeviceCommandId_t REPLY = 0x77;
 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,
-}  // namespace l3gd20h
+	ANG_VELOC_Y,
-
+	ANG_VELOC_Z,
-class GyroPrimaryDataset : public StaticLocalDataSet<5> {
+	TEMPERATURE
 public:
  /** Constructor  for data users like controllers */
  GyroPrimaryDataset(object_id_t mgmId)
      : StaticLocalDataSet(sid_t(mgmId, l3gd20h::GYRO_DATASET_ID)) {
    setAllVariablesReadOnly();
  }
  /** Constructor  for the data creator */
  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
      : StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {}
  /* 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);
 private:
 };
 }
 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)) {
        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);
 private:
    friend class GyroHandlerL3GD20H;
    /** Constructor  for the data creator */
    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
            StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
 };
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */
--- a/hal/src/fsfw/hal/host/CMakeLists.txt
+++ b/hal/src/fsfw/hal/host/CMakeLists.txt
@ -0,0 +1 @@
--- a/hal/src/fsfw/hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw/hal/linux/CMakeLists.txt
@ -0,0 +1,13 @@
 if(FSFW_HAL_ADD_RASPBERRY_PI)
    add_subdirectory(rpi)
 endif()
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
 	utility.cpp
 )
 add_subdirectory(gpio)
 add_subdirectory(spi)
 add_subdirectory(i2c)
 add_subdirectory(uart)
--- a/hal/src/fsfw/hal/linux/UnixFileGuard.cpp
+++ b/hal/src/fsfw/hal/linux/UnixFileGuard.cpp
@ -0,0 +1,33 @@
 #include "fsfw/hal/linux/UnixFileGuard.h"
 UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
        std::string diagnosticPrefix):
        fileDescriptor(fileDescriptor) {
    if(fileDescriptor == nullptr) {
        return;
    }
    *fileDescriptor = open(device.c_str(), flags);
    if (*fileDescriptor < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
                "." << std::endl;
        sif::warning << "Error description: " << strerror(errno) << std::endl;
 #else
        sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
        sif::printWarning("Error description: %s\n", strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
        openStatus = OPEN_FILE_FAILED;
    }
 }
 UnixFileGuard::~UnixFileGuard() {
    if(fileDescriptor != nullptr) {
        close(*fileDescriptor);
    }
 }
 ReturnValue_t UnixFileGuard::getOpenResult() const {
    return openStatus;
 }
--- a/hal/src/fsfw/hal/linux/UnixFileGuard.h
+++ b/hal/src/fsfw/hal/linux/UnixFileGuard.h
@ -0,0 +1,33 @@
 #ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
 #define LINUX_UTILITY_UNIXFILEGUARD_H_
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <string>
 #include <fcntl.h>
 #include <unistd.h>
 class UnixFileGuard {
 public:
    static constexpr int READ_WRITE_FLAG = O_RDWR;
    static constexpr int READ_ONLY_FLAG = O_RDONLY;
    static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
    static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
    UnixFileGuard(std::string device, int* fileDescriptor, int flags,
            std::string diagnosticPrefix = "");
    virtual~ UnixFileGuard();
    ReturnValue_t getOpenResult() const;
 private:
    int* fileDescriptor = nullptr;
    ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };
 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */
--- a/hal/src/fsfw/hal/linux/gpio/CMakeLists.txt
+++ b/hal/src/fsfw/hal/linux/gpio/CMakeLists.txt
@ -0,0 +1,12 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
    LinuxLibgpioIF.cpp
 )
