Merge pull request 'Unittests for Op Divider and Bitutility' (#510) from KSat/fsfw:mueller/unittests-op-divider-bitutil into development

Reviewed-on: fsfw/fsfw#510

.gitignore

@@ -2,3 +2,5 @@
 .project
 .settings
 .metadata
+
+/build*

CMakeLists.txt

@@ -1,5 +1,9 @@
 cmake_minimum_required(VERSION 3.13)
 
+set(FSFW_VERSION 2)
+set(FSFW_SUBVERSION 0)
+set(FSFW_REVISION 0)
+
 option(FSFW_GENERATE_SECTIONS
     "Generate function and data sections. Required to remove unused code" ON
 )
@@ -7,9 +11,16 @@ if(FSFW_GENERATE_SECTIONS)
     option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
+option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+if(FSFW_BUILD_UNITTESTS)
+    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_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
+option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)
 
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
@@ -21,14 +32,67 @@ option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
 option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 
 # Contrib sources
-option(FSFW_ADD_SPG4_PROPAGATOR "Add SPG4 propagator code" OFF)
+option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
 set(LIB_FSFW_NAME fsfw)
+set(FSFW_TEST_TGT fsfw-tests)
+
 add_library(${LIB_FSFW_NAME})
+
+if(FSFW_BUILD_UNITTESTS)
+    message(STATUS "Building the FSFW unittests in addition to the static library")
+    # Check whether the user has already installed Catch2 first
+    find_package(Catch2 3)
+    # Not installed, so use FetchContent to download and provide Catch2
+    if(NOT Catch2_FOUND)
+        include(FetchContent)
+
+        FetchContent_Declare(
+            Catch2
+            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+            GIT_TAG        v3.0.0-preview3
+        )
+
+        FetchContent_MakeAvailable(Catch2)
+    endif()
+
+    set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in OBSWConfig.h)
+
+    project(${FSFW_TEST_TGT} CXX C)
+    add_executable(${FSFW_TEST_TGT})
+
+    if(FSFW_TESTS_GEN_COV)
+        message(STATUS "Generating coverage data for the library")
+        message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
+            "will be compiled with coverage data as well"
+        )
+        include(FetchContent)
+        FetchContent_Declare(
+            cmake-modules
+            GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
+        )
+        FetchContent_MakeAvailable(cmake-modules)
+        set(CMAKE_BUILD_TYPE "Debug")
+        list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
+        include(CodeCoverage)
+    endif()
+endif()
+
 set(FSFW_CORE_INC_PATH "inc")
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
+# Configure Files
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+
 if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 11)
     set(CMAKE_CXX_STANDARD_REQUIRED True)
@@ -37,7 +101,7 @@ elseif(${CMAKE_CXX_STANDARD} LESS 11)
 endif()
 
 # Backwards comptability
-if(OS_FSFW)
+if(OS_FSFW AND NOT FSFW_OSAL)
     message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
     set(FSFW_OSAL OS_FSFW)
 endif()
@@ -61,48 +125,120 @@ endif()
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 
 if(FSFW_OSAL MATCHES host)
-	set(OS_FSFW_NAME "Host")
+    set(FSFW_OS_NAME "Host")
+    set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
-	set(OS_FSFW_NAME "Linux")
-	set(FSFW_OSAL_DEFINITION FSFW_OSAL_LINUX)
+    set(FSFW_OS_NAME "Linux")
+    set(FSFW_OSAL_LINUX ON)
 elseif(FSFW_OSAL MATCHES freertos)
-	set(OS_FSFW_NAME "FreeRTOS")
-	set(FSFW_OSAL_DEFINITION FSFW_OSAL_FREERTOS)
-	target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    set(FSFW_OS_NAME "FreeRTOS")
+    set(FSFW_OSAL_FREERTOS ON)
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
         ${LIB_OS_NAME}
-	)
+    )
 elseif(FSFW_OSAL STREQUAL rtems)
-	set(OS_FSFW_NAME "RTEMS")
-    set(FSFW_OSAL_DEFINITION FSFW_OSAL_RTEMS)
+    set(FSFW_OS_NAME "RTEMS")
+    set(FSFW_OSAL_RTEMS ON)
 else()
-	message(WARNING 
-		"Invalid operating system for FSFW specified! Setting to host.."
-	)
-	set(OS_FSFW_NAME "Host")
-	set(OS_FSFW "host")
+    message(WARNING
+        "Invalid operating system for FSFW specified! Setting to host.."
+    )
+    set(FSFW_OS_NAME "Host")
+    set(OS_FSFW "host")
 endif()
 
-target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_OSAL_DEFINITION}
-)
+if(FSFW_BUILD_UNITTESTS)
+    configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
+    configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
+else()
+    configure_file(src/fsfw/FSFW.h.in FSFW.h)
+    configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
+endif()
 
-target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
-    ${FSFW_OSAL_DEFINITION}
-)
-
-message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
+message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 
 add_subdirectory(src)
 add_subdirectory(tests)
-add_subdirectory(hal)
+if(FSFW_ADD_HAL)
+    add_subdirectory(hal)
+endif()
 add_subdirectory(contrib)
 
+if(FSFW_BUILD_UNITTESTS)
+    if(FSFW_TESTS_GEN_COV)
+        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
+                "${COVERAGE_COMPILER_FLAGS}"
+            )
+
+            # Exclude directories here
+            if(WIN32)
+                set(GCOVR_ADDITIONAL_ARGS
+                    "--exclude-throw-branches"
+                    "--exclude-unreachable-branches"
+                )
+                set(COVERAGE_EXCLUDES
+                    "/c/msys64/mingw64/*"
+                )
+            elseif(UNIX)
+                set(COVERAGE_EXCLUDES
+                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+                    "/usr/local/include/*" "*/fsfw_tests/*"
+                    "*/catch2-src/*"
+                )
+            endif()
+
+            target_link_options(${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 ${FSFW_TEST_TGT}
+                )
+            endif()
+        endif()
+    endif()
+    target_link_libraries(${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)
-	message(WARNING "Flight Software Framework configuration path not set!")
-	message(WARNING "Setting default configuration!")
-	add_subdirectory(defaultcfg/fsfwconfig)
+    message(WARNING "Flight Software Framework configuration path not set!")
+    set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
+    message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+    add_subdirectory(${DEF_CONF_PATH})
+    set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
 # FSFW might be part of a possibly complicated folder structure, so we 
@@ -189,4 +325,17 @@ target_compile_options(${LIB_FSFW_NAME} PRIVATE
 
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
     ${FSFW_ADDITIONAL_LINK_LIBS}
-)
+)
+
+string(CONCAT POST_BUILD_COMMENT
+    "######################################################################\n"
+    "Built FSFW v${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}
+)

README.md

@@ -1,4 +1,4 @@
-![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
+![FSFW Logo](misc/logo/FSFW_Logo_V3_bw.png)
 
 # Flight Software Framework (FSFW)
 
@@ -22,17 +22,90 @@ 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 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.
+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.
 
