Merge pull request 'Merge development into master for v2.0.0' (#493) from development into master

Reviewed-on: fsfw/fsfw#493

CMakeLists.txt

@@ -10,6 +10,8 @@ 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)
@@ -21,7 +23,7 @@ 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)
 add_library(${LIB_FSFW_NAME})
@@ -37,7 +39,7 @@ elseif(${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()
@@ -61,40 +63,35 @@ endif()
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 
 if(FSFW_OSAL MATCHES host)
-	set(OS_FSFW_NAME "Host")
+    set(OS_FSFW_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(OS_FSFW_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(${LIB_FSFW_NAME} PRIVATE
+    set(OS_FSFW_NAME "FreeRTOS")
+    set(FSFW_OSAL_FREERTOS ON)
+    target_link_libraries(${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(OS_FSFW_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(OS_FSFW_NAME "Host")
+    set(OS_FSFW "host")
 endif()
 
-target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_OSAL_DEFINITION}
-)
-
-target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
-    ${FSFW_OSAL_DEFINITION}
-)
-
 message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
 
 add_subdirectory(src)
 add_subdirectory(tests)
-add_subdirectory(hal)
+if(FSFW_ADD_HAL)
+    add_subdirectory(hal)
+endif()
 add_subdirectory(contrib)
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.

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)
 

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/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

@@ -26,7 +26,8 @@ enum GpioOperation {
 
 enum GpioTypes {
     NONE,
-    GPIO_REGULAR,
+    GPIO_REGULAR_BY_CHIP,
+    GPIO_REGULAR_BY_LABEL,
     CALLBACK
 };
 
@@ -68,28 +69,57 @@ public:
     int initValue = 0;
 };
 
-class GpiodRegular: public GpioBase {
+class GpiodRegularBase: public GpioBase {
 public:
-    GpiodRegular() :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+            int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
+            lineNum(lineNum) {
     }
-    ;
-
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
-            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
-            chipname(chipname_), lineNum(lineNum_) {
-    }
-
-    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
-            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 GpiodRegularByChip: public GpiodRegularBase {
+public:
+    GpiodRegularByChip() :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+                    consumer_, direction_, initValue_, lineNum_),
+            chipname(chipname_){
+    }
+
+    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            chipname(chipname_) {
+    }
+
+    std::string chipname;
+};
+
+class GpiodRegularByLabel: public GpiodRegularBase {
+public:
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    direction_, initValue_, lineNum_),
+            label(label_) {
+    }
+
+    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+                    gpio::Direction::IN, gpio::LOW, lineNum_),
+            label(label_) {
+    }
+
+    std::string label;
+};
+
 class GpioCallback: public GpioBase {
 public:
     GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,

hal/src/fsfw_hal/devicehandlers/CMakeLists.txt

@@ -1,3 +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 HasReturnvaluesIF::RETURN_OK;
+    }
+    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::bitClear(&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

@@ -1,6 +1,6 @@
-#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
-#include "fsfw/hal/common/gpio/gpioDefinitions.h"
-#include "fsfw/hal/common/gpio/GpioCookie.h"
+#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>
 
@@ -20,7 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
     ReturnValue_t result;
     if(gpioCookie == nullptr) {
-        sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
+        sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
         return RETURN_FAILED;
     }
 
@@ -45,16 +45,25 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     for(auto& gpioConfig: mapToAdd) {
-        switch(gpioConfig.second->gpioType) {
+        auto& gpioType = gpioConfig.second->gpioType;
+        switch(gpioType) {
         case(gpio::GpioTypes::NONE): {
             return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR): {
-            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
             if(regularGpio == nullptr) {
                 return GPIO_INVALID_INSTANCE;
             }
-            configureRegularGpio(gpioConfig.first, regularGpio);
+            configureGpioByChip(gpioConfig.first, *regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLabel(gpioConfig.first, *regularGpio);
             break;
         }
         case(gpio::GpioTypes::CALLBACK): {
@@ -70,41 +79,59 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
-    std::string chipname;
+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::configureRegularGpio: 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, gpioByLabel.gpioType, 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::configureRegularGpio: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "chipname: " + chipname;
+    return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
+        struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
     unsigned int lineNum;
-    struct gpiod_chip *chip;
     gpio::Direction direction;
     std::string consumer;
     struct gpiod_line *lineHandle;
     int result = 0;
 
-    chipname = regularGpio->chipname;
-    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;
+    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;
+        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;
+    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);
+                regularGpio.initValue);
         if (result < 0) {
             sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
                     " from GPIO instance with ID: " << gpioId << std::endl;
@@ -134,7 +161,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
      * Write line handle to GPIO configuration instance so it can later be used to set or
      * read states of GPIOs.
      */
-    regularGpio->lineHandle = lineHandle;
+    regularGpio.lineHandle = lineHandle;
     return RETURN_OK;
 }
 
@@ -145,8 +172,14 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+    auto gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        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);
@@ -167,8 +200,14 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
         return UNKNOWN_GPIO_ID;
     }
 