 # This abstraction layer requires the gpiod library. You can install this library
 # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
 # to install the package before syncing the sysroot to your host computer.
 find_library(LIB_GPIO gpiod REQUIRED)
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
    ${LIB_GPIO}
 )
--- a/hal/src/fsfw/hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw/hal/linux/gpio/LinuxLibgpioIF.cpp
@ -0,0 +1,305 @@
 #include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw/hal/common/gpio/gpioDefinitions.h"
 #include "fsfw/hal/common/gpio/GpioCookie.h"
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <utility>
 #include <unistd.h>
 #include <gpiod.h>
 LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
 }
 LinuxLibgpioIF::~LinuxLibgpioIF() {
    for(auto& config: gpioMap) {
        delete(config.second);
    }
 }
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
    ReturnValue_t result;
    if(gpioCookie == nullptr) {
        sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
        return RETURN_FAILED;
    }
    GpioMap mapToAdd = gpioCookie->getGpioMap();
    /* Check whether this ID already exists in the map and remove duplicates */
    result = checkForConflicts(mapToAdd);
    if (result != RETURN_OK){
        return result;
    }
    result = configureGpios(mapToAdd);
    if (result != RETURN_OK) {
        return RETURN_FAILED;
    }
    /* Register new GPIOs in gpioMap */
    gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
    return RETURN_OK;
 }
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
    for(auto& gpioConfig: mapToAdd) {
        switch(gpioConfig.second->gpioType) {
        case(gpio::GpioTypes::NONE): {
            return GPIO_INVALID_INSTANCE;
        }
        case(gpio::GpioTypes::GPIO_REGULAR): {
            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
            if(regularGpio == nullptr) {
                return GPIO_INVALID_INSTANCE;
            }
            configureRegularGpio(gpioConfig.first, regularGpio);
            break;
        }
        case(gpio::GpioTypes::CALLBACK): {
            auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
            if(gpioCallback->callback == nullptr) {
                return GPIO_INVALID_INSTANCE;
            }
            gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
                    gpioCallback->initValue, gpioCallback->callbackArgs);
        }
        }
    }
    return RETURN_OK;
 }
 ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
    std::string chipname;
    unsigned int lineNum;
    struct gpiod_chip *chip;
    gpio::Direction direction;
    std::string consumer;
    struct gpiod_line *lineHandle;
    int result = 0;
    chipname = regularGpio->chipname;
    chip = gpiod_chip_open_by_name(chipname.c_str());
    if (!chip) {
        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
                << chipname << ". Gpio ID: " << gpioId << std::endl;
        return RETURN_FAILED;
    }
    lineNum = regularGpio->lineNum;
    lineHandle = gpiod_chip_get_line(chip, lineNum);
    if (!lineHandle) {
        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
                ", chipname: " << chipname << std::endl;
        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
        gpiod_chip_close(chip);
        return RETURN_FAILED;
    }
    direction = regularGpio->direction;
    consumer = regularGpio->consumer;
    /* Configure direction and add a description to the GPIO */
    switch (direction) {
    case(gpio::OUT): {
        result = gpiod_line_request_output(lineHandle, consumer.c_str(),
                regularGpio->initValue);
        if (result < 0) {
            sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
                    " from GPIO instance with ID: " << gpioId << std::endl;
            gpiod_line_release(lineHandle);
            return RETURN_FAILED;
        }
        break;
    }
    case(gpio::IN): {
        result = gpiod_line_request_input(lineHandle, consumer.c_str());
        if (result < 0) {
            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
                    << lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
            gpiod_line_release(lineHandle);
            return RETURN_FAILED;
        }
        break;
    }
    default: {
        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
                << std::endl;
        return GPIO_INVALID_INSTANCE;
    }
    }
    /**
     * Write line handle to GPIO configuration instance so it can later be used to set or
     * read states of GPIOs.
     */
    regularGpio->lineHandle = lineHandle;
    return RETURN_OK;
 }
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
    gpioMapIter = gpioMap.find(gpioId);
    if (gpioMapIter == gpioMap.end()) {
        sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
        return UNKNOWN_GPIO_ID;
    }
    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
    }
    else {
        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
        if(gpioCallback->callback == nullptr) {
            return GPIO_INVALID_INSTANCE;
        }
        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
                1, gpioCallback->callbackArgs);
        return RETURN_OK;
    }
    return GPIO_TYPE_FAILURE;
 }
 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
    gpioMapIter = gpioMap.find(gpioId);
    if (gpioMapIter == gpioMap.end()) {
        sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
        return UNKNOWN_GPIO_ID;
    }
    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
    }
    else {
        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
        if(gpioCallback->callback == nullptr) {
            return GPIO_INVALID_INSTANCE;
        }
        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
                0, gpioCallback->callbackArgs);
        return RETURN_OK;
    }
    return GPIO_TYPE_FAILURE;
 }
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
        GpiodRegular* regularGpio, unsigned int logicLevel) {
    if(regularGpio == nullptr) {
        return GPIO_TYPE_FAILURE;
    }
    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
    if (result < 0) {
        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
                " to logic level " << logicLevel << std::endl;
        return DRIVE_GPIO_FAILURE;
    }
    return RETURN_OK;
 }
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
    gpioMapIter = gpioMap.find(gpioId);
