fixing rebase error

CHANGELOG.md

@@ -12,26 +12,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
-- Bugfix in `Service11TelecommandScheduling` which allowed commands
-  time tagged in the past to be inserted.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/738
-- `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.
-- 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
-- Bugfix for RM3100 MGM sensors. Z value was previously calculated
-  with bytes of the X value.
-- DHB `setNormalDatapoolEntriesInvalid`: The default implementation did not set the validity
-  to false correctly because the `read` and `write` calls were missing.
-- PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead
-  of the correct unsegmented flags (0b11) as specified in the standard.
 - TC Scheduler Service 11: Add size and CRC check for contained TC.
 - Only delete health table entry in `HealthHelper` destructor if
   health table was set.
@@ -48,13 +28,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
-- 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.

CMakeLists.txt

@@ -153,12 +153,12 @@ if(FSFW_BUILD_TESTS)
       "${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)
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION})
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
     message(
       STATUS
-        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent."
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
     )
     include(FetchContent)
 
@@ -174,6 +174,27 @@ if(FSFW_BUILD_TESTS)
   configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
   configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
+  if(FSFW_OSAL MATCHES "freertos")
+    message(STATUS "${MSG_PREFIX} Downloading FreeRTOS with FetchContent")
+    include(FetchContent)
+
+    set(FreeRTOS_PORT posix)
+
+    FetchContent_Declare(
+      FreeRTOS
+      GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
+      GIT_TAG develop
+      GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
+
+    FetchContent_MakeAvailable(FreeRTOS)
+
+    set(LIB_OS_NAME FreeRTOS)
+    target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
+    set(THREADS_PREFER_PTHREAD_FLAG ON)
+    find_package(Threads REQUIRED)
+    target_link_libraries(FreeRTOS PRIVATE ${CMAKE_THREAD_LIBS_INIT})
+  endif()
+
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
   if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
@@ -201,8 +222,8 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(
     STATUS
-      "${MSG_PREFIX} ETL installation not found. Downloading ETL with FetchContent."
+      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
-  )
+      "etl with FindPackage")
   include(FetchContent)
 
   FetchContent_Declare(
@@ -226,6 +247,7 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
   endif()
+
 endif()
 
 set(FSFW_CORE_INC_PATH "inc")
@@ -360,6 +382,9 @@ if(FSFW_BUILD_TESTS)
   endif()
   target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                  ${LIB_FSFW_NAME})
+  if(FSFW_OSAL MATCHES "freertos")
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE FreeRTOS)
+  endif()
 endif()
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If

automation/Jenkinsfile

@@ -2,6 +2,7 @@ pipeline {
     environment {
         BUILDDIR_HOST = 'cmake-build-tests-host'
         BUILDDIR_LINUX = 'cmake-build-tests-linux'
+        BUILDDIR_FREERTOS = 'cmake-build-tests-freertos'
         DOCDDIR = 'cmake-build-documentation'
     }
     agent {
@@ -12,76 +13,38 @@ pipeline {
     }
     stages {
         stage('Host') {
-            stages{
+            steps {
-                stage('Clean') {
+                sh 'rm -rf $BUILDDIR_HOST'
-                    steps {
+
-                        sh 'rm -rf $BUILDDIR_HOST'
+                dir(BUILDDIR_HOST) {
-                    }
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                }
+                    sh 'cmake --build . -j4'
-                stage('Configure') {
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                    steps {
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        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{
+            steps {
-                stage('Clean') {
+                sh 'rm -rf $BUILDDIR_LINUX'
-                    steps {
+
-                        sh 'rm -rf $BUILDDIR_LINUX'
+                dir(BUILDDIR_LINUX) {
-                    }
+                    sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake --build . -j4'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                 }
-                stage('Configure') {
+            }
-                    steps {
+        }
-                        dir(BUILDDIR_LINUX) {
+        stage('FreeRTOS') {
-                            sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+            steps {
-                        }
+                sh 'rm -rf $BUILDDIR_FREERTOS'
-                    }
+
-                }
+                dir(BUILDDIR_FREERTOS) {
-                stage('Build') {
+                    sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
-                    steps {
+                    sh 'cmake --build . -j4'
-                        dir(BUILDDIR_LINUX) {
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
-                            sh 'cmake --build . -j4'
+                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
-                        }
-                    }
-                }
-                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'
-                        }
-                    }
                 }
             }
         }

