CHANGELOG.md

@@ -19,12 +19,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
   compiler supports it
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
-- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
-  and mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
-- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
-  name clashes with Windows defines.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
@@ -91,6 +85,7 @@ PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/585
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
 
 ### Time
 
@@ -153,17 +148,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/590
 - `Subsystem`: New API to add table and sequence entries
 
-## HAL
-
-- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
-  lot more sense because each ComIF should be responsible for one SPI bus.
-- SPI: Move the empty transfer to update the line polarity to separate function. This means
-  it is not automatically called when calling the setter function for SPI speed and mode.
-  The user should call this function after locking the CS mutex if multiple SPI devices with
-  differing speeds and modes are attached to one bus.
-- SPI: Getter functions for SPI speed and mode.
-- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
-
 ## Fixed
 
 - TCP TMTC Server: `MutexGuard` was not created properly in

CMakeLists.txt

@@ -189,7 +189,7 @@ message(
 )
 
 # Check whether the user has already installed ETL first
-find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
   message(

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -7,6 +7,7 @@
 #include "DeviceHandlerFailureIsolation.h"
 #include "DeviceHandlerIF.h"
 #include "DeviceHandlerThermalSet.h"
+#include "DhbCfgHelpers.h"
 #include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/datapool/PoolVariableIF.h"
@@ -488,9 +489,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @return - @c RETURN_OK when the command was successfully inserted,
    *         - @c RETURN_FAILED else.
    */
-  ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand,
-                                   bool useAlternativeReply = false,
-                                   DeviceCommandId_t alternativeReplyId = 0);
+  ReturnValue_t insertInCommandMap(
+      DeviceCommandId_t deviceCommand, bool useAlternativeReply = false,
+      DeviceCommandId_t alternativeReplyId = DeviceHandlerIF::NO_COMMAND_ID);
 
   /**
    * Enables a periodic reply for a given command. It sets to delay cycles to the specified

src/fsfw/devicehandlers/DhbCfgHelpers.h

@@ -0,0 +1,72 @@
+#ifndef FSFW_SRC_FSFW_DEVICEHANDLERS_DHBCFGHELPERS_H_
+#define FSFW_SRC_FSFW_DEVICEHANDLERS_DHBCFGHELPERS_H_
+
+/**
+ * @brief   This is the base class for configuration related to both DHB commands, replies and their
+ *          combination
+ */
+struct CfgBase {
+ public:
+  explicit CfgBase(DeviceCommandId_t cmdAndOrReplyId) : cmdAndOrReplyId(cmdAndOrReplyId){};
+  DeviceCommandId_t cmdAndOrReplyId;
+};
+
+/**
+ * @brief   Configuration class for commands
+ */
+struct CmdCfg {
+ public:
+  explicit CmdCfg(DeviceCommandId_t cmdId) : baseCfg(cmdId){};
+
+  CfgBase baseCfg;
+  //! This can be used if a command can trigger multiple replies
+  std::pair<bool, DeviceCommandId_t> alternativeReply = {false, DeviceHandlerIF::NO_COMMAND_ID};
+};
+
+/**
+ * @brief   Configuration class for replies
+ */
+struct ReplyCfg {
+ public:
+  ReplyCfg(DeviceCommandId_t replyId, uint16_t maxDelayCycles)
+      : baseCfg(replyId), maxDelayCycles(maxDelayCycles){};
+  ReplyCfg(DeviceCommandId_t replyId, uint16_t maxDelayCycles, LocalPoolDataSetBase* set)
+      : ReplyCfg(replyId, maxDelayCycles) {
+    dataSet = set;
+  };
+
+  CfgBase baseCfg;
+  //! A data set can be mapped to a reply ID. This allows to omit the #getDataSetHandle
+  //! override in a user device handler as this pointer will be passed as long as the device
+  //! command ID is equal to the set ID.
+  LocalPoolDataSetBase* dataSet = nullptr;
+  //! For Command-Reply combinations:
+  //! The maximum number of cycles the handler should wait for a reply
+  //! to this command.
+  //!
+  //! Reply Only:
+  //! For periodic replies, this variable will be the number of delay cycles between the replies.
+  //! For the non-periodic variant, this variable is not used as there is no meaningful
+  //! definition for delay
+  uint16_t maxDelayCycles = 0;
+  //! First parameter: Specify whether reply is arriving periodically
+  //! Second parameter: Specify whether periodic reply should be enabled immediately
+  std::pair<bool, bool> periodicCfg = {false, false};
+  //! If a reply needs to be requested with a specific length, the length can be specified here
+  size_t replyLen = 0;
+  //! It is also possible to use a time based instead of a cycle based mechanism to specify
+  //! how long a reply takes. For non-periodic replies without a command, this variable is not used.
+  Countdown* countdown = nullptr;
+};
+
+/**
+ * @brief   Configuration class for commands and replies
+ */
+struct CmdReplyCfg {
+ public:
+  CmdReplyCfg(CmdCfg cmdCfg, ReplyCfg replyCfg) : cmdCfg(cmdCfg), replyCfg(replyCfg) {}
+  CmdCfg cmdCfg;
+  ReplyCfg replyCfg;
+};
+
+#endif /* FSFW_SRC_FSFW_DEVICEHANDLERS_DHBCFGHELPERS_H_ */