    if (gpioMapIter == gpioMap.end()){
        sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
        return UNKNOWN_GPIO_ID;
    }
    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
        if(regularGpio == nullptr) {
            return GPIO_TYPE_FAILURE;
        }
        *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
    }
    else {
    }
    return RETURN_OK;
 }
 ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    for(auto& gpioConfig: mapToAdd) {
        switch(gpioConfig.second->gpioType) {
        case(gpio::GpioTypes::GPIO_REGULAR): {
            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
            if(regularGpio == nullptr)  {
                return GPIO_TYPE_FAILURE;
            }
            /* Check for conflicts and remove duplicates if necessary */
            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
            if(result != HasReturnvaluesIF::RETURN_OK) {
                status = result;
            }
            break;
        }
        case(gpio::GpioTypes::CALLBACK): {
            auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
            if(callbackGpio == nullptr)  {
                return GPIO_TYPE_FAILURE;
            }
            /* Check for conflicts and remove duplicates if necessary */
            result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
            if(result != HasReturnvaluesIF::RETURN_OK) {
                status = result;
            }
            break;
        }
        default: {
        }
        }
    }
    return status;
 }
 ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
    /* Cross check with private map */
    gpioMapIter = gpioMap.find(gpioIdToCheck);
    if(gpioMapIter != gpioMap.end()) {
        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
            mapToAdd.erase(gpioIdToCheck);
            return HasReturnvaluesIF::RETURN_OK;
        }
        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
        if(ownRegularGpio == nullptr) {
            return GPIO_TYPE_FAILURE;
        }
        /* Remove element from map to add because a entry for this GPIO
        already exists */
        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
                << " detected. Duplicate will be removed from map to add." << std::endl;
        mapToAdd.erase(gpioIdToCheck);
    }
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
        GpioCallback *callbackGpio, GpioMap& mapToAdd) {
    /* Cross check with private map */
    gpioMapIter = gpioMap.find(gpioIdToCheck);
    if(gpioMapIter != gpioMap.end()) {
        if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
            mapToAdd.erase(gpioIdToCheck);
            return HasReturnvaluesIF::RETURN_OK;
        }
        /* Remove element from map to add because a entry for this GPIO
        already exists */
        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
                << " detected. Duplicate will be removed from map to add." << std::endl;
        mapToAdd.erase(gpioIdToCheck);
    }
    return HasReturnvaluesIF::RETURN_OK;
 }
--- a/hal/src/fsfw/hal/linux/gpio/LinuxLibgpioIF.h
+++ b/hal/src/fsfw/hal/linux/gpio/LinuxLibgpioIF.h
@ -0,0 +1,77 @@
 #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
 #define LINUX_GPIO_LINUXLIBGPIOIF_H_
 #include "../../common/gpio/GpioIF.h"
 #include <returnvalues/classIds.h>
 #include <fsfw/objectmanager/SystemObject.h>
 class GpioCookie;
 /**
 * @brief	This class implements the GpioIF for a linux based system. The
 * 			implementation is based on the libgpiod lib which requires linux 4.8
 * 			or higher.
 * @note	The Petalinux SDK from Xilinx supports libgpiod since Petalinux
 * 			2019.1.
 */
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
 public:
    static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
    static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
    static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
    static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
    static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
 	LinuxLibgpioIF(object_id_t objectId);
 	virtual ~LinuxLibgpioIF();
 	ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
 	ReturnValue_t pullHigh(gpioId_t gpioId) override;
 	ReturnValue_t pullLow(gpioId_t gpioId) override;
 	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 private:
 	/* Holds the information and configuration of all used GPIOs */
 	GpioUnorderedMap gpioMap;
 	GpioUnorderedMapIter gpioMapIter;
 	/**
 	 * @brief	This functions drives line of a GPIO specified by the GPIO ID.
 	 *
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
 	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
 	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
 	 * 			there exists a conflict in the GPIO configuration. E.g. the
 	 * 			direction.
 	 *
 	 * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
 	 *
 	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
 	        GpioMap& mapToAdd);
    ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
            GpioMap& mapToAdd);
 	/**
 	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
 	 */
 	ReturnValue_t configureGpios(GpioMap& mapToAdd);
 };
 #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */
--- a/hal/src/fsfw/hal/linux/i2c/CMakeLists.txt
+++ b/hal/src/fsfw/hal/linux/i2c/CMakeLists.txt
@ -0,0 +1,8 @@
 target_sources(${LIB_FSFW_NAME} PUBLIC
    I2cComIF.cpp
    I2cCookie.cpp
 )
--- a/hal/src/fsfw/hal/linux/i2c/I2cComIF.cpp
+++ b/hal/src/fsfw/hal/linux/i2c/I2cComIF.cpp
@ -0,0 +1,205 @@
 #include "fsfw/hal/linux/i2c/I2cComIF.h"
 #include "fsfw/hal/linux/utility.h"
 #include "fsfw/hal/linux/UnixFileGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include <unistd.h>
 #include <fcntl.h>
 #include <sys/ioctl.h>
 #include <linux/i2c-dev.h>
 #include <errno.h>
 #include <cstring>
 I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
 }
 I2cComIF::~I2cComIF() {}
 ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
    address_t i2cAddress;
    std::string deviceFile;
    if(cookie == nullptr) {
        sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
        return NULLPOINTER;
    }
    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
    if(i2cCookie == nullptr) {
        sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
        return NULLPOINTER;
    }
    i2cAddress = i2cCookie->getAddress();
    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
    if(i2cDeviceMapIter == i2cDeviceMap.end()) {
        size_t maxReplyLen = i2cCookie->getMaxReplyLen();