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1,6 +1,5 @@
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/datapoollocal/LocalPoolVariable.h"
 #include "fsfw/devicehandlers/AcceptsDeviceResponsesIF.h"
 #include "fsfw/devicehandlers/DeviceTmReportingWrapper.h"
@@ -1509,10 +1508,7 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
 void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
   for (const auto& reply : deviceReplyMap) {
     if (reply.second.dataSet != nullptr) {
-      PoolReadGuard pg(reply.second.dataSet);
+      reply.second.dataSet->setValidity(false, true);
-      if (pg.getReadResult() == returnvalue::OK) {
-        reply.second.dataSet->setValidity(false, true);
-      }
     }
   }
 }

src/fsfw/health/HasHealthIF.h

@@ -16,24 +16,26 @@ class HasHealthIF {
   };
 
   static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
-  static constexpr ReturnValue_t OBJECT_NOT_HEALTHY = returnvalue::makeCode(INTERFACE_ID, 1);
+  static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
-  static constexpr ReturnValue_t INVALID_HEALTH_STATE = returnvalue::makeCode(INTERFACE_ID, 2);
+  static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
-  static constexpr ReturnValue_t IS_EXTERNALLY_CONTROLLED = returnvalue::makeCode(INTERFACE_ID, 3);
 
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
-  //! P1: New Health, P2: Old Health
   static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
   static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
   static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
-  //! Assembly overwrites health information of children to keep satellite alive.
+  static const Event OVERWRITING_HEALTH =
-  static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
+      MAKE_EVENT(9, severity::LOW);  //!< Assembly overwrites health information of children to keep
-  //! Someone starts a recovery of a component (typically power-cycle). No parameters.
+                                     //!< satellite alive.
-  static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
+  static const Event TRYING_RECOVERY =
-  //! Recovery is ongoing. Comes twice during recovery.
+      MAKE_EVENT(10, severity::MEDIUM);  //!< Someone starts a recovery of a component (typically
-  //! P1: 0 for the first, 1 for the second event. P2: 0
+                                         //!< power-cycle). No parameters.
-  static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
+  static const Event RECOVERY_STEP =
-  //! Recovery was completed. Not necessarily successful. No parameters.
+      MAKE_EVENT(11, severity::MEDIUM);  //!< Recovery is ongoing. Comes twice during recovery. P1:
-  static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
+                                         //!< 0 for the first, 1 for the second event. P2: 0
+  static const Event RECOVERY_DONE = MAKE_EVENT(
+      12,
+      severity::MEDIUM);  //!< Recovery was completed. Not necessarily successful. No parameters.
+
   virtual ~HasHealthIF() {}
 
   virtual MessageQueueId_t getCommandQueue() const = 0;

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -7,10 +7,10 @@
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId, uint32_t messageQueueDepth)
     : SystemObject(setObjectId),
+      commandQueue(QueueFactory::instance()->createMessageQueue(messageQueueDepth)),
       poolManager(this, commandQueue),
       internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
       internalErrorDataset(this) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
   mutex = MutexFactory::instance()->createMutex();
 }
 

src/fsfw/modes/ModeMessage.cpp

@@ -24,19 +24,3 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
   message->setParameter(reason);
   message->setParameter2(0);
 }
-
-void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
-  Command_t cmd;
-  if (recursive) {
-    cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
-  } else {
-    cmd = CMD_MODE_ANNOUNCE;
-  }
-  message.setCommand(cmd);
-}
-
-void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
-  setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
-}
-
-void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); }

src/fsfw/modes/ModeMessage.h

@@ -45,9 +45,6 @@ class ModeMessage {
 
   static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                              Submode_t submode);
-  static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
-  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
-  static void setModeReadMessage(CommandMessage& message);
   static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
   static void clear(CommandMessage* message);
 };

src/fsfw/osal/CMakeLists.txt

@@ -18,10 +18,7 @@ elseif(FSFW_OSAL MATCHES "host")
   endif()
   set(FSFW_OSAL_HOST 1)
 else()
-  message(
+  message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
-    WARNING
-      "${MSG_PREFIX} The FSFW_OSAL variable was not set. Assuming host OS..")
-
   # Not set. Assumuing this is a host build, try to determine host OS
   if(WIN32)
     add_subdirectory(host)