 ## Getting started
 
-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.
+The [Hosted FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted) 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 compiling the FSFW sources and providing
-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.
+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](doc/README-config.md#top) provides more specific information about the possible options.
+a starting point. The [configuration section](doc/README-config.md#top) provides more specific 
+information about the possible options.
+
+## 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
+
+	```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](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.
+
+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-Unittest && cd build-Unittest
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+```
+
+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 generare 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.
 
 ## Index
 

automation/Dockerfile

@@ -0,0 +1,8 @@
+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

automation/Jenkinsfile

@@ -0,0 +1,72 @@
+pipeline {
+    agent any
+    environment {
+        BUILDDIR = 'build-unittests'
+    }
+    stages {
+        stage('Create Docker') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    additionalBuildArgs  '--no-cache'
+                    reuseNode true
+                }
+            }
+            steps {
+                sh 'rm -rf $BUILDDIR'
+            }
+        }
+        stage('Configure') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    reuseNode true
+                }
+            }
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
+                }
+            }
+        }
+        stage('Build') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    reuseNode true
+                }
+            }
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -j'
+                }
+            }
+        }
+        stage('Unittests') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    reuseNode true
+                }
+            }
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -- fsfw-tests_coverage -j'
+                }
+            }
+        }
+        stage('Valgrind') {
+            agent {
+                dockerfile {
+                    dir 'automation'
+                    reuseNode true
+                }
+            }
+            steps {
+                dir(BUILDDIR) {
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                }
+            }
+        }
+    }
+}

contrib/CMakeLists.txt

@@ -1,11 +1,9 @@
-if(FSFW_ADD_SPG4_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
-        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
-    )
-endif()
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_subdirectory(fsfw_contrib)

contrib/fsfw_contrib/CMakeLists.txt

@@ -0,0 +1,11 @@
+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()

hal/src/CMakeLists.txt

@@ -6,4 +6,4 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
     ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-add_subdirectory(fsfw)
+add_subdirectory(fsfw_hal)

hal/src/fsfw/CMakeLists.txt

@@ -1 +0,0 @@
-add_subdirectory(hal)

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

@@ -1,110 +0,0 @@
-#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_ */

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

@@ -1,305 +0,0 @@
-#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;
-}

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

@@ -1,4 +1,4 @@
-#include "fsfw/hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 GpioCookie::GpioCookie() {

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

@@ -0,0 +1,170 @@
+#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: uint8_t {
+    LOW = 0,
+    HIGH = 1,
+    NONE = 99
+};
+
+enum Direction: uint8_t {
+    IN = 0,
+    OUT = 1
+};
+
+enum GpioOperation {
+    READ,
+    WRITE
+};
+
+enum class GpioTypes {
+    NONE,
+    GPIO_REGULAR_BY_CHIP,
+    GPIO_REGULAR_BY_LABEL,
+    GPIO_REGULAR_BY_LINE_NAME,
+    CALLBACK
+};
+
+static constexpr gpioId_t NO_GPIO = -1;
+
+using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels 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,
+            gpio::Levels 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;
+    gpio::Levels initValue = gpio::Levels::NONE;
+};
+
+class GpiodRegularBase: public GpioBase {
+public:
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+            gpio::Levels initValue, int lineNum):
+            GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
+    }
+
+    // line number will be configured at a later point for the open by line name configuration
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+            gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
+    }
+
+    int lineNum = 0;
+    struct gpiod_line* lineHandle = nullptr;
+};
+
+class GpiodRegularByChip: public GpiodRegularBase {
+public:
+    GpiodRegularByChip() :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, gpio::Levels initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    consumer_, direction_, initValue_, lineNum_),
+            chipname(chipname_){
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            chipname(chipname_) {
+    }
+
+    std::string chipname;
+};
+
+class GpiodRegularByLabel: public GpiodRegularBase {
+public:
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, gpio::Levels initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    direction_, initValue_, lineNum_),
+            label(label_) {
+    }
+
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            label(label_) {
+    }
+
+    std::string label;
+};
+
+/**
+ * @brief   Passing this GPIO configuration to the GPIO IF object will try to open the GPIO by its
+ *          line name. This line name can be set in the device tree and must be unique. Otherwise
+ *          the driver will open the first line with the given name.
+ */
+class GpiodRegularByLineName: public GpiodRegularBase {
+public:
+    GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
+            gpio::Levels initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
+                    initValue_), lineName(lineName_) {
+    }
+
+    GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
+                    gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
+    }
+
+    std::string lineName;
+};
+
+class GpioCallback: public GpioBase {
+public:
+    GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
+            gpio::gpio_cb_t callback, void* callbackArgs):
+            GpioBase(gpio::GpioTypes::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_ */

hal/src/fsfw_hal/devicehandlers/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20Handler.cpp
+    MgmRM3100Handler.cpp
+    MgmLIS3MDLHandler.cpp
+)

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -1,13 +1,15 @@
-#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
+#include "GyroL3GD20Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
 
+#include <cmath>
+
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie):
+        CookieIF *comCookie, uint32_t transitionDelayMs):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        dataset(this) {
+        transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(5);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
@@ -47,7 +49,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
     switch(internalState) {
     case(InternalState::NONE):
     case(InternalState::NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
+        return NOTHING_TO_SEND;
     }
     case(InternalState::CONFIGURE): {
         *id = L3GD20H::CONFIGURE_CTRL_REGS;
@@ -66,10 +68,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         /* Might be a configuration error. */
-        sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
-        std::endl;
+        sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state!" << std::endl;
 #else
-        sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
+        sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state!\n");
 #endif
         return HasReturnvaluesIF::RETURN_OK;
     }
@@ -144,7 +147,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
 
 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. */
+    // For SPI, the ID will always be the one of the last sent command
     *foundId = this->getPendingCommand();
     *foundLen = this->rawPacketLen;
 
@@ -166,7 +169,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
             commandExecuted = true;
         }
         else {
-            /* Attempt reconfiguration. */
+            // Attempt reconfiguration
             internalState = InternalState::CONFIGURE;
             return DeviceHandlerIF::DEVICE_REPLY_INVALID;
         }
@@ -199,13 +202,12 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
         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;
+            sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
+            sif::info << "X: " << angVelocX << std::endl;
+            sif::info << "Y: " << angVelocY << std::endl;
+            sif::info << "Z: " << angVelocZ << std::endl;
 #else
-            sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
+            sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
             sif::printInfo("X: %f\n", angVelocX);
             sif::printInfo("Y: %f\n", angVelocY);
             sif::printInfo("Z: %f\n", angVelocZ);
@@ -215,11 +217,32 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
         PoolReadGuard readSet(&dataset);
         if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            dataset.angVelocX = angVelocX;
-            dataset.angVelocY = angVelocY;
-            dataset.angVelocZ = angVelocZ;
+            if(std::abs(angVelocX) < this->absLimitX) {
+                dataset.angVelocX = angVelocX;
+                dataset.angVelocX.setValid(true);
+            }
+            else {
+                dataset.angVelocX.setValid(false);
+            }
+
+            if(std::abs(angVelocY) < this->absLimitY) {
+                dataset.angVelocY = angVelocY;
+                dataset.angVelocY.setValid(true);
+            }
+            else {
+                dataset.angVelocY.setValid(false);
+            }
+
+            if(std::abs(angVelocZ) < this->absLimitZ) {
+                dataset.angVelocZ = angVelocZ;
+                dataset.angVelocZ.setValid(true);
+            }
+            else {
+                dataset.angVelocZ.setValid(false);
+            }
+
             dataset.temperature = temperature;
-            dataset.setValidity(true, true);
+            dataset.temperature.setValid(true);
         }
         break;
     }
@@ -231,23 +254,19 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
 
 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 10000;
+    return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
     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}));
+    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;
 }
 
@@ -260,3 +279,9 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
 void GyroHandlerL3GD20H::modeChanged() {
     internalState = InternalState::NONE;
 }
+
+void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
+    this->absLimitX = limitX;
+    this->absLimitY = limitY;
+    this->absLimitZ = limitZ;
+}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -1,16 +1,12 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
-#include "OBSWConfig.h"
+#include "fsfw/FSFW.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)
@@ -23,10 +19,22 @@
 class GyroHandlerL3GD20H: public DeviceHandlerBase {
 public:
     GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie);
+            CookieIF* comCookie, uint32_t transitionDelayMs);
     virtual ~GyroHandlerL3GD20H();
 
-    void setGoNormalModeAtStartup();
+    /**
+     * Set the absolute limit for the values on the axis in degrees per second.
+     * The dataset values will be marked as invalid if that limit is exceeded
+     * @param xLimit
+     * @param yLimit
+     * @param zLimit
+     */
+    void setAbsoluteLimits(float limitX, float limitY, float limitZ);
+
+    /**
+     * @brief   Configure device handler to go to normal mode immediately
+     */
+    void setToGoToNormalMode(bool enable);
 protected:
 
     /* DeviceHandlerBase overrides */
@@ -41,18 +49,23 @@ protected:
             size_t commandDataLen) override;
     ReturnValue_t scanForReply(const uint8_t *start, size_t len,
             DeviceCommandId_t *foundId, size_t *foundLen) override;
-    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
 
     void fillCommandAndReplyMap() override;
     void modeChanged() override;
-    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
     ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
             LocalDataPoolManager &poolManager) override;
 
 private:
+    uint32_t transitionDelayMs = 0;
     GyroPrimaryDataset dataset;
 
+    float absLimitX = L3GD20H::RANGE_DPS_00;
+    float absLimitY = L3GD20H::RANGE_DPS_00;
+    float absLimitZ = L3GD20H::RANGE_DPS_00;
+
     enum class InternalState {
         NONE,
         CONFIGURE,

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -0,0 +1,520 @@
+#include "MgmLIS3MDLHandler.h"
+
+#include "fsfw/datapool/PoolReadGuard.h"
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#endif
+
+#include <cmath>
+
+MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
+        CookieIF* comCookie, uint32_t transitionDelay):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+        dataset(this), transitionDelay(transitionDelay) {
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    debugDivider = new PeriodicOperationDivider(3);
+#endif
+    // Set to default values right away
+    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
+    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
+
+}
+
+MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
+}
+
+
+void MgmLIS3MDLHandler::doStartUp() {
+    switch (internalState) {
+    case(InternalState::STATE_NONE): {
+        internalState = InternalState::STATE_FIRST_CONTACT;
+        break;
+    }
+    case(InternalState::STATE_FIRST_CONTACT): {
+        /* Will be set by checking device ID (WHO AM I register) */
+        if(commandExecuted) {
+            commandExecuted = false;
+            internalState = InternalState::STATE_SETUP;
+        }
+        break;
+    }
+    case(InternalState::STATE_SETUP): {
+        internalState = InternalState::STATE_CHECK_REGISTERS;
+        break;
+    }
+    case(InternalState::STATE_CHECK_REGISTERS): {
+        /* Set up cached registers which will be used to configure the MGM. */
+        if(commandExecuted) {
+            commandExecuted = false;
+            if(goToNormalMode) {
+                setMode(MODE_NORMAL);
+            }
+            else {
+                setMode(_MODE_TO_ON);
+            }
+        }
+        break;
+    }
+    default:
+        break;
+    }
+
+}
+
+void MgmLIS3MDLHandler::doShutDown() {
+    setMode(_MODE_POWER_DOWN);
+}
+
+ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
+        DeviceCommandId_t *id) {
+    switch (internalState) {
+    case(InternalState::STATE_NONE):
+    case(InternalState::STATE_NORMAL): {
+        return DeviceHandlerBase::NOTHING_TO_SEND;
+    }
+    case(InternalState::STATE_FIRST_CONTACT): {
+        *id = MGMLIS3MDL::IDENTIFY_DEVICE;
+        break;
+    }
+    case(InternalState::STATE_SETUP): {
+        *id = MGMLIS3MDL::SETUP_MGM;
+        break;
+    }
+    case(InternalState::STATE_CHECK_REGISTERS): {
+        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+        break;
+    }
+    default: {
+        /* might be a configuration error. */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+                std::endl;
+#else
+        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    }
+    return buildCommandFromCommand(*id, NULL, 0);
+}
+
+uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
+    command |= (1 << MGMLIS3MDL::RW_BIT);
+    if (continuousCom == true) {
+        command |= (1 << MGMLIS3MDL::MS_BIT);
+    }
+    return command;
+}
+
+uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
+    command &= ~(1 << MGMLIS3MDL::RW_BIT);
+    if (continuousCom == true) {
+        command |= (1 << MGMLIS3MDL::MS_BIT);
+    }
+    return command;
+}
+
+void MgmLIS3MDLHandler::setupMgm() {
+
+    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
+    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
+
+    prepareCtrlRegisterWrite();
+}
+
+ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
+        DeviceCommandId_t *id) {
+    // Data/config register will be read in an alternating manner.
+    if(communicationStep == CommunicationStep::DATA) {
+        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+        communicationStep = CommunicationStep::TEMPERATURE;
+        return buildCommandFromCommand(*id, NULL, 0);