-    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
-        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+    auto& gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        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);
@@ -183,12 +222,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
 }
 
 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);
+        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
+    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;
@@ -204,9 +239,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
         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);
+    auto gpioType = gpioMapIter->second->gpioType;
+    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
@@ -225,13 +261,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     for(auto& gpioConfig: mapToAdd) {
         switch(gpioConfig.second->gpioType) {
-        case(gpio::GpioTypes::GPIO_REGULAR): {
-            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
+            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
             if(regularGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
             /* Check for conflicts and remove duplicates if necessary */
-            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+            result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
@@ -259,17 +296,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
 
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
-        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
+        GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
     /* Cross check with private map */
     gpioMapIter = gpioMap.find(gpioIdToCheck);
     if(gpioMapIter != gpioMap.end()) {
-        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
+        auto& gpioType = gpioMapIter->second->gpioType;
+        if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
+                gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
             sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
                     "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
             mapToAdd.erase(gpioIdToCheck);
             return HasReturnvaluesIF::RETURN_OK;
         }
-        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(ownRegularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }

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

@@ -6,6 +6,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 
 class GpioCookie;
+class GpiodRegularIF;
 
 /**
  * @brief	This class implements the GpioIF for a linux based system. The
@@ -47,9 +48,13 @@ 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 configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
+            struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -62,7 +67,7 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
 	        GpioMap& mapToAdd);
     ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
             GpioMap& mapToAdd);

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/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/stm32h743ziSpi.h"
 
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"

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/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

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"
 

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

@@ -1,4 +1,4 @@
-#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,

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"

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/stm32h743ziSpi.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/stm32h743ziSpi.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
 
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_rcc.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>

src/fsfw/FSFW.h.in

@@ -3,11 +3,34 @@
 
 #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
+
+// 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 +1,10 @@
-#ifndef FSFW_DEFAULTCFG_VERSION_H_
-#define FSFW_DEFAULTCFG_VERSION_H_
+#ifndef FSFW_VERSION_H_
+#define FSFW_VERSION_H_
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION        1
-#define	FSFW_SUBVERSION     0
-#define	FSFW_REVISION       0
+#define FSFW_VERSION        2
+#define FSFW_SUBVERSION     0
+#define FSFW_REVISION       0
 
-
-
-#endif /* FSFW_DEFAULTCFG_VERSION_H_ */
+#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/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.

src/fsfw/events/EventManager.cpp

@@ -12,119 +12,119 @@ MessageQueueId_t EventManagerIF::eventmanagerQueue = MessageQueueIF::NO_QUEUE;
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
 const LocalPool::LocalPoolConfig EventManager::poolConfig = {
         {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES,
-        		sizeof(EventMatchTree::Node)},
+                sizeof(EventMatchTree::Node)},
         {fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
-        		sizeof(EventIdRangeMatcher)},
+                sizeof(EventIdRangeMatcher)},
         {fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS,
-        		sizeof(ReporterRangeMatcher)}
+                sizeof(ReporterRangeMatcher)}
 };
 
 EventManager::EventManager(object_id_t setObjectId) :
-		SystemObject(setObjectId),
-		factoryBackend(0, poolConfig, false, true) {
-	mutex = MutexFactory::instance()->createMutex();
-	eventReportQueue = QueueFactory::instance()->createMessageQueue(
-			MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
+        SystemObject(setObjectId),
+        factoryBackend(0, poolConfig, false, true) {
+    mutex = MutexFactory::instance()->createMutex();
+    eventReportQueue = QueueFactory::instance()->createMessageQueue(
+            MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 EventManager::~EventManager() {
-	QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
-	MutexFactory::instance()->deleteMutex(mutex);
+    QueueFactory::instance()->deleteMessageQueue(eventReportQueue);
+    MutexFactory::instance()->deleteMutex(mutex);
 }
 
 MessageQueueId_t EventManager::getEventReportQueue() {
-	return eventReportQueue->getId();
+    return eventReportQueue->getId();
 }
 
 ReturnValue_t EventManager::performOperation(uint8_t opCode) {
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	while (result == HasReturnvaluesIF::RETURN_OK) {
-		EventMessage message;
-		result = eventReportQueue->receiveMessage(&message);
-		if (result == HasReturnvaluesIF::RETURN_OK) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    while (result == HasReturnvaluesIF::RETURN_OK) {
+        EventMessage message;
+        result = eventReportQueue->receiveMessage(&message);
+        if (result == HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
-			printEvent(&message);
+            printEvent(&message);
 #endif
-			notifyListeners(&message);
-		}
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+            notifyListeners(&message);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void EventManager::notifyListeners(EventMessage* message) {
-	lockMutex();
-	for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
-		if (iter->second.match(message)) {
-			MessageQueueSenderIF::sendMessage(iter->first, message,
-					message->getSender());
-		}
-	}
-	unlockMutex();
+    lockMutex();
+    for (auto iter = listenerList.begin(); iter != listenerList.end(); ++iter) {
+        if (iter->second.match(message)) {
+            MessageQueueSenderIF::sendMessage(iter->first, message,
+                    message->getSender());
+        }
+    }
+    unlockMutex();
 }
 