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -26,12 +26,12 @@
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-                             TcpTmTcServer::TcpConfig cfg, size_t receptionBufferSize,
+                             size_t receptionBufferSize, size_t ringBufferSize,
-                             size_t ringBufferSize, ReceptionModes receptionMode)
+                             std::string customTcpServerPort, ReceptionModes receptionMode)
     : SystemObject(objectId),
       tmtcBridgeId(tmtcTcpBridge),
       receptionMode(receptionMode),
-      tcpConfig(cfg),
+      tcpConfig(std::move(customTcpServerPort)),
       receptionBuffer(receptionBufferSize),
       ringBuffer(ringBufferSize, true) {}
 
@@ -91,15 +91,6 @@ ReturnValue_t TcpTmTcServer::initialize() {
     return returnvalue::FAILED;
   }
 
-  if (tcpConfig.reuseAddr) {
-    unsigned int enable = 1;
-    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(enable));
-  }
-  if (tcpConfig.reusePort) {
-    unsigned int enable = 1;
-    setsockopt(listenerTcpSocket, SOL_SOCKET, SO_REUSEPORT, &enable, sizeof(enable));
-  }
-
   // Bind to the address found by getaddrinfo
   retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
   if (retval == SOCKET_ERROR) {

src/fsfw/osal/common/TcpTmTcServer.h

@@ -41,11 +41,11 @@ class SpacePacketParser;
  */
 class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableObjectIF {
  public:
+  enum class ReceptionModes { SPACE_PACKETS };
+
   struct TcpConfig {
    public:
-    TcpConfig(bool reuseAddr, bool reusePort) : reuseAddr(reuseAddr), reusePort(reusePort) {}
+    explicit TcpConfig(std::string tcpPort) : tcpPort(std::move(tcpPort)) {}
-    TcpConfig(std::string tcpPort, bool reuseAddr, bool reusePort)
-        : tcpPort(std::move(tcpPort)), reuseAddr(reuseAddr), reusePort(reusePort) {}
 
     /**
      * Passed to the recv call
@@ -63,24 +63,8 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
      */
     int tcpTmFlags = 0;
 
-    std::string tcpPort = DEFAULT_SERVER_PORT;
+    const std::string tcpPort;
-
-    /**
-     * Sets the SO_REUSEADDR option on the socket. See
-     * https://man7.org/linux/man-pages/man7/socket.7.html for more details. This option is
-     * especially useful in a debugging and development environment where an OBSW image might be
-     * re-flashed oftentimes and where all incoming telecommands are received on a dedicated TCP
-     * port.
-     */
-    bool reuseAddr = false;
-    /**
-     * Sets the SO_REUSEPORT option on the socket. See
-     * https://man7.org/linux/man-pages/man7/socket.7.html for more details.
-     */
-    bool reusePort = false;
-
   };
-  enum class ReceptionModes { SPACE_PACKETS };
 
   static const std::string DEFAULT_SERVER_PORT;
 
@@ -96,9 +80,10 @@ class TcpTmTcServer : public SystemObject, public TcpIpBase, public ExecutableOb
    *                              size will be the Ethernet MTU size
    * @param customTcpServerPort   The user can specify another port than the default (7301) here.
    */
-  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge, TcpTmTcServer::TcpConfig cfg,
+  TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
                 size_t receptionBufferSize = RING_BUFFER_SIZE,
                 size_t ringBufferSize = RING_BUFFER_SIZE,
+                std::string customTcpServerPort = DEFAULT_SERVER_PORT,
                 ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
   ~TcpTmTcServer() override;
 

src/fsfw/osal/freertos/BinSemaphUsingTask.h

@@ -40,7 +40,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
   void refreshTaskHandle();
 
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
   ReturnValue_t release() override;
   uint8_t getSemaphoreCounter() const override;
   static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);

src/fsfw/osal/freertos/BinarySemaphore.h

@@ -51,7 +51,7 @@ class BinarySemaphore : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.

src/fsfw/osal/freertos/Clock.cpp

@@ -110,11 +110,13 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval*
   time_tm.tm_min = from->minute;
   time_tm.tm_sec = from->second;
 
-  time_t seconds = mktime(&time_tm);
+  time_tm.tm_isdst = 0;
+
+  time_t seconds = timegm(&time_tm);
 
   to->tv_sec = seconds;
   to->tv_usec = from->usecond;
-  // Fails in 2038..
+
   return returnvalue::OK;
 }
 

src/fsfw/osal/freertos/CountingSemaphUsingTask.h

@@ -34,7 +34,7 @@ class CountingSemaphoreUsingTask : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Release a semaphore, increasing the number of available counting