        I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
        auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
        if (not statusPair.second) {
            sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
                    i2cAddress << "to I2C device " << "map" << std::endl;
            return HasReturnvaluesIF::RETURN_FAILED;
        }
        return HasReturnvaluesIF::RETURN_OK;
    }
    sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
            "already in use" << std::endl;
    return HasReturnvaluesIF::RETURN_FAILED;
 }
 ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
        const uint8_t *sendData, size_t sendLen) {
    ReturnValue_t result;
    int fd;
    std::string deviceFile;
    if(sendData == nullptr) {
        sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
                << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    if(sendLen == 0) {
        return HasReturnvaluesIF::RETURN_OK;
    }
    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
    if(i2cCookie == nullptr) {
        sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
        return NULLPOINTER;
    }
    address_t i2cAddress = i2cCookie->getAddress();
    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
        sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
                << "registered in i2cDeviceMap" << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    deviceFile = i2cCookie->getDeviceFile();
    UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return fileHelper.getOpenResult();
    }
    result = openDevice(deviceFile, i2cAddress, &fd);
    if (result != HasReturnvaluesIF::RETURN_OK){
        return result;
    }
    if (write(fd, sendData, sendLen) != (int)sendLen) {
        sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
                "device with error code " << errno << ". Error description: "
                << strerror(errno) << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
        size_t requestLen) {
    ReturnValue_t result;
    int fd;
    std::string deviceFile;
    if (requestLen == 0) {
        return HasReturnvaluesIF::RETURN_OK;
    }
    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
    if(i2cCookie == nullptr) {
        sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
        i2cDeviceMapIter->second.replyLen = 0;
        return NULLPOINTER;
    }
    address_t i2cAddress = i2cCookie->getAddress();
    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
        sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
                << "registered in i2cDeviceMap" << std::endl;
        i2cDeviceMapIter->second.replyLen = 0;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    deviceFile = i2cCookie->getDeviceFile();
    UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return fileHelper.getOpenResult();
    }
    result = openDevice(deviceFile, i2cAddress, &fd);
    if (result != HasReturnvaluesIF::RETURN_OK){
        i2cDeviceMapIter->second.replyLen = 0;
        return result;
    }
    uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
    int readLen = read(fd, replyBuffer, requestLen);
    if (readLen != static_cast<int>(requestLen)) {
 #if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
                << "device failed with error code " << errno <<". Description"
                << " of error: " << strerror(errno) << std::endl;
        sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
                << requestLen << " bytes" << std::endl;
 #endif
        i2cDeviceMapIter->second.replyLen = 0;
        sif::debug << "I2cComIF::requestReceiveMessage: Read "  << readLen << " of " << requestLen << " bytes" << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    i2cDeviceMapIter->second.replyLen = requestLen;
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
        uint8_t **buffer, size_t* size) {
    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
    if(i2cCookie == nullptr) {
        sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
        return NULLPOINTER;
    }
    address_t i2cAddress = i2cCookie->getAddress();
    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
        sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
                << "found in i2cDeviceMap" << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    *buffer = i2cDeviceMapIter->second.replyBuffer.data();
    *size = i2cDeviceMapIter->second.replyLen;
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
        address_t i2cAddress, int* fileDescriptor) {
    if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
                << std::endl;
        sif::warning << "Error description " << strerror(errno) << std::endl;
 #else
        sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
        sif::printWarning("Error description: %s\n", strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    return HasReturnvaluesIF::RETURN_OK;
 }
--- a/hal/src/fsfw/hal/linux/i2c/I2cComIF.h
+++ b/hal/src/fsfw/hal/linux/i2c/I2cComIF.h
@ -0,0 +1,61 @@
 #ifndef LINUX_I2C_I2COMIF_H_
 #define LINUX_I2C_I2COMIF_H_
 #include "I2cCookie.h"
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <unordered_map>
 #include <vector>
 /**
 * @brief 	This is the communication interface for I2C devices connected
 * 			to a system running a Linux OS.
 *
 * @note    The Xilinx Linux kernel might not support to read more than 255 bytes at once.
 *
 * @author 	J. Meier
 */
 class I2cComIF: public DeviceCommunicationIF, public SystemObject {
 public:
 	I2cComIF(object_id_t objectId);
 	virtual ~I2cComIF();
 	ReturnValue_t initializeInterface(CookieIF * cookie) override;
 	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
 			size_t sendLen) override;
 	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
 	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
 	        size_t requestLen) override;
 	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 			size_t *size) override;
 private:
 	struct I2cInstance {
 		std::vector<uint8_t> replyBuffer;
 		size_t replyLen;
 	};
 	using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
 	using I2cDeviceMapIter = I2cDeviceMap::iterator;
 	/* In this map all i2c devices will be registered with their address and
 	 * the appropriate file descriptor will be stored */
 	I2cDeviceMap i2cDeviceMap;
 	I2cDeviceMapIter i2cDeviceMapIter;
 	/**
 	 * @brief	This function opens an I2C device and binds the opened file
 	 * 			to a specific I2C address.