 ReturnValue_t EventManager::registerListener(MessageQueueId_t listener,
 bool forwardAllButSelected) {
-	auto result = listenerList.insert(
-			std::pair<MessageQueueId_t, EventMatchTree>(listener,
-					EventMatchTree(&factoryBackend, forwardAllButSelected)));
-	if (!result.second) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    auto result = listenerList.insert(
+            std::pair<MessageQueueId_t, EventMatchTree>(listener,
+                    EventMatchTree(&factoryBackend, forwardAllButSelected)));
+    if (!result.second) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t EventManager::subscribeToEvent(MessageQueueId_t listener,
-		EventId_t event) {
-	return subscribeToEventRange(listener, event);
+        EventId_t event) {
+    return subscribeToEventRange(listener, event);
 }
 
 ReturnValue_t EventManager::subscribeToAllEventsFrom(MessageQueueId_t listener,
-		object_id_t object) {
-	return subscribeToEventRange(listener, 0, 0, true, object);
+        object_id_t object) {
+    return subscribeToEventRange(listener, 0, 0, true, object);
 }
 
 ReturnValue_t EventManager::subscribeToEventRange(MessageQueueId_t listener,
-		EventId_t idFrom, EventId_t idTo, bool idInverted,
-		object_id_t reporterFrom, object_id_t reporterTo,
-		bool reporterInverted) {
-	auto iter = listenerList.find(listener);
-	if (iter == listenerList.end()) {
-		return LISTENER_NOT_FOUND;
-	}
-	lockMutex();
-	ReturnValue_t result = iter->second.addMatch(idFrom, idTo, idInverted,
-			reporterFrom, reporterTo, reporterInverted);
-	unlockMutex();
-	return result;
+        EventId_t idFrom, EventId_t idTo, bool idInverted,
+        object_id_t reporterFrom, object_id_t reporterTo,
+        bool reporterInverted) {
+    auto iter = listenerList.find(listener);
+    if (iter == listenerList.end()) {
+        return LISTENER_NOT_FOUND;
+    }
+    lockMutex();
+    ReturnValue_t result = iter->second.addMatch(idFrom, idTo, idInverted,
+            reporterFrom, reporterTo, reporterInverted);
+    unlockMutex();
+    return result;
 }
 
 ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
-		EventId_t idFrom, EventId_t idTo, bool idInverted,
-		object_id_t reporterFrom, object_id_t reporterTo,
-		bool reporterInverted) {
-	auto iter = listenerList.find(listener);
-	if (iter == listenerList.end()) {
-		return LISTENER_NOT_FOUND;
-	}
-	lockMutex();
-	ReturnValue_t result = iter->second.removeMatch(idFrom, idTo, idInverted,
-			reporterFrom, reporterTo, reporterInverted);
-	unlockMutex();
-	return result;
+        EventId_t idFrom, EventId_t idTo, bool idInverted,
+        object_id_t reporterFrom, object_id_t reporterTo,
+        bool reporterInverted) {
+    auto iter = listenerList.find(listener);
+    if (iter == listenerList.end()) {
+        return LISTENER_NOT_FOUND;
+    }
+    lockMutex();
+    ReturnValue_t result = iter->second.removeMatch(idFrom, idTo, idInverted,
+            reporterFrom, reporterTo, reporterInverted);
+    unlockMutex();
+    return result;
 }
 
 void EventManager::lockMutex() {
-	mutex->lockMutex(timeoutType, timeoutMs);
+    mutex->lockMutex(timeoutType, timeoutMs);
 }
 
 void EventManager::unlockMutex() {
-	mutex->unlockMutex();
+    mutex->unlockMutex();
 }
 
 void EventManager::setMutexTimeout(MutexIF::TimeoutType timeoutType,
-		uint32_t timeoutMs) {
-	this->timeoutType = timeoutType;
-	this->timeoutMs = timeoutMs;
+        uint32_t timeoutMs) {
+    this->timeoutType = timeoutType;
+    this->timeoutMs = timeoutMs;
 }
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
@@ -157,7 +157,7 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage *messag
                     message->getReporter() << std::setfill(' ') << std::dec;
         }
         sif::info << " reported event with ID " << message->getEventId() << std::endl;
-        sif::debug << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
+        sif::info << translateEvents(message->getEvent()) << " | " <<std::hex << "P1 Hex: 0x" <<
                 message->getParameter1() << " | P1 Dec: " << std::dec << message->getParameter1() <<
                 std::hex << " | P2 Hex: 0x" << message->getParameter2() << " | P2 Dec: " <<
                 std::dec << message->getParameter2() << std::endl;
@@ -170,9 +170,10 @@ void EventManager::printUtility(sif::OutputTypes printType, EventMessage *messag
             sif::printInfo("Event Manager: Reporter ID 0x%08x reported event with ID %d\n",
                     message->getReporter(), message->getEventId());
         }
-        sif::printInfo("P1 Hex: 0x%x | P1 Dec: %d | P2 Hex: 0x%x | P2 Dec: %d\n",
-                message->getParameter1(), message->getParameter1(),
-                message->getParameter2(), message->getParameter2());
+
+        sif::printInfo("%s | P1 Hex: 0x%x | P1 Dec: %d | P2 Hex: 0x%x | P2 Dec: %d\n",
+                translateEvents(message->getEvent()), message->getParameter1(),
+                message->getParameter1(), message->getParameter2(), message->getParameter2());
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
     }
     else {