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -56,7 +56,9 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   // start time for the first entry.
   auto slotListIter = pollingSeqTable.current;
 
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Ignore returnvalue for now
+  static_cast<void>(result);
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;

src/fsfw/osal/freertos/Mutex.cpp

@@ -22,7 +22,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
     return MutexIF::MUTEX_NOT_FOUND;
   }
   // If the timeout type is BLOCKING, this will be the correct value.
-  uint32_t timeout = portMAX_DELAY;
+  TickType_t timeout = portMAX_DELAY;
   if (timeoutType == TimeoutType::POLLING) {
     timeout = 0;
   } else if (timeoutType == TimeoutType::WAITING) {

src/fsfw/osal/freertos/TaskManagement.cpp

@@ -3,16 +3,16 @@
 void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
 
 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
-  if (callContext == CallContext::ISR) {
+  //   if (callContext == CallContext::ISR) {
-    // This function depends on the partmacro.h definition for the specific device
+  //     // This function depends on the partmacro.h definition for the specific device
-    vRequestContextSwitchFromISR();
+  //     vRequestContextSwitchFromISR();
-  } else {
+  //   } else {
-    vRequestContextSwitchFromTask();
+  vRequestContextSwitchFromTask();
-  }
+  //   }
 }
 
 TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }
 
-size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
+// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
-  return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+//   return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+// }

src/fsfw/osal/freertos/TaskManagement.h

@@ -11,7 +11,7 @@
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void vRequestContextSwitchFromISR();
+// extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
@@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
  * @return Smallest value of stack remaining since the task was started in
  * 		   words.
  */
-size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
+// size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
 };  // namespace TaskManagement
 

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -19,7 +19,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_MODE_COMMAND):
     case (Subservice::COMMAND_MODE_READ):
-    case (Subservice::COMMAND_MODE_ANNOUNCE):
+    case (Subservice::COMMAND_MODE_ANNCOUNCE):
       return returnvalue::OK;
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -53,32 +53,16 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                         const uint8_t *tcData, size_t tcDataLen,
                                                         uint32_t *state, object_id_t objectId) {
-  bool recursive = false;
+  ModePacket modeCommandPacket;
-  switch (subservice) {
+  ReturnValue_t result =
-    case (Subservice::COMMAND_MODE_COMMAND): {
+      modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      ModePacket modeCommandPacket;
+  if (result != returnvalue::OK) {
-      ReturnValue_t result =
+    return result;
-          modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-      if (result != returnvalue::OK) {
-        return result;
-      }
-
-      ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND,
-                                  modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
-      return returnvalue::OK;
-    }
-    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
-      recursive = true;
-      [[fallthrough]];
-    case (Subservice::COMMAND_MODE_ANNOUNCE):
-      ModeMessage::setModeAnnounceMessage(*message, recursive);
-      return EXECUTION_COMPLETE;
-    case (Subservice::COMMAND_MODE_READ):
-      ModeMessage::setModeReadMessage(*message);
-      return returnvalue::OK;
-    default:
-      return CommandingServiceBase::INVALID_SUBSERVICE;
   }
+
+  ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+                              modeCommandPacket.getSubmode());
+  return result;
 }
 
 ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
@@ -89,10 +73,8 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply
   ReturnValue_t result = returnvalue::FAILED;
   switch (replyId) {
     case (ModeMessage::REPLY_MODE_REPLY): {
-      if (previousCommand != ModeMessage::CMD_MODE_COMMAND) {
+      result = prepareModeReply(reply, objectId);
-        return prepareModeReply(reply, objectId);
+      break;
-      }
-      return returnvalue::OK;
     }
     case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
       result = prepareWrongModeReply(reply, objectId);

src/fsfw/pus/CService200ModeCommanding.h

@@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase {
     COMMAND_MODE_READ = 3,
     //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
     //! This command does NOT have a reply
-    COMMAND_MODE_ANNOUNCE = 4,
+    COMMAND_MODE_ANNCOUNCE = 4,
     //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
     //! command to every child. This command does NOT have a reply.
     COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -2,12 +2,12 @@
 