+    }
+    else {
+        *id = MGMLIS3MDL::READ_TEMPERATURE;
+        communicationStep = CommunicationStep::DATA;
+        return buildCommandFromCommand(*id, NULL, 0);
+    }
+
+}
+
+ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
+        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+        size_t commandDataLen) {
+    switch(deviceCommand) {
+    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
+        std::memset(commandBuffer, 0, sizeof(commandBuffer));
+        commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
+
+        rawPacket = commandBuffer;
+        rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
+        return RETURN_OK;
+    }
+    case(MGMLIS3MDL::READ_TEMPERATURE): {
+        std::memset(commandBuffer, 0, 3);
+        commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
+
+        rawPacket = commandBuffer;
+        rawPacketLen = 3;
+        return RETURN_OK;
+    }
+    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
+        return identifyDevice();
+    }
+    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
+        return enableTemperatureSensor(commandData, commandDataLen);
+    }
+    case(MGMLIS3MDL::SETUP_MGM): {
+        setupMgm();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
+        return setOperatingMode(commandData, commandDataLen);
+    }
+    default:
+        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
+    uint32_t size = 2;
+    commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
+    commandBuffer[1] = 0x00;
+
+    rawPacket = commandBuffer;
+    rawPacketLen = size;
+
+    return RETURN_OK;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
+        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
+    *foundLen = len;
+    if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
+        *foundLen = len;
+        *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+        // Check validity by checking config registers
+        if (start[1] != registers[0] or start[2] != registers[1] or
+                start[3] != registers[2] or start[4] != registers[3] or
+                start[5] != registers[4]) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
+#else
+            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
+#endif
+#endif
+            return DeviceHandlerIF::INVALID_DATA;
+        }
+        if(mode == _MODE_START_UP) {
+            commandExecuted = true;
+        }
+
+    }
+    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
+        *foundLen = len;
+        *foundId = MGMLIS3MDL::READ_TEMPERATURE;
+    }
+    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
+        *foundLen = len;
+        *foundId = MGMLIS3MDL::SETUP_MGM;
+    }
+    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
+        *foundLen = len;
+        *foundId = getPendingCommand();
+        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
+            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
+                        "Device identification failed!" << std::endl;
+#else
+                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
+                        "Device identification failed!\n");
+#endif
+#endif
+                return DeviceHandlerIF::INVALID_DATA;
+            }
+
+            if(mode == _MODE_START_UP) {
+                commandExecuted = true;
+            }
+        }
+    }
+    else {
+        return DeviceHandlerIF::INVALID_DATA;
+    }
+
+    /* Data with SPI Interface always has this answer */
+    if (start[0] == 0b11111111) {
+        return RETURN_OK;
+    }
+    else {
+        return DeviceHandlerIF::INVALID_DATA;
+    }
+
+}
+ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
+        const uint8_t *packet) {
+
+    switch (id) {
+    case MGMLIS3MDL::IDENTIFY_DEVICE: {
+        break;
+    }
+    case MGMLIS3MDL::SETUP_MGM: {
+        break;
+    }
+    case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
+        // TODO: Store configuration in new local datasets.
+        float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
+
+        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
+        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
+        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
+                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
+
+        /* Target value in microtesla */
+        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
+                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+        if(debugDivider->checkAndIncrement()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+                    " microtesla:" << std::endl;
+            sif::info << "X: " << mgmX << " uT" << std::endl;
+            sif::info << "Y: " << mgmY << " uT" << std::endl;
+            sif::info << "Z: " << mgmZ << " uT" << std::endl;
+#else
+            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+            sif::printInfo("X: %f uT\n", mgmX);
+            sif::printInfo("Y: %f uT\n", mgmY);
+            sif::printInfo("Z: %f uT\n", mgmZ);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
+        }
+#endif /* OBSW_VERBOSE_LEVEL >= 1 */
+        PoolReadGuard readHelper(&dataset);
+        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+            if(std::abs(mgmX) < absLimitX) {
+                dataset.fieldStrengthX = mgmX;
+                dataset.fieldStrengthX.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthX.setValid(false);
+            }
+
+            if(std::abs(mgmY) < absLimitY) {
+                dataset.fieldStrengthY = mgmY;
+                dataset.fieldStrengthY.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthY.setValid(false);
+            }
+
+            if(std::abs(mgmZ) < absLimitZ) {
+                dataset.fieldStrengthZ = mgmZ;
+                dataset.fieldStrengthZ.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthZ.setValid(false);
+            }
+        }
+        break;
+    }
+
+    case MGMLIS3MDL::READ_TEMPERATURE: {
+        int16_t tempValueRaw = packet[2] << 8 | packet[1];
+        float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
+    #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+        if(debugDivider->check()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
+                    std::endl;
+#else
+            sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+#endif
+        }
+#endif
+        ReturnValue_t result = dataset.read();
+        if(result == HasReturnvaluesIF::RETURN_OK) {
+            dataset.temperature = tempValue;
+            dataset.commit();
+        }
+        break;
+    }
+
+    default: {
+        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+    }
+
+    }
+    return RETURN_OK;
+}
+
+MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
+    bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
+    bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
+
+    if (fs0Set && fs1Set)
+        return MGMLIS3MDL::Sensitivies::GAUSS_16;
+    else if (!fs0Set && fs1Set)
+        return MGMLIS3MDL::Sensitivies::GAUSS_12;
+    else if (fs0Set && !fs1Set)
+        return MGMLIS3MDL::Sensitivies::GAUSS_8;
+    else
+        return MGMLIS3MDL::Sensitivies::GAUSS_4;
+}
+
+float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
+    switch(sens) {
+    case(MGMLIS3MDL::GAUSS_4): {
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+    }
+    case(MGMLIS3MDL::GAUSS_8): {
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
+    }
+    case(MGMLIS3MDL::GAUSS_12): {
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
+    }
+    case(MGMLIS3MDL::GAUSS_16): {
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
+    }
+    default: {
+        // Should never happen
+        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+    }
+    }
+}
+
+
+ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
+        const uint8_t *commandData, size_t commandDataLen) {
+    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
+    uint32_t size = 2;
+    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
+    if (commandDataLen > 1) {
+        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
+    }
+    switch (*commandData) {
+    case (MGMLIS3MDL::ON): {
+        commandBuffer[1] = registers[0] | (1 << 7);
+        break;
+    }
+    case (MGMLIS3MDL::OFF): {
+        commandBuffer[1] = registers[0] & ~(1 << 7);
+        break;
+    }
+    default:
+        return INVALID_COMMAND_PARAMETER;
+    }
+    registers[0] = commandBuffer[1];
+
+    rawPacket = commandBuffer;
+    rawPacketLen = size;
+
+    return RETURN_OK;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
+        size_t commandDataLen) {
+    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
+    if (commandDataLen != 1) {
+        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
+    }
+
+    switch (commandData[0]) {
+    case MGMLIS3MDL::LOW:
+        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
+        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
+        break;
+    case MGMLIS3MDL::MEDIUM:
+        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
+        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
+        break;
+
+    case MGMLIS3MDL::HIGH:
+        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
+        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
+        break;
+
+    case MGMLIS3MDL::ULTRA:
+        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
+        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
+        break;
+    default:
+        break;
+    }
+
+    return prepareCtrlRegisterWrite();
+}
+
+void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
+    insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
+    insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
+    insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
+    insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
+    insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
+    insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
+}
+
+void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
+    this->goToNormalMode = enable;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
+    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
+
+    for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
+        commandBuffer[i + 1] = registers[i];
+    }
+    rawPacket = commandBuffer;
+    rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
+
+    // We dont have to check if this is working because we just did i
+    return RETURN_OK;
+}
+
+void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+
+}
+
+uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+    return transitionDelay;
+}
+
+void MgmLIS3MDLHandler::modeChanged(void) {
+    internalState = InternalState::STATE_NONE;
+}
+
+ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
+            new PoolEntry<float>({0.0}));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
+    this->absLimitX = xLimit;
+    this->absLimitY = yLimit;
+    this->absLimitZ = zLimit;
+}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -0,0 +1,186 @@
+#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
+#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
+
+#include "fsfw/FSFW.h"
+#include "events/subsystemIdRanges.h"
+#include "devicedefinitions/MgmLIS3HandlerDefs.h"
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
+class PeriodicOperationDivider;
+
+/**
+ * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
+ *          by STMicroeletronics
+ * @details
+ * Datasheet can be found online by googling LIS3MDL.
+ * Flight manual:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
+ * @author  L. Loidold, R. Mueller
+ */
+class MgmLIS3MDLHandler: public DeviceHandlerBase {
+public:
+    enum class CommunicationStep {
+        DATA,
+        TEMPERATURE
+    };
+
+    static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
+    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
+    //Notifies a command to change the setup parameters
+    static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
+
+    MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
+            uint32_t transitionDelay);
+    virtual ~MgmLIS3MDLHandler();
+
+    /**
+     * Set the absolute limit for the values on the axis in microtesla. The dataset values will
+     * be marked as invalid if that limit is exceeded
+     * @param xLimit
+     * @param yLimit
+     * @param zLimit
+     */
+    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
+    void setToGoToNormalMode(bool enable);
+
+protected:
+
+    /** DeviceHandlerBase overrides */
+    void doShutDown() override;
+    void doStartUp() override;
+    void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    ReturnValue_t buildCommandFromCommand(
+            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+            size_t commandDataLen) override;
+    ReturnValue_t buildTransitionDeviceCommand(
+            DeviceCommandId_t *id) override;
+    ReturnValue_t buildNormalDeviceCommand(
+            DeviceCommandId_t *id) override;
+    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+            DeviceCommandId_t *foundId, size_t *foundLen) override;
+    /**
+     * This implementation is tailored towards space applications and will flag values larger
+     * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
+     * @param id
+     * @param packet
+     * @return
+     */
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+            const uint8_t *packet) override;
+    void fillCommandAndReplyMap() override;
+    void modeChanged(void) override;
+    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+            LocalDataPoolManager &poolManager) override;
+
+private:
+    MGMLIS3MDL::MgmPrimaryDataset dataset;
+    //Length a single command SPI answer
+    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
+
+    uint32_t transitionDelay;
+    // Single SPI command has 2 bytes, first for adress, second for content
+    size_t singleComandSize = 2;
+    // Has the size for all adresses of the lis3mdl + the continous write bit
+    uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
+
+    float absLimitX = 100;
+    float absLimitY = 100;
+    float absLimitZ = 150;
+
+    /**
+     * We want to save the registers we set, so we dont have to read the
+     * registers when we want to change something.
+     * --> everytime we change set a register we have to save it
+     */
+    uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
+
+    uint8_t statusRegister = 0;
+    bool goToNormalMode = false;
+
+    enum class InternalState {
+        STATE_NONE,
+        STATE_FIRST_CONTACT,
+        STATE_SETUP,
+        STATE_CHECK_REGISTERS,
+        STATE_NORMAL
+    };
+
+    InternalState internalState = InternalState::STATE_NONE;
+    CommunicationStep communicationStep = CommunicationStep::DATA;
+    bool commandExecuted = false;
+
+    /*------------------------------------------------------------------------*/
+    /* Device specific commands and variables */
+    /*------------------------------------------------------------------------*/
+    /**
+     * Sets the read bit for the command
+     * @param single command to set the read-bit at
+     * @param boolean to select a continuous read bit, default = false
+     */
+    uint8_t readCommand(uint8_t command, bool continuousCom = false);
+
+    /**
+     * Sets the write bit for the command
+     * @param single command to set the write-bit at
+     * @param boolean to select a continuous write bit, default = false
+     */
+    uint8_t writeCommand(uint8_t command, bool continuousCom = false);
+
+    /**
+     * This Method gets the full scale for the measurement range
+     * e.g.: +- 4 gauss. See p.25 datasheet.
+     *  @return The ReturnValue does not contain the sign of the value
+     */
+    MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
+
+    /**
+     * The 16 bit value needs to be multiplied with a sensitivity factor
+     * which depends on the sensitivity configuration
+     *
+     * @param sens Configured sensitivity of the LIS3 device
+     * @return Multiplication factor to get the sensor value from raw data.
+     */
+    float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
+
+    /**
+     * This Command detects the device ID
+     */
+    ReturnValue_t identifyDevice();
+
+    virtual void setupMgm();
+
+    /*------------------------------------------------------------------------*/
+    /* Non normal commands */
+    /*------------------------------------------------------------------------*/
+    /**
+     * Enables/Disables the integrated Temperaturesensor
+     * @param commandData On or Off
+     * @param length of the commandData: has to be 1
+     */
+    virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
+            size_t commandDataLen);
+
+    /**
+     * Sets the accuracy of the measurement of the axis. The noise is changing.