 	 * @param deviceFile	The name of the device file. E.g. i2c-0
 	 * @param i2cAddress	The address of the i2c slave device.
 	 * @param fileDescriptor	Pointer to device descriptor.
 	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
 	 */
 	ReturnValue_t openDevice(std::string deviceFile,
 			address_t i2cAddress, int* fileDescriptor);
 };
 #endif /* LINUX_I2C_I2COMIF_H_ */
--- a/hal/src/fsfw/hal/linux/i2c/I2cCookie.cpp
+++ b/hal/src/fsfw/hal/linux/i2c/I2cCookie.cpp
@ -0,0 +1,20 @@
 #include "fsfw/hal/linux/i2c/I2cCookie.h"
 I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
 		std::string deviceFile_) :
 		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
 }
 address_t I2cCookie::getAddress() const {
 	return i2cAddress;
 }
 size_t I2cCookie::getMaxReplyLen() const {
 	return maxReplyLen;
 }
 std::string I2cCookie::getDeviceFile() const {
 	return deviceFile;
 }
 I2cCookie::~I2cCookie() {}
--- a/hal/src/fsfw/hal/linux/i2c/I2cCookie.h
+++ b/hal/src/fsfw/hal/linux/i2c/I2cCookie.h
@ -0,0 +1,38 @@
 #ifndef LINUX_I2C_I2CCOOKIE_H_
 #define LINUX_I2C_I2CCOOKIE_H_
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <string>
 /**
 * @brief   Cookie for the i2cDeviceComIF.
 *
 * @author 	J. Meier
 */
 class I2cCookie: public CookieIF {
 public:
 	/**
 	 * @brief	Constructor for the I2C cookie.
 	 * @param i2cAddress_	The i2c address of the target device.
 	 * @param maxReplyLen_	The maximum expected length of a reply from the
 	 * 						target device.
 	 * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
 	 */
 	I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
 			std::string deviceFile_);
 	virtual ~I2cCookie();
 	address_t getAddress() const;
 	size_t getMaxReplyLen() const;
 	std::string getDeviceFile() const;
 private:
 	address_t i2cAddress = 0;
 	size_t maxReplyLen = 0;
 	std::string deviceFile;
 };
 #endif /* LINUX_I2C_I2CCOOKIE_H_ */
--- a/hal/src/fsfw/hal/linux/rpi/CMakeLists.txt
+++ b/hal/src/fsfw/hal/linux/rpi/CMakeLists.txt
@ -0,0 +1,3 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
    GpioRPi.cpp
 )
--- a/hal/src/fsfw/hal/linux/rpi/GpioRPi.cpp
+++ b/hal/src/fsfw/hal/linux/rpi/GpioRPi.cpp
@ -0,0 +1,38 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/hal/linux/rpi/GpioRPi.h"
 #include "fsfw/hal/common/gpio/GpioCookie.h"
 #include <fsfw/serviceinterface/ServiceInterface.h>
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
        std::string consumer, gpio::Direction direction, int initValue) {
    if(cookie == nullptr) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    GpiodRegular* config = new GpiodRegular();
    /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
    will not need this */
    config->chipname = "gpiochip0";
    config->consumer = consumer;
    config->direction = direction;
    config->initValue = initValue;
    /* Sanity check for the BCM pins before assigning it */
    if(bcmPin > 27) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
 #else
        sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    config->lineNum = bcmPin;
    cookie->addGpio(gpioId, config);
    return HasReturnvaluesIF::RETURN_OK;
 }
--- a/hal/src/fsfw/hal/linux/rpi/GpioRPi.h
+++ b/hal/src/fsfw/hal/linux/rpi/GpioRPi.h
@ -1,8 +1,7 @@
 #ifndef BSP_RPI_GPIO_GPIORPI_H_
 #define BSP_RPI_GPIO_GPIORPI_H_
-#include <fsfw/returnvalues/returnvalue.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,
+        std::string consumer, gpio::Direction direction, int initValue);
-                                  gpio::Levels initValue);
+}
 }  // namespace gpio
 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */
--- a/hal/src/fsfw/hal/linux/spi/CMakeLists.txt
+++ b/hal/src/fsfw/hal/linux/spi/CMakeLists.txt
@ -0,0 +1,8 @@
 target_sources(${LIB_FSFW_NAME} PUBLIC
    SpiComIF.cpp
    SpiCookie.cpp
 )
--- a/hal/src/fsfw/hal/linux/spi/SpiComIF.cpp
+++ b/hal/src/fsfw/hal/linux/spi/SpiComIF.cpp
@ -0,0 +1,398 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/hal/linux/spi/SpiComIF.h"
 #include "fsfw/hal/linux/spi/SpiCookie.h"
 #include "fsfw/hal/linux/utility.h"
 #include "fsfw/hal/linux/UnixFileGuard.h"
 #include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
 #include <linux/spi/spidev.h>
 #include <fcntl.h>
 #include <unistd.h>
 #include <sys/ioctl.h>
 #include <cerrno>
 #include <cstring>
 /* Can be used for low-level debugging of the SPI bus */
 #ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
 #define FSFW_HAL_LINUX_SPI_WIRETAPPING                  0
 #endif
 SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
        SystemObject(objectId), gpioComIF(gpioComIF) {
    if(gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
 #else
        sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
    }
    spiMutex = MutexFactory::instance()->createMutex();
 }
 ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    int retval = 0;
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }
    address_t spiAddress = spiCookie->getSpiAddress();
    auto iter = spiDeviceMap.find(spiAddress);
    if(iter == spiDeviceMap.end()) {
        size_t bufferSize = spiCookie->getMaxBufferSize();
        SpiInstance spiInstance(bufferSize);
        auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
        if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
                    spiAddress << "to SPI device map" << std::endl;