 #include <cstddef>
 
+#include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/serviceinterface.h"
-#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 #include "fsfw/tmtcpacket/pus/tc/PusTcIF.h"
-#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 
 static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 
@@ -160,7 +160,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   // (See requirement for Time margin)
   timeval tNow = {};
   Clock::getClock_timeval(&tNow);
-  if (timestamp < tNow.tv_sec + RELEASE_TIME_MARGIN_SECONDS) {
+  if (timestamp - tNow.tv_sec <= RELEASE_TIME_MARGIN_SECONDS) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "Service11TelecommandScheduling::doInsertActivity: Release time too close to "
                     "current time"
@@ -180,7 +180,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   if (CRC::crc16ccitt(data, size) != 0) {
     return CONTAINED_TC_CRC_MISSMATCH;
   }
-  
+
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != returnvalue::OK ||

src/fsfw/pus/Service20ParameterManagement.cpp

@@ -69,14 +69,14 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
                << "MessageQueue: Can't access object" << std::endl;
-    sif::error << "Object ID: 0x" << std::hex << *objectId << std::dec << std::endl;
+    sif::error << "Object ID: " << std::hex << objectId << std::dec << std::endl;
-    sif::error << "Make sure it implements ReceivesParameterMessagesIF" << std::endl;
+    sif::error << "Make sure it implements ReceivesParameterMessagesIF!" << std::endl;
 #else
     sif::printError(
         "Service20ParameterManagement::checkInterfaceAndAcquire"
         "MessageQueue: Can't access object\n");
     sif::printError("Object ID: 0x%08x\n", *objectId);
-    sif::printError("Make sure it implements ReceivesParameterMessagesIF\n");
+    sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
 #endif
 
     return CommandingServiceBase::INVALID_OBJECT;

src/fsfw/pus/Service9TimeManagement.cpp

@@ -1,7 +1,5 @@
 #include "fsfw/pus/Service9TimeManagement.h"
 
-#include <cmath>
-
 #include "fsfw/events/EventManagerIF.h"
 #include "fsfw/pus/servicepackets/Service9Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -17,17 +15,9 @@ ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK;
 
 ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
   switch (subservice) {
-    case Subservice::SET_TIME: {
+    case SUBSERVICE::SET_TIME: {
       return setTime();
     }
-    case Subservice::DUMP_TIME: {
-      timeval newTime;
-      Clock::getClock_timeval(&newTime);
-      uint32_t subsecondMs =
-          static_cast<uint32_t>(std::floor(static_cast<double>(newTime.tv_usec) / 1000.0));
-      triggerEvent(CLOCK_DUMP, newTime.tv_sec, subsecondMs);
-      return returnvalue::OK;
-    }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
   }
@@ -43,14 +33,14 @@ ReturnValue_t Service9TimeManagement::setTime() {
     return result;
   }
 
-  timeval time;
+  uint32_t formerUptime;
-  Clock::getClock_timeval(&time);
+  Clock::getUptime(&formerUptime);
   result = Clock::setClock(&timeToSet);
 
   if (result == returnvalue::OK) {
-    timeval newTime;
+    uint32_t newUptime;
-    Clock::getClock_timeval(&newTime);
+    Clock::getUptime(&newUptime);
-    triggerEvent(CLOCK_SET, time.tv_sec, newTime.tv_sec);
+    triggerEvent(CLOCK_SET, newUptime, formerUptime);
     return returnvalue::OK;
   } else {
     triggerEvent(CLOCK_SET_FAILURE, result, 0);

src/fsfw/pus/Service9TimeManagement.h

@@ -6,13 +6,10 @@
 class Service9TimeManagement : public PusServiceBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-
+  static constexpr Event CLOCK_SET =
-  //!< Clock has been set. P1: old timeval seconds. P2: new timeval seconds.
+      MAKE_EVENT(0, severity::INFO);  //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-  static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO);
+  static constexpr Event CLOCK_SET_FAILURE =
-  //!< Clock dump event. P1: timeval seconds P2: timeval milliseconds.
+      MAKE_EVENT(1, severity::LOW);  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_DUMP = MAKE_EVENT(1, severity::INFO);
-  //!< Clock could not be set. P1: Returncode.
-  static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(2, severity::LOW);
 