+     * @param commandData LOW, MEDIUM, HIGH, ULTRA
+     * @param length of the command, has to be 1
+     */
+    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
+            size_t commandDataLen);
+
+    /**
+     * We always update all registers together, so this method updates
+     * the rawpacket and rawpacketLen, so we just manipulate the local
+     * saved register
+     *
+     */
+    ReturnValue_t prepareCtrlRegisterWrite();
+
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    PeriodicOperationDivider* debugDivider;
+#endif
+};
+
+#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -0,0 +1,376 @@
+#include "MgmRM3100Handler.h"
+
+#include "fsfw/datapool/PoolReadGuard.h"
+#include "fsfw/globalfunctions/bitutility.h"
+#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
+#include "fsfw/objectmanager/SystemObjectIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+
+MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
+        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+        primaryDataset(this), transitionDelay(transitionDelay) {
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    debugDivider = new PeriodicOperationDivider(3);
+#endif
+}
+
+MgmRM3100Handler::~MgmRM3100Handler() {}
+
+void MgmRM3100Handler::doStartUp() {
+    switch(internalState) {
+    case(InternalState::NONE): {
+        internalState = InternalState::CONFIGURE_CMM;
+        break;
+    }
+    case(InternalState::CONFIGURE_CMM): {
+        internalState = InternalState::READ_CMM;
+        break;
+    }
+    case(InternalState::READ_CMM): {
+        if(commandExecuted) {
+            internalState = InternalState::STATE_CONFIGURE_TMRC;
+        }
+        break;
+    }
+    case(InternalState::STATE_CONFIGURE_TMRC): {
+        if(commandExecuted) {
+            internalState = InternalState::STATE_READ_TMRC;
+        }
+        break;
+    }
+    case(InternalState::STATE_READ_TMRC): {
+        if(commandExecuted) {
+            internalState = InternalState::NORMAL;
+            if(goToNormalModeAtStartup) {
+                setMode(MODE_NORMAL);
+            }
+            else {
+                setMode(_MODE_TO_ON);
+            }
+        }
+        break;
+    }
+    default: {
+        break;
+    }
+    }
+}
+
+void MgmRM3100Handler::doShutDown() {
+    setMode(_MODE_POWER_DOWN);
+}
+
+ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
+        DeviceCommandId_t *id) {
+    size_t commandLen = 0;
+    switch(internalState) {
+    case(InternalState::NONE):
+    case(InternalState::NORMAL): {
+        return NOTHING_TO_SEND;
+    }
+    case(InternalState::CONFIGURE_CMM): {
+        *id = RM3100::CONFIGURE_CMM;
+        break;
+    }
+    case(InternalState::READ_CMM): {
+        *id = RM3100::READ_CMM;
+        break;
+    }
+    case(InternalState::STATE_CONFIGURE_TMRC): {
+        commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
+        commandLen = 1;
+        *id = RM3100::CONFIGURE_TMRC;
+        break;
+    }
+    case(InternalState::STATE_READ_TMRC): {
+        *id = RM3100::READ_TMRC;
+        break;
+    }
+    default:
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        // Might be a configuration error
+        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state" << std::endl;
+#else
+        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
+                "Unknown internal state\n");
+#endif
+#endif
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    return buildCommandFromCommand(*id, commandBuffer, commandLen);
+}
+
+ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+        const uint8_t *commandData, size_t commandDataLen) {
+    switch(deviceCommand) {
+    case(RM3100::CONFIGURE_CMM): {
+        commandBuffer[0] = RM3100::CMM_REGISTER;
+        commandBuffer[1] = RM3100::CMM_VALUE;
+        rawPacket = commandBuffer;
+        rawPacketLen = 2;
+        break;
+    }
+    case(RM3100::READ_CMM): {
+        commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
+        commandBuffer[1] = 0;
+        rawPacket = commandBuffer;
+        rawPacketLen = 2;
+        break;
+    }
+    case(RM3100::CONFIGURE_TMRC): {
+        return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
+    }
+    case(RM3100::READ_TMRC): {
+        commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
+        commandBuffer[1] = 0;
+        rawPacket = commandBuffer;
+        rawPacketLen = 2;
+        break;
+    }
+    case(RM3100::CONFIGURE_CYCLE_COUNT): {
+        return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
+    }
+    case(RM3100::READ_CYCLE_COUNT): {
+        commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
+        std::memset(commandBuffer + 1, 0, 6);
+        rawPacket = commandBuffer;
+        rawPacketLen = 7;
+        break;
+    }
+    case(RM3100::READ_DATA): {
+        commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
+        std::memset(commandBuffer + 1, 0,  9);
+        rawPacketLen = 10;
+        break;
+    }
+    default:
+        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
+        DeviceCommandId_t *id) {
+    *id = RM3100::READ_DATA;
+    return buildCommandFromCommand(*id, nullptr, 0);
+}
+
+ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
+        size_t len, DeviceCommandId_t *foundId,
+        size_t *foundLen) {
+
+    // For SPI, ID will always be the one of the last sent command
+    *foundId = this->getPendingCommand();
+    *foundLen = len;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    switch(id) {
+    case(RM3100::CONFIGURE_CMM):
+    case(RM3100::CONFIGURE_CYCLE_COUNT):
+    case(RM3100::CONFIGURE_TMRC): {
+        // We can only check whether write was successful with read operation
+        if(mode == _MODE_START_UP) {
+            commandExecuted = true;
+        }
+        break;
+    }
+    case(RM3100::READ_CMM): {
+        uint8_t cmmValue = packet[1];
+        // We clear the seventh bit in any case
+        // because this one is zero sometimes for some reason
+        bitutil::clear(&cmmValue, 6);
+        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
+            commandExecuted = true;
+        }
+        else {
+            // Attempt reconfiguration
+            internalState = InternalState::CONFIGURE_CMM;
+            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+        }
+        break;
+    }
+    case(RM3100::READ_TMRC): {
+        if(packet[1] == tmrcRegValue) {
+            commandExecuted = true;
+            // Reading TMRC was commanded. Trigger event to inform ground
+            if(mode != _MODE_START_UP) {
+                triggerEvent(tmrcSet, tmrcRegValue, 0);
+            }
+        }
+        else {
+            // Attempt reconfiguration
+            internalState = InternalState::STATE_CONFIGURE_TMRC;
+            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+        }
+        break;
+    }
+    case(RM3100::READ_CYCLE_COUNT): {
+        uint16_t cycleCountX = packet[1] << 8 | packet[2];
+        uint16_t cycleCountY = packet[3] << 8 | packet[4];
+        uint16_t cycleCountZ = packet[5] << 8 | packet[6];
+        if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
+                cycleCountZ != cycleCountRegValueZ) {
+            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+        }
+        // Reading TMRC was commanded. Trigger event to inform ground
+        if(mode != _MODE_START_UP) {
+            uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
+            triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
+        }
+        break;
+    }
+    case(RM3100::READ_DATA): {
+        result = handleDataReadout(packet);
+        break;
+    }
+    default:
+        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+    }
+
+    return result;
+}
+
+ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
+        const uint8_t *commandData, size_t commandDataLen) {
+    if(commandData == nullptr) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    // Set cycle count
+    if(commandDataLen == 2) {
+        handleCycleCommand(true, commandData, commandDataLen);
+    }
+    else if(commandDataLen == 6) {
+        handleCycleCommand(false, commandData, commandDataLen);
+    }
+    else {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
+    std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
+    std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
+    std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
+    rawPacketLen = 7;
+    rawPacket = commandBuffer;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
+        const uint8_t *commandData, size_t commandDataLen) {
+    RM3100::CycleCountCommand command(oneCycleValue);
+    ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
+            SerializeIF::Endianness::BIG);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
+    if(command.cycleCountX > 450 ) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    cycleCountRegValueX = command.cycleCountX;
+    cycleCountRegValueY = command.cycleCountY;
+    cycleCountRegValueZ = command.cycleCountZ;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
+        const uint8_t *commandData, size_t commandDataLen) {
+    if(commandData == nullptr or commandDataLen != 1) {
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    }
+
+    commandBuffer[0] = RM3100::TMRC_REGISTER;
+    commandBuffer[1] = commandData[0];
+    tmrcRegValue = commandData[0];
+    rawPacketLen = 2;
+    rawPacket = commandBuffer;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void MgmRM3100Handler::fillCommandAndReplyMap() {
+    insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
+    insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
+
+    insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
+    insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
+
+    insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
+    insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
+
+    insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
+}
+
+void MgmRM3100Handler::modeChanged(void) {
+    internalState = InternalState::NONE;
+}
+
+ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
+        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+    return this->transitionDelay;
+}
+
+void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
+    goToNormalModeAtStartup = enable;
+}
+
+ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
+    // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
+    // 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[3] << 8)) >> 8;
+
+    // Now scale to physical value in microtesla
+    float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
+    float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+    float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
+
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    if(debugDivider->checkAndIncrement()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "MgmRM3100Handler: Magnetic field strength in"
+                " microtesla:" << std::endl;
+        sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+        sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+        sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
+#else
+        sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
+        sif::printInfo("X: %f uT\n", fieldStrengthX);
+        sif::printInfo("Y: %f uT\n", fieldStrengthY);
+        sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+#endif
+    }
+#endif
+
+    // TODO: Sanity check on values?
+    PoolReadGuard readGuard(&primaryDataset);
+    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+        primaryDataset.fieldStrengthX = fieldStrengthX;
+        primaryDataset.fieldStrengthY = fieldStrengthY;
+        primaryDataset.fieldStrengthZ = fieldStrengthZ;
+        primaryDataset.setValidity(true, true);
+    }
+    return RETURN_OK;
+}

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -0,0 +1,110 @@
+#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
+#define MISSION_DEVICES_MGMRM3100HANDLER_H_
+
+#include "fsfw/FSFW.h"
+#include "devicedefinitions/MgmRM3100HandlerDefs.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#endif
+
+/**
+ * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
+ *          (https://www.pnicorp.com/rm3100/)
+ * @details
+ * Flight manual:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
+ */
+class MgmRM3100Handler: public DeviceHandlerBase {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
+
+	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
+	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
+			0x00, severity::INFO);
+
+	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
+	//! P1: Second two bytes new Cycle Count Y
+	//! P2: New cycle count Z
+	static constexpr Event cycleCountersSet = event::makeEvent(
+			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
+
+	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
+	        CookieIF* comCookie, uint32_t transitionDelay);
+	virtual ~MgmRM3100Handler();
+
+	/**
+	 * Configure device handler to go to normal mode after startup immediately
+	 * @param enable
+	 */
+	void setToGoToNormalMode(bool enable);
+
+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(void) override;
+	virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+			LocalDataPoolManager &poolManager) override;
+
+private:
+
+	enum class InternalState {
+	    NONE,
+		CONFIGURE_CMM,
+		READ_CMM,
+		// The cycle count states are propably not going to be used because
+		// the default cycle count will be used.
+		STATE_CONFIGURE_CYCLE_COUNT,
+		STATE_READ_CYCLE_COUNT,
+		STATE_CONFIGURE_TMRC,
+		STATE_READ_TMRC,
+		NORMAL
+	};
+	InternalState internalState = InternalState::NONE;
+	bool commandExecuted = false;
+	RM3100::Rm3100PrimaryDataset primaryDataset;
+
+	uint8_t commandBuffer[10];
+	uint8_t commandBufferLen = 0;
+
+	uint8_t cmmRegValue = RM3100::CMM_VALUE;
+	uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
+	uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
+	uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
+	uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
+	float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
+	float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
+	float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
+
+	bool goToNormalModeAtStartup = false;
+	uint32_t transitionDelay;
+
+	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
+			const uint8_t *commandData,size_t commandDataLen);
+	ReturnValue_t handleCycleCommand(bool oneCycleValue,
+			const uint8_t *commandData, size_t commandDataLen);
+
+	ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
+			const uint8_t *commandData,size_t commandDataLen);
+
+	ReturnValue_t handleDataReadout(const uint8_t* packet);
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+	PeriodicOperationDivider* debugDivider;
+#endif
+};
+
+#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

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

@@ -0,0 +1,178 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <cstdint>
+
+namespace MGMLIS3MDL {
+
+enum Set {
+    ON, OFF
+};
+enum OpMode {
+    LOW, MEDIUM, HIGH, ULTRA
+};
+
+enum Sensitivies: uint8_t {
+    GAUSS_4 = 4,
+    GAUSS_8 = 8,
+    GAUSS_12 = 12,
+    GAUSS_16 = 16
+};
+
+/* Actually 15, we just round up a bit */
+static constexpr size_t MAX_BUFFER_SIZE = 16;
+
+/* Field data register scaling */
+static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
+static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0;
+static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0;
+static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0;
+static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0;
+
+static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
+static const DeviceCommandId_t SETUP_MGM = 0x01;
+static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
+static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
+static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
+static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
+
+/* Number of all control registers */
+static const uint8_t NR_OF_CTRL_REGISTERS = 5;
+/* Number of registers in the MGM */
+static const uint8_t NR_OF_REGISTERS = 19;
+/* Total number of adresses for all registers */
+static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
+static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
+static const uint8_t TEMPERATURE_REPLY_LEN = 3;
+static const uint8_t SETUP_REPLY_LEN = 6;
+
+/*------------------------------------------------------------------------*/
+/* Register adresses */
+/*------------------------------------------------------------------------*/
+/* Register adress returns identifier of device with default 0b00111101 */
+static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
+static const uint8_t DEVICE_ID = 0b00111101;            // Identifier for Device
+
+/* Register adress to access register 1 */
+static const uint8_t CTRL_REG1 = 0b00100000;
+/* Register adress to access register 2 */