 #else
            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
            return HasReturnvaluesIF::RETURN_FAILED;
        }
        /* Now we emplaced the read buffer in the map, we still need to assign that location
        to the SPI driver transfer struct */
        spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
    }
    else {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
 #else
        sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    /* Pull CS high in any case to be sure that device is inactive */
    gpioId_t gpioId = spiCookie->getChipSelectPin();
    if(gpioId != gpio::NO_GPIO) {
        gpioComIF->pullHigh(gpioId);
    }
    size_t spiSpeed = 0;
    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
    SpiCookie::UncommonParameters params;
    spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
    int fileDescriptor = 0;
    UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
            "SpiComIF::initializeInterface: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return fileHelper.getOpenResult();
    }
    /* These flags are rather uncommon */
    if(params.threeWireSpi or params.noCs or params.csHigh) {
        uint32_t currentMode = 0;
        retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
        if(retval != 0) {
            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
        }
        if(params.threeWireSpi) {
            currentMode |= SPI_3WIRE;
        }
        if(params.noCs) {
            /* Some drivers like the Raspberry Pi ignore this flag in any case */
            currentMode |= SPI_NO_CS;
        }
        if(params.csHigh) {
            currentMode |= SPI_CS_HIGH;
        }
        /* Write adapted mode */
        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
        if(retval != 0) {
            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
        }
    }
    if(params.lsbFirst) {
        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
        if(retval != 0) {
            utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
        }
    }
    if(params.bitsPerWord != 8) {
        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
        if(retval != 0) {
            utility::handleIoctlError("SpiComIF::initializeInterface: "
                    "Could not write bits per word!");
        }
    }
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }
    if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
 #else
        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
                static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
        return DeviceCommunicationIF::TOO_MUCH_DATA;
    }
    if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
        result = performRegularSendOperation(spiCookie, sendData, sendLen);
    }
    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
        spi::send_callback_function_t sendFunc = nullptr;
        void* funcArgs = nullptr;
        spiCookie->getCallback(&sendFunc, &funcArgs);
        if(sendFunc != nullptr) {
            result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
        }
    }
    return result;
 }
 ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
        size_t sendLen) {
    address_t spiAddress = spiCookie->getSpiAddress();
    auto iter = spiDeviceMap.find(spiAddress);
    if(iter != spiDeviceMap.end()) {
        spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
    }
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    int retval = 0;
    /* Prepare transfer */
    int fileDescriptor = 0;
    std::string device = spiCookie->getSpiDevice();
    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return OPENING_FILE_FAILED;
    }
    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
    uint32_t spiSpeed = 0;
    spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
    spiCookie->assignWriteBuffer(sendData);
    spiCookie->assignTransferSize(sendLen);
    bool fullDuplex = spiCookie->isFullDuplex();
    gpioId_t gpioId = spiCookie->getChipSelectPin();
    /* Pull SPI CS low. For now, no support for active high given  */
    if(gpioId != gpio::NO_GPIO) {
        result = spiMutex->lockMutex(timeoutType, timeoutMs);
        if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
 #endif
            return result;
        }
        gpioComIF->pullLow(gpioId);
    }
    /* Execute transfer */
    if(fullDuplex) {
        /* Initiate a full duplex SPI transfer. */
        retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
        if(retval < 0) {
            utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
            result = FULL_DUPLEX_TRANSFER_FAILED;
        }
 #if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
        performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
    }
    else {
        /* We write with a blocking half-duplex transfer here */
        if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
                    std::endl;
 #else
            sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
            result = HALF_DUPLEX_TRANSFER_FAILED;
        }
    }
    if(gpioId != gpio::NO_GPIO) {
        gpioComIF->pullHigh(gpioId);
        result = spiMutex->unlockMutex();
        if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
 #endif
            return result;