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
@@ -33,9 +30,8 @@ class Service9TimeManagement : public PusServiceBase {
   virtual ReturnValue_t setTime();
 
  private:
-  enum Subservice {
+  enum SUBSERVICE {
-    SET_TIME = 128,  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+    SET_TIME = 128  //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
-    DUMP_TIME = 129,
   };
 };
 

src/fsfw/timemanager/CCSDSTime.cpp

@@ -552,10 +552,7 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const CCSDSTime::CDS_short*
   if (to == nullptr or from == nullptr) {
     return returnvalue::FAILED;
   }
-  uint16_t days = (from->dayMSB << 8) + from->dayLSB;
+  int32_t days = (from->dayMSB << 8) + from->dayLSB;
-  if (days <= DAYS_CCSDS_TO_UNIX_EPOCH) {
-    return INVALID_TIME_FORMAT;
-  }
   days -= DAYS_CCSDS_TO_UNIX_EPOCH;
   to->tv_sec = days * SECONDS_PER_DAY;
   uint32_t msDay =

src/fsfw/timemanager/CdsShortTimeStamper.cpp

@@ -4,8 +4,6 @@
 
 #include "fsfw/timemanager/Clock.h"
 
-CdsShortTimeStamper::CdsShortTimeStamper() : SystemObject(0, false) {}
-
 CdsShortTimeStamper::CdsShortTimeStamper(object_id_t objectId) : SystemObject(objectId) {}
 
 ReturnValue_t CdsShortTimeStamper::serialize(uint8_t **buffer, size_t *size, size_t maxSize,

src/fsfw/timemanager/CdsShortTimeStamper.h

@@ -18,7 +18,6 @@
 class CdsShortTimeStamper : public TimeWriterIF, public TimeReaderIF, public SystemObject {
  public:
   static constexpr size_t TIMESTAMP_LEN = 7;
-  CdsShortTimeStamper();
   /**
    * @brief   Default constructor which also registers the time stamper as a
    *          system object so it can be found with the #objectManager.

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

@@ -100,6 +100,5 @@ ReturnValue_t PusTcCreator::setSerializableUserData(const SerializeIF &serializa
 void PusTcCreator::setup() {
   spCreator.setPacketType(ccsds::PacketType::TC);
   spCreator.setSecHeaderFlag();
-  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
   updateSpLengthField();
 }

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

@@ -119,7 +119,6 @@ void PusTmCreator::setup() {
   updateSpLengthField();
   spCreator.setPacketType(ccsds::PacketType::TM);
   spCreator.setSecHeaderFlag();
-  spCreator.setSeqFlags(ccsds::SequenceFlags::UNSEGMENTED);
 }
 
 void PusTmCreator::setMessageTypeCounter(uint16_t messageTypeCounter) {

src/fsfw/tmtcservices/TmTcBridge.cpp

@@ -16,9 +16,7 @@ TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDes
       tcDestination(tcDestination)
 
 {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
-  tmTcReceptionQueue = QueueFactory::instance()->createMessageQueue(
-      TMTC_RECEPTION_QUEUE_DEPTH, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TmTcBridge::~TmTcBridge() { QueueFactory::instance()->deleteMessageQueue(tmTcReceptionQueue); }
@@ -37,7 +35,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerC
   }
 }
 
-ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored) {
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored) {
   if (maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
     this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
     return returnvalue::OK;
@@ -145,17 +143,13 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 #endif /* FSFW_VERBOSE_LEVEL >= 3 */
 
     if (communicationLinkUp == false or packetSentCounter >= sentPacketsPerCycle) {
-      ReturnValue_t result = storeDownlinkData(&message);
+      storeDownlinkData(&message);
-      if (result != returnvalue::OK) {
-        tmStore->deleteData(message.getStorageId());
-      }
       continue;
     }
 
     result = tmStore->getData(message.getStorageId(), &data, &size);
     if (result != returnvalue::OK) {
       status = result;
-      tmStore->deleteData(message.getStorageId());
       continue;
     }
 