+static const uint8_t CTRL_REG2 = 0b00100001;
+/* Register adress to access register 3 */
+static const uint8_t CTRL_REG3 = 0b00100010;
+/* Register adress to access register 4 */
+static const uint8_t CTRL_REG4 = 0b00100011;
+/* Register adress to access register 5 */
+static const uint8_t CTRL_REG5 = 0b00100100;
+
+/* Register adress to access status register */
+static const uint8_t STATUS_REG_IDX = 8;
+static const uint8_t STATUS_REG = 0b00100111;
+
+/* Register adress to access low byte of x-axis */
+static const uint8_t X_LOWBYTE_IDX = 9;
+static const uint8_t X_LOWBYTE = 0b00101000;
+/* Register adress to access high byte of x-axis */
+static const uint8_t X_HIGHBYTE_IDX = 10;
+static const uint8_t X_HIGHBYTE = 0b00101001;
+/* Register adress to access low byte of y-axis */
+static const uint8_t Y_LOWBYTE_IDX = 11;
+static const uint8_t Y_LOWBYTE = 0b00101010;
+/* Register adress to access high byte of y-axis */
+static const uint8_t Y_HIGHBYTE_IDX = 12;
+static const uint8_t Y_HIGHBYTE = 0b00101011;
+/* Register adress to access low byte of z-axis */
+static const uint8_t Z_LOWBYTE_IDX = 13;
+static const uint8_t Z_LOWBYTE = 0b00101100;
+/* Register adress to access high byte of z-axis */
+static const uint8_t Z_HIGHBYTE_IDX = 14;
+static const uint8_t Z_HIGHBYTE = 0b00101101;
+
+/* Register adress to access low byte of temperature sensor */
+static const uint8_t TEMP_LOWBYTE = 0b00101110;
+/* Register adress to access high byte of temperature sensor */
+static const uint8_t TEMP_HIGHBYTE = 0b00101111;
+
+/*------------------------------------------------------------------------*/
+/* Initialize Setup Register set bits                                     */
+/*------------------------------------------------------------------------*/
+/* General transfer bits */
+// Read=1 / Write=0 Bit
+static const uint8_t RW_BIT = 7;
+// Continous Read/Write Bit, increment adress
+static const uint8_t MS_BIT = 6;
+
+/* CTRL_REG1 bits */
+static const uint8_t ST = 0;        // Self test enable bit, enabled = 1
+// Enable rates higher than 80 Hz enabled = 1
+static const uint8_t FAST_ODR = 1;
+static const uint8_t DO0 = 2;       // Output data rate bit 2
+static const uint8_t DO1 = 3;       // Output data rate bit 3
+static const uint8_t DO2 = 4;       // Output data rate bit 4
+static const uint8_t OM0 = 5;       // XY operating mode bit 5
+static const uint8_t OM1 = 6;       // XY operating mode bit 6
+static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1
+static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
+        (1 << DO0) | (1 << DO1) | (1 << DO2);
+
+/* CTRL_REG2 bits */
+//reset configuration registers and user registers
+static const uint8_t SOFT_RST = 2;
+static const uint8_t REBOOT = 3;    //reboot memory content
+static const uint8_t FSO = 5;       //full-scale selection bit 5
+static const uint8_t FS1 = 6;       //full-scale selection bit 6
+static const uint8_t CTRL_REG2_DEFAULT = 0;
+
+/* CTRL_REG3 bits */
+static const uint8_t MD0 = 0;       //Operating mode bit 0
+static const uint8_t MD1 = 1;       //Operating mode bit 1
+//SPI serial interface mode selection enabled = 3-wire-mode
+static const uint8_t SIM = 2;
+static const uint8_t LP = 5;        //low-power mode
+static const uint8_t CTRL_REG3_DEFAULT = 0;
+
+/* CTRL_REG4 bits */
+//big/little endian data selection enabled = MSb at lower adress
+static const uint8_t BLE = 1;
+static const uint8_t OMZ0 = 2;      //Z operating mode bit 2
+static const uint8_t OMZ1 = 3;      //Z operating mode bit 3
+static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
+
+/* CTRL_REG5 bits */
+static const uint8_t BDU = 6;       //Block data update
+static const uint8_t FAST_READ = 7; //Fast read enabled = 1
+static const uint8_t CTRL_REG5_DEFAULT = 0;
+
+static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
+
+enum MgmPoolIds: lp_id_t {
+    FIELD_STRENGTH_X,
+    FIELD_STRENGTH_Y,
+    FIELD_STRENGTH_Z,
+    TEMPERATURE_CELCIUS
+};
+
+class MgmPrimaryDataset: public StaticLocalDataSet<4> {
+public:
+    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
+
+    MgmPrimaryDataset(object_id_t mgmId):
+        StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
+
+    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_X, this);
+    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Y, this);
+    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Z, this);
+    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
+            TEMPERATURE_CELCIUS, this);
+};
+
+}
+
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

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

@@ -0,0 +1,132 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/serialize/SerialLinkedListAdapter.h>
+#include <cstdint>
+
+namespace RM3100 {
+
+/* Actually 10, we round up a little bit */
+static constexpr size_t MAX_BUFFER_SIZE = 12;
+
+static constexpr uint8_t READ_MASK = 0x80;
+
+/*----------------------------------------------------------------------------*/
+/* CMM Register */
+/*----------------------------------------------------------------------------*/
+static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
+static constexpr uint8_t SET_CMM_CMY = 1 << 5;
+static constexpr uint8_t SET_CMM_CMX = 1 << 4;
+static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
+static constexpr uint8_t SET_CMM_START = 1;
+static constexpr uint8_t CMM_REGISTER = 0x01;
+
+static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
+		SET_CMM_DRDM | SET_CMM_START;
+
+/*----------------------------------------------------------------------------*/
+/* Cycle count register */
+/*----------------------------------------------------------------------------*/
+// Default value (200)
+static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
+
+static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
+		100 * 38;
+static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
+
+/*----------------------------------------------------------------------------*/
+/* TMRC register */
+/*----------------------------------------------------------------------------*/
+static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
+static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
+static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
+
+static constexpr uint8_t TMRC_REGISTER = 0x0B;
+static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
+
+static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
+static constexpr uint8_t BIST_REGISTER = 0x33;
+static constexpr uint8_t DATA_READY_VAL = 0b10000000;
+static constexpr uint8_t STATUS_REGISTER = 0x34;
+static constexpr uint8_t REVID_REGISTER = 0x36;
+
+// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
+static constexpr uint16_t RANGE = 800;
+
+static constexpr DeviceCommandId_t READ_DATA = 0;
+
+static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
+static constexpr DeviceCommandId_t READ_CMM = 2;
+
+static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
+static constexpr DeviceCommandId_t READ_TMRC = 4;
+
+static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
+static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
+
+class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
+public:
+	CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
+		setLinks(oneCycleCount);
+	}
+
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override {
+		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
+				size, streamEndianness);
+		if(oneCycleCount) {
+			cycleCountY = cycleCountX;
+			cycleCountZ = cycleCountX;
+		}
+		return result;
+	}
+
+	SerializeElement<uint16_t> cycleCountX;
+	SerializeElement<uint16_t> cycleCountY;
+	SerializeElement<uint16_t> cycleCountZ;
+
+private:
+	void setLinks(bool oneCycleCount) {
+		setStart(&cycleCountX);
+		if(not oneCycleCount) {
+			cycleCountX.setNext(&cycleCountY);
+			cycleCountY.setNext(&cycleCountZ);
+		}
+	}
+
+	bool oneCycleCount;
+};
+
+static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
+
+enum MgmPoolIds: lp_id_t {
+    FIELD_STRENGTH_X,
+    FIELD_STRENGTH_Y,
+    FIELD_STRENGTH_Z,
+};
+
+class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
+public:
+	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
+        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
+
+	Rm3100PrimaryDataset(object_id_t mgmId):
+        StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
+
+	// Field strengths in micro Tesla.
+    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_X, this);
+    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Y, this);
+    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
+            FIELD_STRENGTH_Z, this);
+};
+
+}
+
+
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -1,4 +1,9 @@
-#include "fsfw/hal/linux/UnixFileGuard.h"
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+
+#include <cerrno>
+#include <cstring>
 
 UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
         std::string diagnosticPrefix):
@@ -10,12 +15,11 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int 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;
+        sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
+                errno << ": " << strerror(errno) << std::endl;
 #else
-        sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
-        sif::printWarning("Error description: %s\n", strerror(errno));
+        sif::printWarning("%s: Opening device failed with error code %d: %s\n",
+                diagnosticPrefix, errno, strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
         openStatus = OPEN_FILE_FAILED;

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

@@ -0,0 +1,442 @@
+#include "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::addGpios: 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) {
+        auto& gpioType = gpioConfig.second->gpioType;
+        switch(gpioType) {
+        case(gpio::GpioTypes::NONE): {
+            return GPIO_INVALID_INSTANCE;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByChip(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLabel(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLineName(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            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::configureGpioByLabel(gpioId_t gpioId,
+        GpiodRegularByLabel &gpioByLabel) {
+    std::string& label = gpioByLabel.label;
+    struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
+                << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+
+    }
+    std::string failOutput = "label: " + label;
+    return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
+        GpiodRegularByChip &gpioByChip) {
+    std::string& chipname = gpioByChip.chipname;
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "chipname: " + chipname;
+    return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
+        GpiodRegularByLineName &gpioByLineName) {
+    std::string& lineName = gpioByLineName.lineName;
+    char chipname[MAX_CHIPNAME_LENGTH];
+    unsigned int lineOffset;
+
+    int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
+            &lineOffset);
+    if (result != LINE_FOUND) {
+        parseFindeLineResult(result, lineName);
+        return RETURN_FAILED;
+    }
+
+    gpioByLineName.lineNum = static_cast<int>(lineOffset);
+
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
+                << chipname << ". <Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "line name: " + lineName;
+    return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+        GpiodRegularBase& regularGpio, std::string failOutput) {
+    unsigned int lineNum;
+    gpio::Direction direction;
+    std::string consumer;
+    struct gpiod_line *lineHandle;
+    int result = 0;
+
+    lineNum = regularGpio.lineNum;
+    lineHandle = gpiod_chip_get_line(chip, lineNum);
+    if (!lineHandle) {
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+                ", " << failOutput << std::endl;
+        sif::warning << "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);
+        break;
+    }
+    case(gpio::IN): {
+        result = gpiod_line_request_input(lineHandle, consumer.c_str());
+        break;
+    }
+    default: {
+        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
+                << std::endl;
+        return GPIO_INVALID_INSTANCE;
+    }
+
+    if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
+                lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
+#else
+        sif::printError("LinuxLibgpioIF::configureRegularGpio: "
+                "Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
+#endif
+        gpiod_line_release(lineHandle);
+        return RETURN_FAILED;
+    }
+
+    }
+    /**
+     * Write line handle to GPIO configuration instance so it can later be used to set or
+     * 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;
+    }
+
+    auto gpioType = gpioMapIter->second->gpioType;
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                gpio::Levels::HIGH, gpioCallback->callbackArgs);
+        return RETURN_OK;
+    }
+    return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
+#endif
+        return UNKNOWN_GPIO_ID;
+    }
+
+    auto& gpioType = gpioMapIter->second->gpioType;
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        return driveGpio(gpioId, *regularGpio, gpio::LOW);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                gpio::Levels::LOW, gpioCallback->callbackArgs);
+        return RETURN_OK;
+    }
+    return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
+        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
+    int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
+    if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
+                " to logic level " << logicLevel << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+                "logic level %d\n", gpioId, logicLevel);
+#endif
+        return DRIVE_GPIO_FAILURE;
+    }
+
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
+#endif
+        return UNKNOWN_GPIO_ID;
+    }
+
+    auto gpioType = gpioMapIter->second->gpioType;
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
+                gpio::Levels::NONE, gpioCallback->callbackArgs);
+        return RETURN_OK;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    for(auto& gpioConfig: mapToAdd) {
+        switch(gpioConfig.second->gpioType) {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
+            if(regularGpio == nullptr)  {
+                return GPIO_TYPE_FAILURE;
+            }
+            // Check for conflicts and remove duplicates if necessary
+            result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                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 = checkForConflictsById(gpioConfig.first,
+                    gpioConfig.second->gpioType, mapToAdd);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            break;
+        }
+        default: {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
+                    << std::endl;
+#else
+            sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
+#endif
+            status = GPIO_TYPE_FAILURE;
+        }
+        }
+    }
+    return status;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
+        gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
+    // Cross check with private map
+    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    if(gpioMapIter != gpioMap.end()) {
+        auto& gpioType = gpioMapIter->second->gpioType;
+        bool eraseDuplicateDifferentType = false;
+        switch(expectedType) {
+        case(gpio::GpioTypes::NONE): {
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+                eraseDuplicateDifferentType = true;
+            }
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            if(gpioType != gpio::GpioTypes::CALLBACK) {
+                eraseDuplicateDifferentType = true;
+            }
+        }
+        }
+        if(eraseDuplicateDifferentType) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                    "different GPIO type " << gpioIdToCheck <<
+                    ". Removing duplicate from map to add" << std::endl;
+#else
+            sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                    "different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
+#endif
+            mapToAdd.erase(gpioIdToCheck);
+            return GPIO_DUPLICATE_DETECTED;
+        }
+
+        // Remove element from map to add because a entry for this GPIO already exists
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
+                "definition with ID " << gpioIdToCheck << " detected. " <<
+                "Duplicate will be removed from map to add" << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+                "with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
+#endif
+        mapToAdd.erase(gpioIdToCheck);
+        return GPIO_DUPLICATE_DETECTED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
+    switch (result) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    case LINE_NOT_EXISTS:
+    case LINE_ERROR: {
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
+                " does not exist" << std::endl;
+        break;
+    }
+    default: {
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                "with name " << lineName << std::endl;
+        break;
+    }
+#else
+    case LINE_NOT_EXISTS:
+    case LINE_ERROR: {
+        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
+                "does not exist\n", lineName);
+        break;
+    }
+    default: {
+        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                "with name %s\n", lineName);
+        break;
+    }
+#endif
+    }
+
+}

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

@@ -1,18 +1,19 @@
 #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
 #define LINUX_GPIO_LINUXLIBGPIOIF_H_
 
-#include "../../common/gpio/GpioIF.h"
-#include <returnvalues/classIds.h>
-#include <fsfw/objectmanager/SystemObject.h>
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
 
 class GpioCookie;
+class GpiodRegularIF;
 
 /**
- * @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.
+ * @brief	This class implements the GpioIF for a linux based system.
+ * @details
+ * This 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:
@@ -27,6 +28,8 @@ public:
             HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
     static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
             HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+    static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
 	LinuxLibgpioIF(object_id_t objectId);
 	virtual ~LinuxLibgpioIF();
@@ -37,7 +40,13 @@ public:
 	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
 private:
-	/* Holds the information and configuration of all used GPIOs */
+
+	static const size_t MAX_CHIPNAME_LENGTH = 11;
+	static const int LINE_NOT_EXISTS = 0;
+	static const int LINE_ERROR = -1;
+	static const int LINE_FOUND = 1;
+
+	// Holds the information and configuration of all used GPIOs
 	GpioUnorderedMap gpioMap;
 	GpioUnorderedMapIter gpioMapIter;
 
@@ -47,9 +56,15 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+	        gpio::Levels logicLevel);
 
-	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
+    ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
+            GpiodRegularByLineName &gpioByLineName);
+    ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+            GpiodRegularBase& regularGpio, std::string failOutput);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -62,16 +77,15 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
 	        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);
 
+	void parseFindeLineResult(int result, std::string& lineName);
 };
 
 #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

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

@@ -1,6 +1,6 @@
-#include "fsfw/hal/linux/i2c/I2cComIF.h"
-#include "fsfw/hal/linux/utility.h"
-#include "fsfw/hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "fsfw_hal/linux/utility.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 

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

@@ -1,4 +1,4 @@
-#include "fsfw/hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/i2c/I2cCookie.h"
 
 I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
 		std::string deviceFile_) :

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

@@ -1,7 +1,7 @@
 #include "fsfw/FSFW.h"
 
-#include "fsfw/hal/linux/rpi/GpioRPi.h"
-#include "fsfw/hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
@@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    GpiodRegular* config = new GpiodRegular();
+    auto config = new GpiodRegularByChip();
     /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
     will not need this */
     config->chipname = "gpiochip0";

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

@@ -1,8 +1,8 @@
 #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_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>
@@ -15,11 +15,6 @@
 #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) {
@@ -82,7 +77,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
         gpioComIF->pullHigh(gpioId);
     }
 
-    size_t spiSpeed = 0;
+    uint32_t spiSpeed = 0;
     spi::SpiModes spiMode = spi::SpiModes::MODE_0;
 
     SpiCookie::UncommonParameters params;
@@ -90,7 +85,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 
     int fileDescriptor = 0;
     UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
-            "SpiComIF::initializeInterface: ");
+            "SpiComIF::initializeInterface");
     if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return fileHelper.getOpenResult();
     }
@@ -146,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
-                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
+                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
 #else
         sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                 "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@@ -184,7 +179,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     /* Prepare transfer */
     int fileDescriptor = 0;
     std::string device = spiCookie->getSpiDevice();
-    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
+    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
     if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return OPENING_FILE_FAILED;
     }
@@ -193,7 +188,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
     setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
     spiCookie->assignWriteBuffer(sendData);
-    spiCookie->assignTransferSize(sendLen);
+    spiCookie->setTransferSize(sendLen);
 
     bool fullDuplex = spiCookie->isFullDuplex();
     gpioId_t gpioId = spiCookie->getChipSelectPin();
@@ -202,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     if(gpioId != gpio::NO_GPIO) {
         result = spiMutex->lockMutex(timeoutType, timeoutMs);
         if (result != RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+#else
+            sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+#endif
+#endif
+            return result;
+        }
+        ReturnValue_t result = gpioComIF->pullLow(gpioId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
+#else
+            sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
+#endif
 #endif
             return result;
         }
-        gpioComIF->pullLow(gpioId);
     }
 
     /* Execute transfer */
@@ -218,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
-#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
+#if FSFW_HAL_SPI_WIRETAPPING == 1
         performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
     }
@@ -273,7 +282,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     std::string device = spiCookie->getSpiDevice();
     int fileDescriptor = 0;
     UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
-            "SpiComIF::requestReceiveMessage: ");
+            "SpiComIF::requestReceiveMessage");
     if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
         return OPENING_FILE_FAILED;
     }
@@ -335,6 +344,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 
     *buffer = rxBuf;
     *size = spiCookie->getCurrentTransferSize();
+    spiCookie->setTransferSize(0);
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -388,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
     int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
     }
 
     retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
     if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
     }
 }

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

@@ -1,9 +1,10 @@
 #ifndef LINUX_SPI_SPICOMIF_H_
 #define LINUX_SPI_SPICOMIF_H_
 
+#include "fsfw/FSFW.h"
 #include "spiDefinitions.h"
 #include "returnvalues/classIds.h"
-#include "fsfw/hal/common/gpio/GpioIF.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
 
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"

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

@@ -1,4 +1,4 @@
-#include "fsfw/hal/linux/spi/SpiCookie.h"
+#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):
@@ -121,7 +121,7 @@ bool SpiCookie::isFullDuplex() const {
     return not this->halfDuplex;
 }
 
-void SpiCookie::assignTransferSize(size_t transferSize) {
+void SpiCookie::setTransferSize(size_t transferSize) {
     spiTransferStruct.len = transferSize;
 }
 

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

@@ -103,10 +103,10 @@ public:
     void assignReadBuffer(uint8_t* rx);
     void assignWriteBuffer(const uint8_t* tx);
     /**
-     * Assign size for the next transfer.
+     * Set size for the next transfer. Set to 0 for no transfer
      * @param transferSize
      */
-    void assignTransferSize(size_t transferSize);
+    void setTransferSize(size_t transferSize);
     size_t getCurrentTransferSize() const;
 
     struct UncommonParameters {
@@ -158,8 +158,6 @@ private:
             std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
             spi::send_callback_function_t callback, void* args);
 
-    size_t currentTransferSize = 0;
-
     address_t spiAddress;
     gpioId_t chipSelectPin;
     std::string spiDevice;

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

@@ -1,6 +1,7 @@
-#include "fsfw/hal/linux/uart/UartComIF.h"
+#include "UartComIF.h"
 #include "OBSWConfig.h"
 
+#include "fsfw_hal/linux/utility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <cstring>
@@ -60,7 +61,13 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
     struct termios options = {};
 
     std::string deviceFile = uartCookie->getDeviceFile();
-    int fd = open(deviceFile.c_str(), O_RDWR);
+    int flags = O_RDWR;
+    if(uartCookie->getUartMode() == UartModes::CANONICAL) {
+        // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
+        // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
+        flags |= O_NONBLOCK;
+    }
+    int fd = open(deviceFile.c_str(), flags);
 
     if (fd < 0) {
         sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
@@ -259,23 +266,22 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
 
 ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
         const uint8_t *sendData, size_t sendLen) {
-
     int fd = 0;
     std::string deviceFile;
     UartDeviceMapIter uartDeviceMapIter;
 
-    if(sendData == nullptr) {
-        sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
-        return RETURN_FAILED;
-    }
-
     if(sendLen == 0) {
         return RETURN_OK;
     }
 
+    if(sendData == nullptr) {
+        sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
+        return RETURN_FAILED;
+    }
+
     UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
     if(uartCookie == nullptr) {
-        sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+        sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
         return NULLPOINTER;
     }
 
@@ -347,12 +353,13 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
     size_t maxReplySize = uartCookie.getMaxReplyLen();
     int fd = iter->second.fileDescriptor;
     auto bufferPtr = iter->second.replyBuffer.data();
+    iter->second.replyLen = 0;
     do {
         size_t allowedReadSize = 0;
         if(currentBytesRead >= maxReplySize) {
             // Overflow risk. Emit warning, trigger event and break. If this happens,
             // the reception buffer is not large enough or data is not polled often enough.
-#if OBSW_VERBOSE_LEVEL >= 1
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                     << std::endl;
@@ -370,7 +377,20 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
 
         bytesRead = read(fd, bufferPtr, allowedReadSize);
         if (bytesRead < 0) {
-            return RETURN_FAILED;
+            // EAGAIN: No data available in non-blocking mode
+            if(errno != EAGAIN) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
+                        errno << ": " << strerror(errno) << std::endl;
+#else
+                sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
+                        errno, strerror(errno));
+#endif
+#endif
+                return RETURN_FAILED;
+            }
+
         }
         else if(bytesRead > 0) {
             iter->second.replyLen += bytesRead;
@@ -443,6 +463,60 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
     return RETURN_OK;
 }
 
+ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    if(uartDeviceMapIter != uartDeviceMap.end()) {
+        int fd = uartDeviceMapIter->second.fileDescriptor;
+        tcflush(fd, TCIFLUSH);
+        return RETURN_OK;
+    }
+    return RETURN_FAILED;
+}
+
+ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    if(uartDeviceMapIter != uartDeviceMap.end()) {
+        int fd = uartDeviceMapIter->second.fileDescriptor;
+        tcflush(fd, TCOFLUSH);
+        return RETURN_OK;
+    }
+    return RETURN_FAILED;
+}
+
+ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
+    std::string deviceFile;
+    UartDeviceMapIter uartDeviceMapIter;
+    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
+    if(uartCookie == nullptr) {
+        sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
+        return NULLPOINTER;
+    }
+    deviceFile = uartCookie->getDeviceFile();
+    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
+    if(uartDeviceMapIter != uartDeviceMap.end()) {
+        int fd = uartDeviceMapIter->second.fileDescriptor;
+        tcflush(fd, TCIOFLUSH);
+        return RETURN_OK;
+    }
+    return RETURN_FAILED;
+}
+
 void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
     UartModes uartMode = uartCookie.getUartMode();
     if(uartMode == UartModes::NON_CANONICAL) {

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

@@ -41,6 +41,21 @@ public:
     ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
             size_t *size) override;
 
+    /**
+     * @brief   This function discards all data received but not read in the UART buffer.
+     */
+    ReturnValue_t flushUartRxBuffer(CookieIF *cookie);
+
+    /**
+     * @brief   This function discards all data in the transmit buffer of the UART driver.
+     */
+    ReturnValue_t flushUartTxBuffer(CookieIF *cookie);
+
+    /**
+     * @brief   This function discards both data in the transmit and receive buffer of the UART.
+     */
+    ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie);
+
 private:
 
     using UartDeviceFile_t = std::string;

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

@@ -1,11 +1,11 @@
-#include "fsfw/hal/linux/uart/UartCookie.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
 
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
         uint32_t baudrate, size_t maxReplyLen):
-        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), baudrate(baudrate),
-        maxReplyLen(maxReplyLen) {
+        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
+        baudrate(baudrate), maxReplyLen(maxReplyLen) {
 }
 
 UartCookie::~UartCookie() {}

hal/src/fsfw_hal/linux/utility.cpp

@@ -1,6 +1,6 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/hal/linux/utility.h"
+#include "fsfw_hal/linux/utility.h"
 
 #include <cerrno>
 #include <cstring>

hal/src/fsfw_hal/stm32h7/definitions.h

@@ -0,0 +1,25 @@
+#ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_
+#define FSFW_HAL_STM32H7_DEFINITIONS_H_
+
+#include <utility>
+#include "stm32h7xx.h"
+
+namespace stm32h7 {
+
+/**
+ * Typedef for STM32 GPIO pair where the first entry is the port used (e.g. GPIOA)
+ * and the second entry is the pin number
+ */
+struct GpioCfg {
+    GpioCfg(): port(nullptr), pin(0), altFnc(0) {};
+
+    GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0):
+        port(port), pin(pin), altFnc(altFnc) {};
+    GPIO_TypeDef* port;
+    uint16_t pin;
+    uint8_t altFnc;
+};
+
+}
+
+#endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

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

@@ -1,10 +1,10 @@
-#include "fsfw/hal/stm32h7/devicetest/GyroL3GD20H.h"
+#include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
 
-#include "fsfw/hal/stm32h7/spi/mspInit.h"
-#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
-#include "fsfw/hal/stm32h7/spi/spiCore.h"
-#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw/hal/stm32h7/spi/stm32h743ziSpi.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
 
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
@@ -33,20 +33,20 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
         mspCfg = new spi::MspDmaConfigStruct();
         auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
         spi::setDmaHandles(txDmaHandle, rxDmaHandle);
-        spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
+        stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
                 IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
         spi::setSpiDmaMspFunctions(typedCfg);
     }
     else if(transferMode == spi::TransferModes::INTERRUPT) {
         mspCfg = new spi::MspIrqConfigStruct();
         auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
-        spi::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
+        stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
         spi::setSpiIrqMspFunctions(typedCfg);
     }
     else if(transferMode == spi::TransferModes::POLLING) {
         mspCfg = new spi::MspPollingConfigStruct();
         auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
-        spi::h743zi::standardPollingCfg(*typedCfg);
+        stm32h7::h743zi::standardPollingCfg(*typedCfg);
         spi::setSpiPollingMspFunctions(typedCfg);
     }
 

hal/src/fsfw_hal/stm32h7/dma.cpp

@@ -1,4 +1,4 @@
-#include <fsfw/hal/stm32h7/dma.h>
+#include <fsfw_hal/stm32h7/dma.h>
 
 #include <cstdint>
 #include <cstddef>

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

@@ -1,4 +1,4 @@
-#include "fsfw/hal/stm32h7/gpio/gpio.h"
+#include "fsfw_hal/stm32h7/gpio/gpio.h"
 
 #include "stm32h7xx_hal_rcc.h"
 

hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt

@@ -5,5 +5,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
     mspInit.cpp
     SpiCookie.cpp
     SpiComIF.cpp
-    stm32h743ziSpi.cpp
+    stm32h743zi.cpp
 )

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

@@ -1,11 +1,11 @@
-#include "fsfw/hal/stm32h7/spi/SpiComIF.h"
-#include "fsfw/hal/stm32h7/spi/SpiCookie.h"
+#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
+#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
 #include "fsfw/tasks/SemaphoreFactory.h"
-#include "fsfw/hal/stm32h7/spi/spiCore.h"
-#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw/hal/stm32h7/spi/mspInit.h"
-#include "fsfw/hal/stm32h7/gpio/gpio.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/gpio/gpio.h"
 
 // FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
 // instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
@@ -138,12 +138,14 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
         spi::setSpiDmaMspFunctions(typedCfg);
     }
 
-    gpio::initializeGpioClock(gpioPort);
-    GPIO_InitTypeDef chipSelect = {};
-    chipSelect.Pin = gpioPin;
-    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
-    HAL_GPIO_Init(gpioPort, &chipSelect);
-    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+    if(gpioPort != nullptr) {
+        gpio::initializeGpioClock(gpioPort);
+        GPIO_InitTypeDef chipSelect = {};
+        chipSelect.Pin = gpioPin;
+        chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
+        HAL_GPIO_Init(gpioPort, &chipSelect);
+        HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+    }
 
     if(HAL_SPI_Init(&spiHandle) != HAL_OK) {
         sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
@@ -259,10 +261,15 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
         return returnval;
     }
     spiCookie.setTransferState(spi::TransferStates::WAIT);
-    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
+    if(gpioPort != nullptr) {
+        HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
+    }
+
     auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
             recvPtr, sendLen, defaultPollingTimeout);
-    HAL_GPIO_WritePin(gpioPort, gpioPin,  GPIO_PIN_SET);
+    if(gpioPort != nullptr) {
+        HAL_GPIO_WritePin(gpioPort, gpioPin,  GPIO_PIN_SET);
+    }
     spiSemaphore->release();
     switch(result) {
     case(HAL_OK): {
@@ -392,8 +399,10 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
     // The SPI handle is passed to the default SPI callback as a void argument. This callback
     // is different from the user callbacks specified above!
     spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle));
-    HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
-            GPIO_PIN_RESET);
+    if(spiCookie.getChipSelectGpioPort() != nullptr) {
+        HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
+                GPIO_PIN_RESET);
+    }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -426,9 +435,12 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
 
     spiCookie->setTransferState(targetState);
 
-    // Pull CS pin high again
-    HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
-            GPIO_PIN_SET);
+    if(spiCookie->getChipSelectGpioPort() != nullptr) {
+        // Pull CS pin high again
+        HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
+                GPIO_PIN_SET);
+    }
+
 
 #if defined FSFW_OSAL_FREERTOS
     // Release the task semaphore

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

@@ -5,7 +5,7 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
-#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h743xx.h"
 
@@ -60,7 +60,6 @@ public:
     void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
 
     ReturnValue_t initialize() override;
-protected:
 
     // DeviceCommunicationIF overrides
     virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
@@ -72,7 +71,7 @@ protected:
     virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
             uint8_t **buffer, size_t *size) override;
 
-private:
+protected:
 
     struct SpiInstance {
         SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}

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

@@ -1,12 +1,12 @@
-#include "fsfw/hal/stm32h7/spi/SpiCookie.h"
+#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
 
 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
         spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
-        uint16_t chipSelectGpioPin, GPIO_TypeDef* chipSelectGpioPort, size_t maxRecvSize):
+        size_t maxRecvSize, stm32h7::GpioCfg csGpio):
         deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
-        transferMode(transferMode), chipSelectGpioPin(chipSelectGpioPin),
-        chipSelectGpioPort(chipSelectGpioPort), mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
+        transferMode(transferMode), csGpio(csGpio),
+        mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
     spiHandle.Init.DataSize          = SPI_DATASIZE_8BIT;
     spiHandle.Init.FirstBit          = SPI_FIRSTBIT_MSB;
     spiHandle.Init.TIMode            = SPI_TIMODE_DISABLE;
@@ -24,11 +24,11 @@ SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferM
 }
 
 uint16_t SpiCookie::getChipSelectGpioPin() const {
-    return chipSelectGpioPin;
+    return csGpio.pin;
 }
 
 GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() {
-    return chipSelectGpioPort;
+    return csGpio.port;
 }
 
 address_t SpiCookie::getDeviceAddress() const {

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

@@ -3,11 +3,14 @@
 
 #include "spiDefinitions.h"
 #include "mspInit.h"
+#include "../definitions.h"
 
 #include "fsfw/devicehandlers/CookieIF.h"
 
 #include "stm32h743xx.h"
 
+#include <utility>
+
 /**
  * @brief   SPI cookie implementation for the STM32H7 device family
  * @details
@@ -18,6 +21,7 @@
 class SpiCookie: public CookieIF {
     friend class SpiComIF;
 public:
+
     /**
      * Allows construction of a SPI cookie for a connected SPI device
      * @param deviceAddress
@@ -32,10 +36,11 @@ public:
      *                              definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
      * @param chipSelectGpioPort    GPIO port (e.g. GPIOA)
      * @param maxRecvSize           Maximum expected receive size. Chose as small as possible.
+     * @param csGpio                Optional CS GPIO definition.
      */
     SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
             spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
-            uint16_t chipSelectGpioPin, GPIO_TypeDef* chipSelectGpioPort, size_t maxRecvSize);
+            size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
 
     uint16_t getChipSelectGpioPin() const;
     GPIO_TypeDef* getChipSelectGpioPort();
@@ -55,8 +60,8 @@ private:
     spi::SpiModes spiMode;
     spi::TransferModes transferMode;
     volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
-    uint16_t chipSelectGpioPin;
-    GPIO_TypeDef* chipSelectGpioPort;
+    stm32h7::GpioCfg csGpio;
+
     // The MSP configuration is cached here. Be careful when using this, it is automatically
     // deleted by the SPI  communication interface if it is not required anymore!
     spi::MspCfgBase* mspCfg = nullptr;

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

@@ -1,7 +1,7 @@
-#include "fsfw/hal/stm32h7/dma.h"
-#include "fsfw/hal/stm32h7/spi/mspInit.h"
-#include "fsfw/hal/stm32h7/spi/spiCore.h"
-#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/dma.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
 
 #include "stm32h743xx.h"
 #include "stm32h7xx_hal_spi.h"
@@ -118,40 +118,40 @@ void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
     GPIO_InitTypeDef GPIO_InitStruct = {};
     /*##-1- Enable peripherals and GPIO Clocks #################################*/
     /* Enable GPIO TX/RX clock */
-    cfg->setupMacroWrapper();
+    cfg->setupCb();
 
     /*##-2- Configure peripheral GPIO ##########################################*/
     /* SPI SCK GPIO pin configuration  */
-    GPIO_InitStruct.Pin       = cfg->sckPin;
+    GPIO_InitStruct.Pin       = cfg->sck.pin;
     GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull      = GPIO_PULLDOWN;
     GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = cfg->sckAlternateFunction;
-    HAL_GPIO_Init(cfg->sckPort, &GPIO_InitStruct);
+    GPIO_InitStruct.Alternate = cfg->sck.altFnc;
+    HAL_GPIO_Init(cfg->sck.port, &GPIO_InitStruct);
 
     /* SPI MISO GPIO pin configuration  */
-    GPIO_InitStruct.Pin = cfg->misoPin;
-    GPIO_InitStruct.Alternate = cfg->misoAlternateFunction;
-    HAL_GPIO_Init(cfg->misoPort, &GPIO_InitStruct);
+    GPIO_InitStruct.Pin = cfg->miso.pin;
+    GPIO_InitStruct.Alternate = cfg->miso.altFnc;
+    HAL_GPIO_Init(cfg->miso.port, &GPIO_InitStruct);
 
     /* SPI MOSI GPIO pin configuration  */
-    GPIO_InitStruct.Pin = cfg->mosiPin;
-    GPIO_InitStruct.Alternate = cfg->mosiAlternateFunction;
-    HAL_GPIO_Init(cfg->mosiPort, &GPIO_InitStruct);
+    GPIO_InitStruct.Pin = cfg->mosi.pin;
+    GPIO_InitStruct.Alternate = cfg->mosi.altFnc;
+    HAL_GPIO_Init(cfg->mosi.port, &GPIO_InitStruct);
 }
 
 void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
     auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase);
     // Reset peripherals
-    cfg->cleanUpMacroWrapper();
+    cfg->cleanupCb();
 
     // Disable peripherals and GPIO Clocks
     /* Configure SPI SCK as alternate function  */
-    HAL_GPIO_DeInit(cfg->sckPort, cfg->sckPin);
+    HAL_GPIO_DeInit(cfg->sck.port, cfg->sck.pin);
     /* Configure SPI MISO as alternate function  */
-    HAL_GPIO_DeInit(cfg->misoPort, cfg->misoPin);
+    HAL_GPIO_DeInit(cfg->miso.port, cfg->miso.pin);
     /* Configure SPI MOSI as alternate function  */
-    HAL_GPIO_DeInit(cfg->mosiPort, cfg->mosiPin);
+    HAL_GPIO_DeInit(cfg->mosi.port, cfg->mosi.pin);
 }
 
 void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {

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

@@ -2,6 +2,7 @@
 #define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
 
 #include "spiDefinitions.h"
+#include "../definitions.h"
 #include "../dma.h"
 
 #include "stm32h7xx_hal_spi.h"
@@ -12,6 +13,8 @@
 extern "C" {
 #endif
 
+using mspCb = void (*) (void);
+
 /**
  * @brief   This file provides MSP implementation for DMA, IRQ and Polling mode for the
  *          SPI peripheral. This configuration is required for the SPI communication to work.
@@ -19,27 +22,37 @@ extern "C" {
 namespace spi {
 
 struct MspCfgBase {
+    MspCfgBase();
+    MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+        sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb),
+        setupCb(setupCb) {}
+
     virtual ~MspCfgBase() = default;
 
-    void (* cleanUpMacroWrapper) (void) = nullptr;
-    void (* setupMacroWrapper) (void) = nullptr;
+    stm32h7::GpioCfg sck;
+    stm32h7::GpioCfg mosi;
+    stm32h7::GpioCfg miso;
 
-   GPIO_TypeDef* sckPort = nullptr;
-   uint32_t sckPin = 0;
-   uint8_t sckAlternateFunction = 0;
-   GPIO_TypeDef* mosiPort = nullptr;
-   uint32_t mosiPin = 0;
-   uint8_t mosiAlternateFunction = 0;
-   GPIO_TypeDef* misoPort = nullptr;
-   uint32_t misoPin = 0;
-   uint8_t misoAlternateFunction = 0;
+    mspCb cleanupCb = nullptr;
+    mspCb setupCb = nullptr;
 };
 
-struct MspPollingConfigStruct: public MspCfgBase {};
+struct MspPollingConfigStruct: public MspCfgBase {
+    MspPollingConfigStruct(): MspCfgBase() {};
+    MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+            MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
+};
 
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
 struct MspIrqConfigStruct: public MspPollingConfigStruct {
+    MspIrqConfigStruct(): MspPollingConfigStruct() {};
+    MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+            MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
+
     SpiBus spiBus = SpiBus::SPI_1;
     user_handler_t spiIrqHandler = nullptr;
     user_args_t spiUserArgs = nullptr;
@@ -53,11 +66,16 @@ struct MspIrqConfigStruct: public MspPollingConfigStruct {
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
 struct MspDmaConfigStruct: public MspIrqConfigStruct {
+    MspDmaConfigStruct(): MspIrqConfigStruct() {};
+    MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+            mspCb cleanupCb = nullptr, mspCb setupCb = nullptr):
+            MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
     void (* dmaClkEnableWrapper) (void) = nullptr;
-    dma::DMAIndexes txDmaIndex;
-    dma::DMAIndexes rxDmaIndex;
-    dma::DMAStreams txDmaStream;
-    dma::DMAStreams rxDmaStream;
+
+    dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
+    dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
+    dma::DMAStreams txDmaStream = dma::DMAStreams::STREAM_0;
+    dma::DMAStreams rxDmaStream = dma::DMAStreams::STREAM_0;
     IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn;
     IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn;
     // Priorities for NVIC

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

@@ -1,5 +1,5 @@
-#include "fsfw/hal/stm32h7/spi/spiCore.h"
-#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 
 #include <cstdio>
 

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

@@ -1,8 +1,8 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICORE_H_
 #define FSFW_HAL_STM32H7_SPI_SPICORE_H_
 
-#include "fsfw/hal/stm32h7/dma.h"
-#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/dma.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"

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

@@ -1,4 +1,4 @@
-#include "fsfw/hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 
 void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle) {
     switch(spiMode) {

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

@@ -1,5 +1,5 @@
-#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw/hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
 
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"

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

@@ -1,6 +1,6 @@
-#include "fsfw/hal/stm32h7/spi/stm32h743ziSpi.h"
-#include "fsfw/hal/stm32h7/spi/spiCore.h"
-#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
 
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_rcc.h"
@@ -22,27 +22,27 @@ void spiDmaClockEnableWrapper() {
     __HAL_RCC_DMA2_CLK_ENABLE();
 }
 
-void spi::h743zi::standardPollingCfg(MspPollingConfigStruct& cfg) {
-    cfg.setupMacroWrapper =  &spiSetupWrapper;
-    cfg.cleanUpMacroWrapper = &spiCleanUpWrapper;
-    cfg.sckPort = GPIOA;
-    cfg.sckPin = GPIO_PIN_5;
-    cfg.misoPort = GPIOA;
-    cfg.misoPin = GPIO_PIN_6;
-    cfg.mosiPort = GPIOA;
-    cfg.mosiPin = GPIO_PIN_7;
-    cfg.sckAlternateFunction = GPIO_AF5_SPI1;
-    cfg.mosiAlternateFunction = GPIO_AF5_SPI1;
-    cfg.misoAlternateFunction = GPIO_AF5_SPI1;
+void stm32h7::h743zi::standardPollingCfg(spi::MspPollingConfigStruct& cfg) {
+    cfg.setupCb =  &spiSetupWrapper;
+    cfg.cleanupCb = &spiCleanUpWrapper;
+    cfg.sck.port = GPIOA;
+    cfg.sck.pin = GPIO_PIN_5;
+    cfg.miso.port = GPIOA;
+    cfg.miso.pin = GPIO_PIN_6;
+    cfg.mosi.port = GPIOA;
+    cfg.mosi.pin = GPIO_PIN_7;
+    cfg.sck.altFnc = GPIO_AF5_SPI1;
+    cfg.mosi.altFnc = GPIO_AF5_SPI1;
+    cfg.miso.altFnc = GPIO_AF5_SPI1;
 }
 
-void spi::h743zi::standardInterruptCfg(MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
+void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
         IrqPriorities spiSubprio) {
     // High, but works on FreeRTOS as well (priorities range from 0 to 15)
     cfg.preEmptPriority = spiIrqPrio;
     cfg.subpriority = spiSubprio;
     cfg.spiIrqNumber = SPI1_IRQn;
-    cfg.spiBus = SpiBus::SPI_1;
+    cfg.spiBus = spi::SpiBus::SPI_1;
     user_handler_t spiUserHandler = nullptr;
     user_args_t spiUserArgs = nullptr;
     getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
@@ -55,7 +55,7 @@ void spi::h743zi::standardInterruptCfg(MspIrqConfigStruct& cfg, IrqPriorities sp
     standardPollingCfg(cfg);
 }
 
-void spi::h743zi::standardDmaCfg(MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
+void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
         IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities spiSubprio,
         IrqPriorities txSubprio, IrqPriorities rxSubprio) {
     cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;

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

@@ -3,21 +3,20 @@
 
 #include "mspInit.h"
 
-namespace spi {
+namespace stm32h7 {
 
 namespace h743zi {
 
-void standardPollingCfg(MspPollingConfigStruct& cfg);
-void standardInterruptCfg(MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
+void standardPollingCfg(spi::MspPollingConfigStruct& cfg);
+void standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
         IrqPriorities spiSubprio = HIGHEST);
-void standardDmaCfg(MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
+void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
         IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
         IrqPriorities spiSubprio = HIGHEST, IrqPriorities txSubPrio = HIGHEST,
         IrqPriorities rxSubprio = HIGHEST);
 
+
 }
 }
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */

misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp

@@ -4,7 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/events/EventManager.h>
 #include <fsfw/health/HealthTable.h>
-#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
+#include <fsfw/tmtcpacket/pus/tm/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <fsfw/internalError/InternalErrorReporter.h>

scripts/coverage.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*
+"""Small portable helper script to generate LCOV HTML coverage data"""
+import os
+import platform
+import sys
+import time
+import argparse
+from typing import List
+
+
+"""Copy this helper script into your project folder. It will try to determine a CMake build folder
+and then attempt to build your project with coverage information.
+
+See Unittest documentation at https://egit.irs.uni-stuttgart.de/fsfw/fsfw for more
+information how to set up the build folder.
+"""
+def main():
+
+    parser = argparse.ArgumentParser(description="Processing arguments for LCOV helper script.")
+
+    build_dir_list = []
+    if not os.path.isfile('README.md'):
+        os.chdir('..')
+    for directory in os.listdir("."):
+        if os.path.isdir(directory):
+            os.chdir(directory)
+            check_for_cmake_build_dir(build_dir_list)
+            os.chdir("..")
+
+    if len(build_dir_list) == 0:
+        print("No valid CMake build directory found. Trying to set up hosted build")
+        build_directory = 'build-Debug-Host'
+        os.mkdir(build_directory)
+        os.chdir(build_directory)
+        os.system('cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..')
+        os.chdir('..')
+    elif len(build_dir_list) == 1:
+        build_directory = build_dir_list[0]
+    else:
+        print("Multiple build directories found!")
+        build_directory = determine_build_dir(build_dir_list)
+    perform_lcov_operation(build_directory)
+
+
+def check_for_cmake_build_dir(build_dir_dict: list):
+    if os.path.isfile("CMakeCache.txt"):
+        build_dir_dict.append(os.getcwd())
+
+
+def perform_lcov_operation(directory):
+    os.chdir(directory)
+    os.system("cmake --build . -- fsfw-tests_coverage -j")
+
+
+def determine_build_dir(build_dir_list: List[str]):
+    build_directory = ""
+    for idx, directory in enumerate(build_dir_list):
+        print(f"{idx + 1}: {directory}")
+    while True:
+        idx = input("Pick the directory to perform LCOV HTML generation by index: ")
+        if not idx.isdigit():
+            print("Invalid input!")
+            continue
+
+        idx = int(idx)
+        if idx > len(build_dir_list) or idx < 1:
+            print("Invalid input!")
+            continue
+        build_directory = build_dir_list[idx - 1]
+        break
+    return build_directory
+
+
+if __name__ == "__main__":
+    main()

src/CMakeLists.txt

@@ -16,5 +16,3 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
 target_include_directories(${LIB_FSFW_NAME} INTERFACE
     ${CMAKE_CURRENT_BINARY_DIR}
 )
-
-configure_file(fsfw/FSFW.h.in fsfw/FSFW.h)

src/fsfw/FSFW.h.in

@@ -3,11 +3,62 @@
 
 #include "FSFWConfig.h"
 
+#cmakedefine FSFW_OSAL_RTEMS
+#cmakedefine FSFW_OSAL_FREERTOS
+#cmakedefine FSFW_OSAL_LINUX
+#cmakedefine FSFW_OSAL_HOST
+
 #cmakedefine FSFW_ADD_RMAP
 #cmakedefine FSFW_ADD_DATALINKLAYER
 #cmakedefine FSFW_ADD_TMSTORAGE
 #cmakedefine FSFW_ADD_COORDINATES
 #cmakedefine FSFW_ADD_PUS
 #cmakedefine FSFW_ADD_MONITORING
+#cmakedefine FSFW_ADD_SGP4_PROPAGATOR
+
+// FSFW core defines
+
+#ifndef FSFW_CPP_OSTREAM_ENABLED
+#define FSFW_CPP_OSTREAM_ENABLED            1
+#endif /* FSFW_CPP_OSTREAM_ENABLED */
+
+#ifndef FSFW_VERBOSE_LEVEL
+#define FSFW_VERBOSE_LEVEL                  1
+#endif /* FSFW_VERBOSE_LEVEL */
+
+#ifndef FSFW_USE_REALTIME_FOR_LINUX
+#define FSFW_USE_REALTIME_FOR_LINUX         0
+#endif /* FSFW_USE_REALTIME_FOR_LINUX */
+
+#ifndef FSFW_NO_C99_IO
+#define FSFW_NO_C99_IO                      0
+#endif /* FSFW_NO_C99_IO */
+
+#ifndef FSFW_USE_PUS_C_TELEMETRY
+#define FSFW_USE_PUS_C_TELEMETRY            1
+#endif /* FSFW_USE_PUS_C_TELEMETRY */
+
+#ifndef FSFW_USE_PUS_C_TELECOMMANDS
+#define FSFW_USE_PUS_C_TELECOMMANDS         1
+#endif
+
+// FSFW HAL defines
+
+// Can be used for low-level debugging of the SPI bus
+#ifndef FSFW_HAL_SPI_WIRETAPPING
+#define FSFW_HAL_SPI_WIRETAPPING            0
+#endif
+
+#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
+#define FSFW_HAL_L3GD20_GYRO_DEBUG          0
+#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
+
+#ifndef FSFW_HAL_RM3100_MGM_DEBUG
+#define FSFW_HAL_RM3100_MGM_DEBUG           0
+#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
+
+#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
+#define FSFW_HAL_LIS3MDL_MGM_DEBUG          0
+#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
 
 #endif /* FSFW_FSFW_H_ */

src/fsfw/FSFWVersion.h

@@ -1,12 +0,0 @@
-#ifndef FSFW_DEFAULTCFG_VERSION_H_
-#define FSFW_DEFAULTCFG_VERSION_H_
-
-const char* const FSFW_VERSION_NAME = "ASTP";
-
-#define FSFW_VERSION        1
-#define	FSFW_SUBVERSION     0
-#define	FSFW_REVISION       0
-
-
-
-#endif /* FSFW_DEFAULTCFG_VERSION_H_ */

src/fsfw/FSFWVersion.h.in

@@ -0,0 +1,9 @@
+#ifndef FSFW_VERSION_H_
+#define FSFW_VERSION_H_
+
+// Versioning is kept in project CMakeLists.txt file
+#define FSFW_VERSION @FSFW_VERSION@
+#define FSFW_SUBVERSION @FSFW_SUBVERSION@
+#define FSFW_REVISION @FSFW_REVISION@
+
+#endif /* FSFW_VERSION_H_ */

src/fsfw/action/ActionHelper.cpp

@@ -32,6 +32,17 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
         setQueueToUse(queueToUse_);
     }
 
+    if(queueToUse == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
+#else
+        sif::printWarning("ActionHelper::initialize: No queue set\n");
+#endif
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
     return HasReturnvaluesIF::RETURN_OK;
 }
 

src/fsfw/coordinates/Sgp4Propagator.h

@@ -7,7 +7,7 @@
 #ifndef PLATFORM_WIN
 #include <sys/time.h>
 #endif
-#include "fsfw/contrib/sgp4/sgp4unit.h"
+#include "fsfw_contrib/sgp4/sgp4unit.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 class Sgp4Propagator {

src/fsfw/coordinates/coordinatesConf.h

@@ -8,4 +8,9 @@
     not enabled with FSFW_ADD_COORDINATES
 #endif
 
+#ifndef FSFW_ADD_SGP4_PROPAGATOR
+#warning Coordinates files were included but SGP4 contributed code compilation was \
+    not enabled with FSFW_ADD_SGP4_PROPAGATOR
+#endif
+
 #endif /* FSFW_SRC_FSFW_COORDINATES_COORDINATESCONF_H_ */

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -110,7 +110,7 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
     for (uint16_t count = 0; count < fillCount; count++) {
         if(registeredVariables[count]->isValid()) {
             /* Set bit at correct position */
-            bitutil::bitSet(validityPtr + validBufferIndex, validBufferIndexBit);
+            bitutil::set(validityPtr + validBufferIndex, validBufferIndexBit);
         }
         if(validBufferIndexBit == 7) {
             validBufferIndex ++;
@@ -156,8 +156,8 @@ ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
     uint8_t validBufferIndexBit = 0;
     for (uint16_t count = 0; count < fillCount; count++) {
         // set validity buffer here.
-        bool nextVarValid = bitutil::bitGet(*buffer +
-                validBufferIndex, validBufferIndexBit);
+        bool nextVarValid = false;
+        bitutil::get(*buffer + validBufferIndex, validBufferIndexBit, nextVarValid);
         registeredVariables[count]->setValid(nextVarValid);
 
         if(validBufferIndexBit == 7) {

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -461,7 +461,7 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){
         return iter->second.replyLen;
     }else{
         return 0;
-   }
+    }
 }
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
@@ -469,7 +469,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
     auto replyIter = deviceReplyMap.find(deviceReply);
     if (replyIter == deviceReplyMap.end()) {
         triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
-        return RETURN_FAILED;
+        return COMMAND_NOT_SUPPORTED;
     } else {
         DeviceReplyInfo *info = &(replyIter->second);
         if (maxDelayCycles != 0) {
@@ -481,6 +481,25 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
     }
 }
 
+ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply) {
+    auto replyIter = deviceReplyMap.find(deviceReply);
+    if (replyIter == deviceReplyMap.end()) {
+        triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
+        return COMMAND_NOT_SUPPORTED;
+    } else {
+        DeviceReplyInfo *info = &(replyIter->second);
+        if(not info->periodic) {
+            return COMMAND_NOT_SUPPORTED;
+        }
+        if(enable) {
+            info->delayCycles = info->maxDelayCycles;
+        }
+        else {
+            info->delayCycles = 0;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
 ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
         LocalPoolDataSetBase *dataSet) {
@@ -593,15 +612,15 @@ void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceRepl
     }
     DeviceCommandInfo* info = &replyInfo.command->second;
     if (info == nullptr){
-    	printWarningOrError(sif::OutputTypes::OUT_ERROR,
-    	                        "replyToReply", HasReturnvaluesIF::RETURN_FAILED,
-    	                        "Command pointer not found");
-    	return;
+        printWarningOrError(sif::OutputTypes::OUT_ERROR,
+                "replyToReply", HasReturnvaluesIF::RETURN_FAILED,
+                "Command pointer not found");
+        return;
     }
 
     if (info->expectedReplies > 0){
-    	// Check before to avoid underflow
-    	info->expectedReplies--;
+        // Check before to avoid underflow
+        info->expectedReplies--;
     }
     // Check if more replies are expected. If so, do nothing.
     if (info->expectedReplies == 0) {
@@ -1336,10 +1355,20 @@ void DeviceHandlerBase::buildInternalCommand(void) {
         DeviceCommandMap::iterator iter = deviceCommandMap.find(
                 deviceCommandId);
         if (iter == deviceCommandMap.end()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+            char output[36];
+            sprintf(output, "Command 0x%08x unknown",
+                    static_cast<unsigned int>(deviceCommandId));
+            // so we can track misconfigurations
+            printWarningOrError(sif::OutputTypes::OUT_WARNING,
+                    "buildInternalCommand",
+                    COMMAND_NOT_SUPPORTED,
+                    output);
+#endif
             result = COMMAND_NOT_SUPPORTED;
         }
         else if (iter->second.isExecuting) {
-#if FSFW_DISABLE_PRINTOUT == 0
+#if FSFW_VERBOSE_LEVEL >= 1
             char output[36];
             sprintf(output, "Command 0x%08x is executing",
                     static_cast<unsigned int>(deviceCommandId));
@@ -1550,7 +1579,7 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
     return &poolManager;
 }
 
-MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const {
+MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyId) const {
     auto commandIter = deviceCommandMap.find(replyId);
     if(commandIter == deviceCommandMap.end()) {
         return MessageQueueIF::NO_QUEUE;

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -6,22 +6,22 @@
 #include "DeviceHandlerFailureIsolation.h"
 #include "DeviceHandlerThermalSet.h"
 
-#include "../serviceinterface/ServiceInterface.h"
-#include "../serviceinterface/serviceInterfaceDefintions.h"
-#include "../objectmanager/SystemObject.h"
-#include "../tasks/ExecutableObjectIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include "../action/HasActionsIF.h"
-#include "../datapool/PoolVariableIF.h"
-#include "../modes/HasModesIF.h"
-#include "../power/PowerSwitchIF.h"
-#include "../ipc/MessageQueueIF.h"
-#include "../tasks/PeriodicTaskIF.h"
-#include "../action/ActionHelper.h"
-#include "../health/HealthHelper.h"
-#include "../parameters/ParameterHelper.h"
-#include "../datapoollocal/HasLocalDataPoolIF.h"
-#include "../datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "fsfw/datapool/PoolVariableIF.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/power/PowerSwitchIF.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/action/ActionHelper.h"
+#include "fsfw/health/HealthHelper.h"
+#include "fsfw/parameters/ParameterHelper.h"
+#include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
 
 #include <map>
 
@@ -399,7 +399,7 @@ protected:
      */
     virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) = 0;
-    MessageQueueId_t getCommanderId(DeviceCommandId_t replyId) const;
+    MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
     /**
      * Helper function to get pending command. This is useful for devices
      * like SPI sensors to identify the last sent command.
@@ -449,7 +449,9 @@ protected:
      * @param replyLen Will be supplied to the requestReceiveMessage call of
      * the communication interface.
      * @param periodic	Indicates if the command is periodic (i.e. it is sent
-     * by the device repeatedly without request) or not. Default is aperiodic (0)
+     * by the device repeatedly without request) or not. Default is aperiodic (0).
+     * Please note that periodic replies are disabled by default. You can enable them with
+     * #updatePeriodicReply
      * @return	- @c RETURN_OK when the command was successfully inserted,
      *          - @c RETURN_FAILED else.
      */
@@ -464,7 +466,9 @@ protected:
      * @param maxDelayCycles The maximum number of delay cycles the reply waits
      * until it times out.
      * @param periodic	Indicates if the command is periodic (i.e. it is sent
-     * by the device repeatedly without request) or not. Default is aperiodic (0)
+     * by the device repeatedly without request) or not. Default is aperiodic (0).
+     * Please note that periodic replies are disabled by default. You can enable them with
+     * #updatePeriodicReply
      * @return	- @c RETURN_OK when the command was successfully inserted,
      *          - @c RETURN_FAILED else.
      */
@@ -480,6 +484,14 @@ protected:
      */
     ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
 
+    /**
+     * Enables a periodic reply for a given command. It sets to delay cycles to the specified
+     * maximum delay cycles for a given reply ID if enabled or to 0 if disabled.
+     * @param enable Specify whether to enable or disable a given periodic reply
+     * @return
+     */
+    ReturnValue_t updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply);
+
     /**
      * @brief   This function returns the reply length of the next reply to read.
      *
@@ -493,16 +505,14 @@ protected:
     virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand);
 
     /**
-     * @brief 	This is a helper method to facilitate updating entries
-     *        	in the reply map.
+     * @brief 	This is a helper method to facilitate updating entries in the reply map.
      * @param deviceCommand	Identifier of the reply to update.
-     * @param delayCycles The current number of delay cycles to wait.
-     * As stated in #fillCommandAndCookieMap, to disable periodic commands,
-     * this is set to zero.
+     * @param delayCycles The current number of delay cycles to wait. As stated in
+     * #fillCommandAndReplyMap, to disable periodic commands, this is set to zero.
      * @param maxDelayCycles The maximum number of delay cycles the reply waits
      * until it times out. By passing 0 the entry remains untouched.
      * @param periodic Indicates if the command is periodic (i.e. it is sent
-     * by the device repeatedly without request) or not.Default is aperiodic (0).
+     * by the device repeatedly without request) or not. Default is aperiodic (0).
      * Warning: The setting always overrides the value that was entered in the map.
      * @return - @c RETURN_OK when the command was successfully inserted,
      *         - @c RETURN_FAILED else.