src/fsfw/events/fwSubsystemIdRanges.h

@@ -29,6 +29,8 @@ enum: uint8_t {
     PUS_SERVICE_9 = 89,
     PUS_SERVICE_17 = 97,
     PUS_SERVICE_23 = 103,
+    MGM_LIS3MDL = 106,
+    MGM_RM3100 = 107,
 
     FW_SUBSYSTEM_ID_RANGE
 };

src/fsfw/globalfunctions/DleEncoder.cpp

@@ -1,124 +1,298 @@
 #include "fsfw/globalfunctions/DleEncoder.h"
 
-DleEncoder::DleEncoder() {}
+DleEncoder::DleEncoder(bool escapeStxEtx, bool escapeCr):
+        escapeStxEtx(escapeStxEtx), escapeCr(escapeCr) {}
 
 DleEncoder::~DleEncoder() {}
 
 ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
-		size_t* encodedLen, bool addStxEtx) {
-	if (maxDestLen < 2) {
-		return STREAM_TOO_SHORT;
-	}
-	size_t encodedIndex = 0, sourceIndex = 0;
-	uint8_t nextByte;
-	if (addStxEtx) {
-		destStream[0] = STX_CHAR;
-		++encodedIndex;
-	}
+        size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
+        size_t* encodedLen, bool addStxEtx) {
+    if(escapeStxEtx) {
+        return encodeStreamEscaped(sourceStream, sourceLen,
+                destStream, maxDestLen, encodedLen, addStxEtx);
+    }
+    else {
+        return encodeStreamNonEscaped(sourceStream, sourceLen,
+                destStream, maxDestLen, encodedLen, addStxEtx);
+    }
 
-	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
-	{
-		nextByte = sourceStream[sourceIndex];
-		// STX, ETX and CR characters in the stream need to be escaped with DLE
-		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				/* Escaped byte will be actual byte + 0x40. This prevents
-				 * STX, ETX, and carriage return characters from appearing
-				 * in the encoded data stream at all, so when polling an
-				 * encoded stream, the transmission can be stopped at ETX.
-				 * 0x40 was chosen at random with special requirements:
-				 *  - Prevent going from one control char to another
-				 *  - Prevent overflow for common characters */
-				destStream[encodedIndex] = nextByte + 0x40;
-			}
-		}
-		// DLE characters are simply escaped with DLE.
-		else if (nextByte == DLE_CHAR) {
-			if (encodedIndex + 1 >= maxDestLen) {
-			    return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				destStream[encodedIndex] = DLE_CHAR;
-			}
-		}
-		else {
-			destStream[encodedIndex] = nextByte;
-		}
-		++encodedIndex;
-		++sourceIndex;
-	}
+}
 