@@ -163,9 +157,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
     if (result != returnvalue::OK) {
       status = result;
     } else {
+      tmStore->deleteData(message.getStorageId());
       packetSentCounter++;
     }
-    tmStore->deleteData(message.getStorageId());
   }
   return status;
 }
@@ -177,18 +171,15 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage* message) {
   }
 
   if (tmFifo->full()) {
-    if (warningSwitch) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+    sif::warning << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-                      "of stored packet IDs reached!"
+                    "of stored packet IDs reached!"
-                   << std::endl;
+                 << std::endl;
 #else
-      sif::printWarning(
+    sif::printWarning(
-          "TmTcBridge::storeDownlinkData: TM downlink max. number "
+        "TmTcBridge::storeDownlinkData: TM downlink max. number "
-          "of stored packet IDs reached!\n");
+        "of stored packet IDs reached!\n");
 #endif
-      warningSwitch = false;
-    }
     if (overwriteOld) {
       tmFifo->retrieve(&storeId);
       tmStore->deleteData(storeId);
@@ -230,7 +221,6 @@ ReturnValue_t TmTcBridge::handleStoredTm() {
     packetSentCounter++;
 
     if (tmFifo->empty()) {
-      warningSwitch = true;
       tmStored = false;
     }
     tmStore->deleteData(storeId);

src/fsfw/tmtcservices/TmTcBridge.h

@@ -17,7 +17,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
  public:
   static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
   static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-  static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 500;
+  static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 200;
 
   static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
   static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
@@ -42,7 +42,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    * @return -@c returnvalue::OK if value was set successfully
    *         -@c returnvalue::FAILED otherwise, stored value stays the same
    */
-  ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored);
+  ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
 
   /**
    * This will set up the bridge to overwrite old data in the FIFO.
@@ -91,7 +91,6 @@ class TmTcBridge : public AcceptsTelemetryIF,
   //! by default, so telemetry will be handled immediately.
   bool communicationLinkUp = true;
   bool tmStored = false;
-  bool warningSwitch = true;
   bool overwriteOld = true;
   uint8_t packetSentCounter = 0;
 
@@ -153,7 +152,7 @@ class TmTcBridge : public AcceptsTelemetryIF,
    */
   DynamicFIFO<store_address_t>* tmFifo = nullptr;
   uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-  unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+  uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 
 #endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */

src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -325,12 +325,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   // trickery here to calculate the raw values first
   int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
   int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[9] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
 
   // Now scale to physical value in microtesla
   float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-  float fieldStrengthY = fieldStrengthRawY * scaleFactorY;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
-  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorZ;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
   if (periodicPrintout) {
     if (debugDivider.checkAndIncrement()) {

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -180,6 +180,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
     }
 #else
 #endif
+#endif
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
 #endif
     return returnvalue::FAILED;
   }

unittests/CatchRunner.cpp

@@ -10,16 +10,60 @@
 
 #define CATCH_CONFIG_COLOUR_WINDOWS
 
+#include <fsfw/osal/osal.h>
+
 #include <catch2/catch_session.hpp>
 
+#ifdef FSFW_OSAL_FREERTOS
+#include <FreeRTOS.h>
+
+#include "task.h"
+#endif
+
 extern int customSetup();
 extern int customTeardown();
 
+#ifdef FSFW_OSAL_FREERTOS
+struct Taskparameters {
+  int argc;
+  char** argv;
+  TaskHandle_t catchTask;
+} taskParameters;
+
+void unittestTaskFunction(void* pvParameters) {
+  Taskparameters* parameters = (Taskparameters*)pvParameters;
+
+  int result = Catch::Session().run(parameters->argc, parameters->argv);
+
+  vTaskDelay(pdMS_TO_TICKS(10));
+  vTaskSuspendAll();
+  vTaskDelete(parameters->catchTask);
+  customTeardown();
+  exit(result);
+}
+#endif
+
 int main(int argc, char* argv[]) {
   customSetup();
 
+  int result = 0;
+
+#ifdef FSFW_OSAL_FREERTOS
+  xTaskCreate(
+      unittestTaskFunction, /* The function that implements the task. */
+      "Unittests", /* The text name assigned to the task - for debug only as it is not used by the
+                      kernel. */
+      configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
+      &taskParameters, /* The parameter passed to the task - not used in this simple case. */
+      1,               /* The priority assigned to the task. */
+      &taskParameters.catchTask); /* The task handle is not required, so NULL is passed. */
+  taskParameters.argc = argc;
+  taskParameters.argv = argv;
+  vTaskStartScheduler();
+#else
   // Catch internal function call
-  int result = Catch::Session().run(argc, argv);
+  result = Catch::Session().run(argc, argv);
+#endif
 
   // global clean-up
   customTeardown();

unittests/osal/TestClock.cpp

@@ -1,5 +1,6 @@
 #include <fsfw/globalfunctions/timevalOperations.h>
 #include <fsfw/timemanager/Clock.h>
+#include <stdio.h>
 