        }
    }
    return result;
 }
 ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
    return HasReturnvaluesIF::RETURN_OK;
 }
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }
    if(spiCookie->isFullDuplex()) {
        return HasReturnvaluesIF::RETURN_OK;
    }
    return performHalfDuplexReception(spiCookie);
 }
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    std::string device = spiCookie->getSpiDevice();
    int fileDescriptor = 0;
    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
            "SpiComIF::requestReceiveMessage: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return OPENING_FILE_FAILED;
    }
    uint8_t* rxBuf = nullptr;
    size_t readSize = spiCookie->getCurrentTransferSize();
    result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }
    gpioId_t gpioId = spiCookie->getChipSelectPin();
    if(gpioId != gpio::NO_GPIO) {
        result = spiMutex->lockMutex(timeoutType, timeoutMs);
        if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
 #endif
            return result;
        }
        gpioComIF->pullLow(gpioId);
    }
    if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
 #else
        sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
        result = HALF_DUPLEX_TRANSFER_FAILED;
    }
    if(gpioId != gpio::NO_GPIO) {
        gpioComIF->pullHigh(gpioId);
        result = spiMutex->unlockMutex();
        if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
 #endif
            return result;
        }
    }
    return result;
 }
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    uint8_t* rxBuf = nullptr;
    ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }
    *buffer = rxBuf;
    *size = spiCookie->getCurrentTransferSize();
    return HasReturnvaluesIF::RETURN_OK;
 }
 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
    if(timeoutType != nullptr) {
        *timeoutType = this->timeoutType;
    }
    if(timeoutMs != nullptr) {
        *timeoutMs = this->timeoutMs;
    }
    return spiMutex;
 }
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
    if(spiCookie == nullptr) {
        return;
    }
    size_t dataLen = spiCookie->getTransferStructHandle()->len;
    uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "Sent SPI data: " << std::endl;
    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
    sif::info << "Received SPI data: " << std::endl;
 #else
    sif::printInfo("Sent SPI data: \n");
    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
    sif::printInfo("Received SPI data: \n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
    dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
 }
 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
    if(buffer == nullptr) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    auto iter = spiDeviceMap.find(spiAddress);
    if(iter == spiDeviceMap.end()) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    *buffer = iter->second.replyBuffer.data();
    return HasReturnvaluesIF::RETURN_OK;
 }
 GpioIF* SpiComIF::getGpioInterface() {
    return gpioComIF;
 }
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
    if(retval != 0) {
        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
    }
    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
    if(retval != 0) {
        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
    }
 }
--- a/hal/src/fsfw/hal/linux/spi/SpiComIF.h
+++ b/hal/src/fsfw/hal/linux/spi/SpiComIF.h
@ -0,0 +1,90 @@
 #ifndef LINUX_SPI_SPICOMIF_H_
 #define LINUX_SPI_SPICOMIF_H_
 #include "spiDefinitions.h"
 #include "returnvalues/classIds.h"
 #include "fsfw/hal/common/gpio/GpioIF.h"
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include <vector>
 #include <unordered_map>
 class SpiCookie;
 /**
 * @brief   Encapsulates access to linux SPI driver for FSFW objects
 * @details
 * Right now, only full-duplex SPI is supported. Most device specific transfer properties
 * are contained in the SPI cookie.
 * @author  R. Mueller
 */
 class SpiComIF: public DeviceCommunicationIF, public SystemObject {
 public:
    static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
    static constexpr ReturnValue_t OPENING_FILE_FAILED =
            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
    /* Full duplex (ioctl) transfer failure */
    static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
    /* Half duplex (read/write) transfer failure */
    static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
    SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
    ReturnValue_t initializeInterface(CookieIF * cookie) override;
    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
            size_t sendLen) override;
    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
            size_t requestLen) override;
    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
            size_t *size) override;
    /**
     * @brief   This function returns the mutex which can be used to protect the spi bus when
     *          the chip select must be driven from outside of the com if.
     */
    MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
    /**
     * Perform a regular send operation using Linux iotcl. This is public so it can be used
     * in functions like a user callback if special handling is only necessary for certain commands.
     * @param spiCookie
     * @param sendData
     * @param sendLen
     * @return
     */
    ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
            size_t sendLen);
    GpioIF* getGpioInterface();
    void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
    void performSpiWiretapping(SpiCookie* spiCookie);
    ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
 private:
    struct SpiInstance {
        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
        std::vector<uint8_t> replyBuffer;
    };
    GpioIF* gpioComIF = nullptr;
    MutexIF* spiMutex = nullptr;
    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
    uint32_t timeoutMs = 20;
    using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
    using SpiDeviceMapIter = SpiDeviceMap::iterator;
    SpiDeviceMap spiDeviceMap;
    ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
 };
 #endif /* LINUX_SPI_SPICOMIF_H_ */
--- a/hal/src/fsfw/hal/linux/spi/SpiCookie.cpp
+++ b/hal/src/fsfw/hal/linux/spi/SpiCookie.cpp
@ -0,0 +1,144 @@
 #include "fsfw/hal/linux/spi/SpiCookie.h"
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
        SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
                spiSpeed, nullptr, nullptr) {
 }
 SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
        spi::SpiModes spiMode, uint32_t spiSpeed):
                SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
 }
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
        spi::send_callback_function_t callback, void *args):
 		        SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
 		                spiMode, spiSpeed, callback, args) {
 }
 SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
        std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
        spi::send_callback_function_t callback, void* args):
                spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
                comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
                sendCallback(callback), callbackArgs(args) {
 }
 spi::SpiComIfModes SpiCookie::getComIfMode() const {
    return this->comIfMode;
 }
 void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
        UncommonParameters* parameters) const {
    spiMode = this->spiMode;
    spiSpeed = this->spiSpeed;
    if(parameters != nullptr) {
        parameters->threeWireSpi = uncommonParameters.threeWireSpi;
        parameters->lsbFirst = uncommonParameters.lsbFirst;
        parameters->noCs = uncommonParameters.noCs;
        parameters->bitsPerWord = uncommonParameters.bitsPerWord;
        parameters->csHigh = uncommonParameters.csHigh;
    }
 }
 gpioId_t SpiCookie::getChipSelectPin() const {
    return chipSelectPin;
 }
 size_t SpiCookie::getMaxBufferSize() const {
    return maxSize;
 }
 address_t SpiCookie::getSpiAddress() const {
    return spiAddress;
 }
 std::string SpiCookie::getSpiDevice() const {
    return spiDevice;
 }
 void SpiCookie::setThreeWireSpi(bool enable) {
    uncommonParameters.threeWireSpi = enable;
 }
 void SpiCookie::setLsbFirst(bool enable) {
    uncommonParameters.lsbFirst = enable;
 }
 void SpiCookie::setNoCs(bool enable) {
    uncommonParameters.noCs = enable;
 }
 void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
    uncommonParameters.bitsPerWord = bitsPerWord;
 }
 void SpiCookie::setCsHigh(bool enable) {
    uncommonParameters.csHigh = enable;
 }
 void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
    spiTransferStruct.cs_change = deselectCs;
    spiTransferStruct.delay_usecs = delayUsecs;
 }
 void SpiCookie::assignReadBuffer(uint8_t* rx) {
    if(rx != nullptr) {
        spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
    }
 }
 void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
    if(tx != nullptr) {
        spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
    }
 }
 void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
        void *args) {
    this->comIfMode = spi::SpiComIfModes::CALLBACK;
    this->sendCallback = callback;
    this->callbackArgs = args;
 }
 void SpiCookie::setCallbackArgs(void *args) {
    this->callbackArgs = args;
 }
 spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
    return &spiTransferStruct;
 }
 void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
    this->halfDuplex = halfDuplex;
 }
 bool SpiCookie::isFullDuplex() const {
    return not this->halfDuplex;
 }
 void SpiCookie::assignTransferSize(size_t transferSize) {
    spiTransferStruct.len = transferSize;
 }
 size_t SpiCookie::getCurrentTransferSize() const {
    return spiTransferStruct.len;
 }
 void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
    this->spiSpeed = newSpeed;
 }
 void SpiCookie::setSpiMode(spi::SpiModes newMode) {
    this->spiMode = newMode;
 }
 void SpiCookie::getCallback(spi::send_callback_function_t *callback,
        void **args) {
    *callback = this->sendCallback;
    *args = this->callbackArgs;
 }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Robin Mueller	c5b4b01362	Merge branch 'mueller/master' into eive/develop	2021-07-24 15:04:01 +02:00
Robin Mueller	c5420c7b53	bumped subversion	2021-07-24 14:39:43 +02:00
Robin Mueller	3e422f51bd	corrected version number	2021-07-24 13:43:13 +02:00
Jakob.Meier	d1be0f9843	Merge pull request 'Update framework' (#6 ) from mueller/master into eive/develop Reviewed-on: #6	2021-07-23 18:26:39 +02:00
Jakob.Meier	b83259592a	uart flush function	2021-07-23 18:06:36 +02:00
Robin Mueller	a7a4e0f219	api consistent now	2021-07-19 19:03:20 +02:00
Robin Mueller	bdc5f593e2	Merge remote-tracking branch 'upstream/mueller/master' into mueller/master	2021-07-19 18:50:20 +02:00
Robin Mueller	10f7185e81	added includes	2021-07-19 13:08:40 +02:00