-	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
-		if (addStxEtx) {
-			destStream[encodedIndex] = ETX_CHAR;
-			++encodedIndex;
-		}
-		*encodedLen = encodedIndex;
-		return RETURN_OK;
-	}
-	else {
-		return STREAM_TOO_SHORT;
-	}
+ReturnValue_t DleEncoder::encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen,
+        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+        bool addStxEtx) {
+    size_t encodedIndex = 0;
+    size_t sourceIndex = 0;
+    uint8_t nextByte = 0;
+    if(addStxEtx) {
+        if(maxDestLen < 1) {
+            return STREAM_TOO_SHORT;
+        }
+        destStream[encodedIndex++] = STX_CHAR;
+    }
+    while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
+        nextByte = sourceStream[sourceIndex];
+        // STX, ETX and CR characters in the stream need to be escaped with DLE
+        if ((nextByte == STX_CHAR or nextByte == ETX_CHAR) or
+                (this->escapeCr and nextByte == CARRIAGE_RETURN)) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                /* Escaped byte will be actual byte + 0x40. This prevents
+                 * STX, ETX, and carriage return characters from appearing
+                 * in the encoded data stream at all, so when polling an
+                 * encoded stream, the transmission can be stopped at ETX.
+                 * 0x40 was chosen at random with special requirements:
+                 *  - Prevent going from one control char to another
+                 *  - Prevent overflow for common characters */
+                destStream[encodedIndex] = nextByte + 0x40;
+            }
+        }
+        // DLE characters are simply escaped with DLE.
+        else if (nextByte == DLE_CHAR) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                destStream[encodedIndex] = DLE_CHAR;
+            }
+        }
+        else {
+            destStream[encodedIndex] = nextByte;
+        }
+        ++encodedIndex;
+        ++sourceIndex;
+    }
+
+    if (sourceIndex == sourceLen) {
+        if (addStxEtx) {
+            if(encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            destStream[encodedIndex] = ETX_CHAR;
+            ++encodedIndex;
+        }
+        *encodedLen = encodedIndex;
+        return RETURN_OK;
+    }
+    else {
+        return STREAM_TOO_SHORT;
+    }
+}
+
+ReturnValue_t DleEncoder::encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
+        uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+        bool addStxEtx) {
+    size_t encodedIndex = 0;
+    size_t sourceIndex = 0;
+    uint8_t nextByte = 0;
+    if(addStxEtx) {
+        if(maxDestLen < 2) {
+            return STREAM_TOO_SHORT;
+        }
+        destStream[encodedIndex++] = DLE_CHAR;
+        destStream[encodedIndex++] = STX_CHAR;
+    }
+    while (encodedIndex < maxDestLen and sourceIndex < sourceLen) {
+        nextByte = sourceStream[sourceIndex];
+        // DLE characters are simply escaped with DLE.
+        if (nextByte == DLE_CHAR) {
+            if (encodedIndex + 1 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            else {
+                destStream[encodedIndex] = DLE_CHAR;
+                ++encodedIndex;
+                destStream[encodedIndex] = DLE_CHAR;
+            }
+        }
+        else {
+            destStream[encodedIndex] = nextByte;
+        }
+        ++encodedIndex;
+        ++sourceIndex;
+    }
+
+    if (sourceIndex == sourceLen) {
+        if (addStxEtx) {
+            if(encodedIndex + 2 >= maxDestLen) {
+                return STREAM_TOO_SHORT;
+            }
+            destStream[encodedIndex++] = DLE_CHAR;
+            destStream[encodedIndex++] = ETX_CHAR;
+        }
+        *encodedLen = encodedIndex;
+        return RETURN_OK;
+    }
+    else {
+        return STREAM_TOO_SHORT;
+    }
 }
 
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-		size_t maxDestStreamlen, size_t *decodedLen) {
-	size_t encodedIndex = 0, decodedIndex = 0;
-	uint8_t nextByte;
-	if (*sourceStream != STX_CHAR) {
-		return DECODING_ERROR;
-	}
-	++encodedIndex;
-
-	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-			&& (sourceStream[encodedIndex] != ETX_CHAR)
-			&& (sourceStream[encodedIndex] != STX_CHAR)) {
-		if (sourceStream[encodedIndex] == DLE_CHAR) {
-			nextByte = sourceStream[encodedIndex + 1];
-			// The next byte is a DLE character that was escaped by another
-			// DLE character, so we can write it to the destination stream.
-			if (nextByte == DLE_CHAR) {
-				destStream[decodedIndex] = nextByte;
-			}
-			else {
-			    /* The next byte is a STX, DTX or 0x0D character which
-			     * was escaped by a DLE character. The actual byte was
-				 * also encoded by adding + 0x40 to prevent having control chars,
-				 * in the stream at all, so we convert it back. */
-				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
-					destStream[decodedIndex] = nextByte - 0x40;
-				}
-				else {
-				    return DECODING_ERROR;
-				}
-			}
-			++encodedIndex;
-		}
-		else {
-			destStream[decodedIndex] = sourceStream[encodedIndex];
-		}
-
-		++encodedIndex;
-		++decodedIndex;
-	}
-
-	if (sourceStream[encodedIndex] != ETX_CHAR) {
-		*readLen = ++encodedIndex;
-		return DECODING_ERROR;
-	}
-	else {
-		*readLen = ++encodedIndex;
-		*decodedLen = decodedIndex;
-		return RETURN_OK;
-	}
+        size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+        size_t maxDestStreamlen, size_t *decodedLen) {
+    if(escapeStxEtx) {
+        return decodeStreamEscaped(sourceStream, sourceStreamLen,
+                readLen, destStream, maxDestStreamlen, decodedLen);
+    }
+    else {
+        return decodeStreamNonEscaped(sourceStream, sourceStreamLen,
+                readLen, destStream, maxDestStreamlen, decodedLen);
+    }
 }
 
+ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+        size_t *readLen, uint8_t *destStream,
+        size_t maxDestStreamlen, size_t *decodedLen) {
+    size_t encodedIndex = 0;
+    size_t decodedIndex = 0;
+    uint8_t nextByte;
+
+    //init to 0 so that we can just return in the first checks (which do not consume anything from
+    //the source stream)
+    *readLen = 0;
+
+    if(maxDestStreamlen < 1) {
+        return STREAM_TOO_SHORT;
+    }
+    if (sourceStream[encodedIndex++] != STX_CHAR) {
+        return DECODING_ERROR;
+    }
+    while ((encodedIndex < sourceStreamLen) and (decodedIndex < maxDestStreamlen)) {
+        switch(sourceStream[encodedIndex]) {
+        case(DLE_CHAR): {
+            if(encodedIndex + 1 >= sourceStreamLen) {
+                //reached the end of the sourceStream
+                *readLen = sourceStreamLen;
+                return DECODING_ERROR;
+            }
+            nextByte = sourceStream[encodedIndex + 1];
+            // The next byte is a DLE character that was escaped by another
+            // DLE character, so we can write it to the destination stream.
+            if (nextByte == DLE_CHAR) {
+                destStream[decodedIndex] = nextByte;
+            }
+            else {
+                /* The next byte is a STX, DTX or 0x0D character which
+                 * was escaped by a DLE character. The actual byte was
+                 * also encoded by adding + 0x40 to prevent having control chars,
+                 * in the stream at all, so we convert it back. */
+                if ((nextByte == STX_CHAR + 0x40 or nextByte == ETX_CHAR + 0x40) or
+                        (this->escapeCr and nextByte == CARRIAGE_RETURN + 0x40)) {
+                    destStream[decodedIndex] = nextByte - 0x40;
+                }
+                else {
+                    // Set readLen so user can resume parsing after incorrect data
+                    *readLen = encodedIndex + 2;
+                    return DECODING_ERROR;
+                }
+            }
+            ++encodedIndex;
+            break;
+        }
+        case(STX_CHAR): {
+            *readLen = encodedIndex;
+            return DECODING_ERROR;
+        }
+        case(ETX_CHAR): {
+            *readLen = ++encodedIndex;
+            *decodedLen = decodedIndex;
+            return RETURN_OK;
+        }
+        default: {
+            destStream[decodedIndex] = sourceStream[encodedIndex];
+            break;
+        }
+        }
+        ++encodedIndex;
+        ++decodedIndex;
+    }
+
+    if(decodedIndex == maxDestStreamlen) {
+        //so far we did not find anything wrong here, so let user try again
+        *readLen = 0;
+        return STREAM_TOO_SHORT;
+    } else {
+        *readLen = encodedIndex;
+        return DECODING_ERROR;
+    }
+}
+
+ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
+        size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+        size_t maxDestStreamlen, size_t *decodedLen) {
+    size_t encodedIndex = 0;
+    size_t decodedIndex = 0;
+    uint8_t nextByte;
+
+    //init to 0 so that we can just return in the first checks (which do not consume anything from
+    //the source stream)
+    *readLen = 0;
+    
+    if(maxDestStreamlen < 2) {
+        return STREAM_TOO_SHORT;
+    }
+    if (sourceStream[encodedIndex++] != DLE_CHAR) {
+        return DECODING_ERROR;
+    }
+    if (sourceStream[encodedIndex++] != STX_CHAR) {
+        *readLen = 1;
+        return DECODING_ERROR;
+    }
+    while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) {
+        if (sourceStream[encodedIndex] == DLE_CHAR) {
+            if(encodedIndex + 1 >= sourceStreamLen) {
+                *readLen = encodedIndex;
+                return DECODING_ERROR;
+            }
+            nextByte = sourceStream[encodedIndex + 1];
+            if(nextByte == STX_CHAR) {
+                // Set readLen so the DLE/STX char combination is preserved. Could be start of
+                // another frame
+                *readLen = encodedIndex;
+                return DECODING_ERROR;
+            }
+            else if(nextByte == DLE_CHAR) {
+                // The next byte is a DLE character that was escaped by another
+                // DLE character, so we can write it to the destination stream.
+                destStream[decodedIndex] = nextByte;
+                ++encodedIndex;
+            }
+            else if(nextByte == ETX_CHAR) {
+                // End of stream reached
+                *readLen = encodedIndex + 2;
+                *decodedLen = decodedIndex;
+                return RETURN_OK;
+            }
+            else {
+                *readLen = encodedIndex;
+                return DECODING_ERROR;
+            }
+        }
+        else {
+            destStream[decodedIndex] = sourceStream[encodedIndex];
+        }
+        ++encodedIndex;
+        ++decodedIndex;
+    }
+
+    if(decodedIndex == maxDestStreamlen) {
+        //so far we did not find anything wrong here, so let user try again
+        *readLen = 0;
+        return STREAM_TOO_SHORT;
+    } else {
+        *readLen = encodedIndex;
+        return DECODING_ERROR;
+    }
+}
+
+void DleEncoder::setEscapeMode(bool escapeStxEtx) {
+    this->escapeStxEtx = escapeStxEtx;
+}

src/fsfw/globalfunctions/DleEncoder.h

@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
 
-#include "../returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
 
 /**
@@ -12,52 +12,69 @@
  * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
  *
  * This encoder can be used to achieve a basic transport layer when using
- * char based transmission systems.
- * The passed source strean is converted into a encoded stream by adding
- * a STX marker at the start of the stream and an ETX marker at the end of
- * the stream. Any STX, ETX, DLE and CR occurrences in the source stream are
- * escaped by a DLE character. The encoder also replaces escaped control chars
- * by another char, so STX, ETX and CR should not appear anywhere in the actual
- * encoded data stream.
+ * char based transmission systems. There are two implemented variants:
  *
- * When using a strictly char based reception of packets encoded with DLE,
+ * 1. Escaped variant
+ *
+ * The encoded stream starts with a STX marker and ends with an ETX marker.
+ * STX and ETX occurrences in the stream are escaped and internally encoded as well so the
+ * receiver side can simply check for STX and ETX markers as frame delimiters. When using a
+ * strictly char based reception of packets encoded with DLE,
  * STX can be used to notify a reader that actual data will start to arrive
  * while ETX can be used to notify the reader that the data has ended.
+ *
+ * 2. Non-escaped variant
+ *
+ * The encoded stream starts with DLE STX and ends with DLE ETX. All DLE occurrences in the stream
+ * are escaped with DLE. If the receiver detects a DLE char, it needs to read the next char
+ * to determine whether a start (STX) or end (ETX) of a frame has been detected.
  */
 class DleEncoder: public HasReturnvaluesIF {
-private:
-	DleEncoder();
-	virtual ~DleEncoder();
-
 public:
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
-	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
-	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
+    /**
+     * Create an encoder instance with the given configuration.
+     * @param escapeStxEtx  Determines whether the algorithm works in escaped or non-escaped mode
+     * @param escapeCr      In escaped mode, escape all CR occurrences as well
+     */
+    DleEncoder(bool escapeStxEtx = true, bool escapeCr = false);
 
-	//! Start Of Text character. First character is encoded stream
-	static constexpr uint8_t STX_CHAR = 0x02;
-	//! End Of Text character. Last character in encoded stream
-	static constexpr uint8_t ETX_CHAR = 0x03;
-	//! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
-	//! in the source stream.
-	static constexpr uint8_t DLE_CHAR = 0x10;
-	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
+    void setEscapeMode(bool escapeStxEtx);
+
+    virtual ~DleEncoder();
+
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
+    static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
+    static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
+
+    //! Start Of Text character. First character is encoded stream
+    static constexpr uint8_t STX_CHAR = 0x02;
+    //! End Of Text character. Last character in encoded stream
+    static constexpr uint8_t ETX_CHAR = 0x03;
+    //! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
+    //! in the source stream.
+    static constexpr uint8_t DLE_CHAR = 0x10;
+    static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
 
     /**
      * Encodes the give data stream by preceding it with the STX marker
-     * and ending it with an ETX marker. STX, ETX and DLE characters inside
-     * the stream are escaped by DLE characters and also replaced by adding
-     * 0x40 (which is reverted in the decoding process).
+     * and ending it with an ETX marker. DLE characters inside
+     * the stream are escaped by DLE characters. STX, ETX and CR characters can be escaped with a
+     * DLE character as well. The escaped characters are also encoded by adding
+     * 0x40 (which is reverted in the decoding process). This is performed so the source stream
+     * does not have STX/ETX/CR occurrences anymore, so the receiving side can simply parse for
+     * start and end markers
      * @param sourceStream
      * @param sourceLen
      * @param destStream
      * @param maxDestLen
      * @param encodedLen
-     * @param addStxEtx
-     * Adding STX and ETX can be omitted, if they are added manually.
+     * @param addStxEtx     Adding STX start marker and ETX end marker can be omitted,
+     *                      if they are added manually
      * @return
+     *  - RETURN_OK for successful encoding operation
+     *  - STREAM_TOO_SHORT if the destination stream is too short
      */
-    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
+    ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
             uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
             bool addStxEtx = true);
 
@@ -70,10 +87,32 @@ public:
      * @param maxDestStreamlen
      * @param decodedLen
      * @return
+     *  - RETURN_OK for successful decode operation
+     *  - DECODE_ERROR if the source stream is invalid
+     *  - STREAM_TOO_SHORT if the destination stream is too short
      */
-	static ReturnValue_t decode(const uint8_t *sourceStream,
-			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-			size_t maxDestStreamlen, size_t *decodedLen);
+    ReturnValue_t decode(const uint8_t *sourceStream,
+            size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+            size_t maxDestStreamlen, size_t *decodedLen);
+
+private:
+
+    ReturnValue_t encodeStreamEscaped(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
+    ReturnValue_t encodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
+    ReturnValue_t decodeStreamEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+            size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
+
+    ReturnValue_t decodeStreamNonEscaped(const uint8_t *sourceStream, size_t sourceStreamLen,
+            size_t *readLen, uint8_t *destStream, size_t maxDestStreamlen, size_t *decodedLen);
+
+    bool escapeStxEtx;
+    bool escapeCr;
 };
 
 #endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */

src/fsfw/osal/common/TcpTmTcBridge.cpp

@@ -1,6 +1,5 @@
 #include "fsfw/platform.h"
 #include "fsfw/osal/common/TcpTmTcBridge.h"
-#include "fsfw/osal/common/tcpipHelpers.h"
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/ipc/MutexGuard.h"
@@ -17,8 +16,6 @@
 
 #endif
 
-const std::string TcpTmTcBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
-
 TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
         object_id_t tmStoreId, object_id_t tcStoreId):
         TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {

src/fsfw/osal/common/TcpTmTcBridge.h

@@ -2,7 +2,7 @@
 #define FSFW_OSAL_COMMON_TCPTMTCBRIDGE_H_
 
 #include "TcpIpBase.h"
-#include "../../tmtcservices/TmTcBridge.h"
+#include "fsfw/tmtcservices/TmTcBridge.h"
 
 #ifdef _WIN32
 
@@ -29,8 +29,6 @@ class TcpTmTcBridge:
         public TmTcBridge {
     friend class TcpTmTcServer;
 public:
-    /* The ports chosen here should not be used by any other process. */
-    static const std::string DEFAULT_UDP_SERVER_PORT;
 
     /**
      * Constructor

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -22,14 +22,14 @@
 #define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
 #endif
 
-const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT =  "7303";
+const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
         size_t receptionBufferSize, std::string customTcpServerPort):
         SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge),
         tcpPort(customTcpServerPort), receptionBuffer(receptionBufferSize) {
     if(tcpPort == "") {
-        tcpPort = DEFAULT_TCP_SERVER_PORT;
+        tcpPort = DEFAULT_SERVER_PORT;
     }
 }
 
@@ -200,6 +200,10 @@ void TcpTmTcServer::setTcpBacklog(uint8_t tcpBacklog) {
     this->tcpBacklog = tcpBacklog;
 }
 
+std::string TcpTmTcServer::getTcpPort() const {
+    return tcpPort;
+}
+
 ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
     // Access to the FIFO is mutex protected because it is filled by the bridge
     MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);

src/fsfw/osal/common/TcpTmTcServer.h

@@ -3,13 +3,14 @@
 
 #include "TcpIpBase.h"
 
-#include "../../platform.h"
-#include "../../ipc/messageQueueDefinitions.h"
-#include "../../ipc/MessageQueueIF.h"
-#include "../../objectmanager/frameworkObjects.h"
-#include "../../objectmanager/SystemObject.h"
-#include "../../storagemanager/StorageManagerIF.h"
-#include "../../tasks/ExecutableObjectIF.h"
+#include "fsfw/platform.h"
+#include "fsfw/osal/common/tcpipHelpers.h"
+#include "fsfw/ipc/messageQueueDefinitions.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/objectmanager/frameworkObjects.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
 
 #ifdef PLATFORM_UNIX
 #include <sys/socket.h>
@@ -41,10 +42,9 @@ class TcpTmTcServer:
         public TcpIpBase,
         public ExecutableObjectIF {
 public:
-    /* The ports chosen here should not be used by any other process. */
-    static const std::string DEFAULT_TCP_SERVER_PORT;
+    static const std::string DEFAULT_SERVER_PORT;
 
-    static constexpr  size_t ETHERNET_MTU_SIZE = 1500;
+    static constexpr size_t ETHERNET_MTU_SIZE = 1500;
 
     /**
      * TCP Server Constructor
@@ -65,6 +65,8 @@ public:
     ReturnValue_t performOperation(uint8_t opCode) override;
     ReturnValue_t initializeAfterTaskCreation() override;
 
+    std::string getTcpPort() const;
+
 protected:
     StorageManagerIF* tcStore = nullptr;
     StorageManagerIF* tmStore = nullptr;

src/fsfw/osal/common/UdpTmTcBridge.cpp

@@ -17,13 +17,13 @@
 #define FSFW_UDP_SEND_WIRETAPPING_ENABLED    0
 #endif
 
-const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
+const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
 
 UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
         std::string udpServerPort, object_id_t tmStoreId, object_id_t tcStoreId):
         TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
     if(udpServerPort == "") {
-        this->udpServerPort = DEFAULT_UDP_SERVER_PORT;
+        this->udpServerPort = DEFAULT_SERVER_PORT;
     }
     else {
         this->udpServerPort = udpServerPort;
@@ -108,6 +108,10 @@ UdpTmTcBridge::~UdpTmTcBridge() {
     }
 }
 
+std::string UdpTmTcBridge::getUdpPort() const {
+    return udpServerPort;
+}
+
 ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
     int flags = 0;
 

src/fsfw/osal/common/UdpTmTcBridge.h

@@ -2,8 +2,8 @@
 #define FSFW_OSAL_COMMON_TMTCUDPBRIDGE_H_
 
 #include "TcpIpBase.h"
-#include "../../platform.h"
-#include "../../tmtcservices/TmTcBridge.h"
+#include "fsfw/platform.h"
+#include "fsfw/tmtcservices/TmTcBridge.h"
 
 #ifdef PLATFORM_WIN
 #include <ws2tcpip.h>
@@ -28,7 +28,7 @@ class UdpTmTcBridge:
     friend class UdpTcPollingTask;
 public:
     /* The ports chosen here should not be used by any other process. */
-    static const std::string DEFAULT_UDP_SERVER_PORT;
+    static const std::string DEFAULT_SERVER_PORT;
 
     UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
             std::string udpServerPort = "", object_id_t tmStoreId = objects::TM_STORE,
@@ -44,6 +44,8 @@ public:
 
     void checkAndSetClientAddress(sockaddr& clientAddress);
 
+    std::string getUdpPort() const;
+
 protected:
     virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;