 #include <array>
 #include <catch2/catch_approx.hpp>

unittests/osal/TestSemaphore.cpp

@@ -5,7 +5,7 @@
 #include <catch2/catch_test_macros.hpp>
 
 // binary semaphores currently only supported on linux
-#ifdef FSFW_OSAL_LINUX
+#if defined(FSFW_OSAL_LINUX) || defined(FSFW_OSAL_FREERTOS)
 
 TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
   // perform set-up here

unittests/testcfg/devices/logicalAddresses.h

@@ -7,7 +7,7 @@
 
 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum LogicAddress : address_t {};
+enum logicalAddresses : address_t {};
 }  // namespace addresses
 
 #endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */

unittests/testcfg/freertos/FreeRTOSConfig.h

@@ -0,0 +1,102 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#define configUSE_PREEMPTION 1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_TICKLESS_IDLE 0
+#define configTICK_RATE_HZ 1000
+#define configMAX_PRIORITIES 5
+#define configMINIMAL_STACK_SIZE ((unsigned short)PTHREAD_STACK_MIN)
+#define configMAX_TASK_NAME_LEN 16
+#define configUSE_16_BIT_TICKS 0
+#define configIDLE_SHOULD_YIELD 1
+#define configUSE_TASK_NOTIFICATIONS 1
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
+#define configUSE_MUTEXES 1
+#define configUSE_RECURSIVE_MUTEXES 0
+#define configUSE_COUNTING_SEMAPHORES 1
+#define configUSE_ALTERNATIVE_API 0 /* Deprecated! */
+#define configQUEUE_REGISTRY_SIZE 20
+#define configUSE_QUEUE_SETS 0
+#define configUSE_TIME_SLICING 0
+#define configUSE_NEWLIB_REENTRANT 0
+#define configENABLE_BACKWARD_COMPATIBILITY 1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+#define configUSE_MINI_LIST_ITEM 1
+#define configSTACK_DEPTH_TYPE uint16_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
+#define configHEAP_CLEAR_MEMORY_ON_FREE 1
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION 0
+#define configSUPPORT_DYNAMIC_ALLOCATION 1
+#define configTOTAL_HEAP_SIZE ((size_t)(1024 * 1024))
+#define configAPPLICATION_ALLOCATED_HEAP 1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configCHECK_FOR_STACK_OVERFLOW 0
+#define configUSE_MALLOC_FAILED_HOOK 0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
+#define configUSE_SB_COMPLETED_CALLBACK 0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS 0
+#define configUSE_TRACE_FACILITY 0
+#define configUSE_STATS_FORMATTING_FUNCTIONS 0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES 0
+#define configMAX_CO_ROUTINE_PRIORITIES 1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS 1
+#define configTIMER_TASK_PRIORITY 3
+#define configTIMER_QUEUE_LENGTH 10
+#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
+
+/* Interrupt nesting behaviour configuration. */
+#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
+
+/* Define to trap errors during development. */
+//#define configASSERT( ( x ) ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
+
+/* FreeRTOS MPU specific definitions. */
+#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
+#define configTOTAL_MPU_REGIONS 8    /* Default value. */
+#define configTEX_S_C_B_FLASH 0x07UL /* Default value. */
+#define configTEX_S_C_B_SRAM 0x07UL  /* Default value. */
+#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
+#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 1
+#define configENABLE_ERRATA_837070_WORKAROUND 1
+
+/* ARMv8-M secure side port related definitions. */
+#define secureconfigMAX_SECURE_CONTEXTS 5
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_xResumeFromISR 1
+#define INCLUDE_vTaskDelayUntil 1
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_xTaskGetSchedulerState 1
+#define INCLUDE_xTaskGetCurrentTaskHandle 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 0
+#define INCLUDE_uxTaskGetStackHighWaterMark2 0
+#define INCLUDE_xTaskGetIdleTaskHandle 0
+#define INCLUDE_eTaskGetState 0
+#define INCLUDE_xEventGroupSetBitFromISR 1
+#define INCLUDE_xTimerPendFunctionCall 0
+#define INCLUDE_xTaskAbortDelay 0
+#define INCLUDE_xTaskGetHandle 0
+#define INCLUDE_xTaskResumeFromISR 1
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */