.clang-format

@@ -0,0 +1,7 @@
+---
+BasedOnStyle: Google
+IndentWidth: 2
+---
+Language: Cpp
+ColumnLimit: 100
+---

CHANGELOG

@@ -1,175 +0,0 @@
-# Changed from ASTP 1.1.0 to 1.2.0
-
-## API Changes
-
-### FSFW Architecture
-
-- New src folder which contains all source files except the HAL, contributed code and test code
-- External and internal API mostly stayed the same
-- Folder names are now all smaller case: internalError was renamed to internalerror and
-  FreeRTOS was renamed to freertos
-- Warning if optional headers are used but the modules was not added to the source files to compile
-
-### HAL
-
-- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
-  made using it more complicated than necessary
-
-## Bugfixes
-
-### FreeRTOS QueueMapManager
-
-- Fixed a bug which causes the first generated Queue ID to be invalid
-
-## Enhancements
-
-### FSFW Architecture
-
-- See API changes chapter. This change will keep the internal API consistent in the future
-
-# Changes from ASTP 1.0.0 to 1.1.0
-
-## API Changes
-
-### PUS
-
-- Added PUS C support
-- SUBSYSTEM_IDs added for PUS Services
-- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
-
-### ObjectManager
-
- - ObjectManager is now a singelton
-
-
-### Configuration
-
-- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
-  need to be specified in FSFWConfig.h
-
-### CMake
-
-- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
-
-## Bugfixes 
-
-- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
-- TCP server fixes
-
-## Enhancements
-
-### FreeRTOS Queue Handles
-
-- Fixed an internal issue how FreeRTOS MessageQueues were handled
-
-### Linux OSAL
-
-- Better printf error messages
-
-### CMake
-
-- Check for C++11 as mininimum required Version
-
-### Debug Output
-
-- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
-
-
-# Changes from ASTP 0.0.1 to 1.0.0
-
-### Host OSAL
-
-- Bugfix in MessageQueue, which caused the sender not to be set properly
-
-### FreeRTOS OSAL
-
-- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
-a C file without issues
-
-### PUS Services
-
-- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
-- The same is possible for the event reporting service (PUS5)
-- PUS Health Service added, which allows to command and retrieve health via PUS packets
-
-
-### EnhancedControllerBase
-
-- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
-
-### Local Pool
-
-- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
-bucket number of the pools per page and the number of pages are passed to the ctor instead of
-two ctor arguments and a template parameter
-
-### Parameter Service
-
-- The API of the parameter service has been changed to prevent inconsistencies
-between documentation and actual code and to clarify usage.
-- The parameter ID now consists of:
-	1. Domain ID (1 byte)
-	2. Unique Identifier (1 byte)
-	3. Linear Index (2 bytes)
-The linear index can be used for arrays as well as matrices.
-The parameter load command now explicitely expects the ECSS PTC and PFC
-information as well as  the rows and column number. Rows and column will
-default to one, which is equivalent to one scalar parameter (the most
-important use-case)
-   
-### File System Interface
-
-- A new interfaces specifies the functions for a software object which exposes the file system of
-a given hardware to use message based file handling (e.g. PUS commanding)
-
-### Internal Error Reporter
-
-- The new internal error reporter uses the local data pools. The pool IDs for
-the exisiting three error values and the new error set will be hardcoded for
-now, the the constructor for the internal error reporter just takes an object
-ID for now.
-
-### Device Handler Base
-
-- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
-that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
-a clear distinction between operation and communication steps
-- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
-- getTransitionDelayMs is now an abstract method
-
-### DeviceHandlerIF
-
-- Typo for UNKNOWN_DEVICE_REPLY 
-
-### Events
-
-- makeEvent function: Now takes three input parameters instead of two and
-allows setting a unique ID. Event.cpp source file removed, functions now
-defined in header directly. Namespaces renamed. Functions declared `constexpr`
-now
-
-### Commanding Service Base
-
-- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
-CSB instance. This variable has to be set in the FSFWConfig.h file
-
-### Service Interface
-
-- Proper printf support contained in ServiceInterfacePrinter.h
-- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
-- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. 
-  Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
-- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. 
-  For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
-  For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
-  If this is not the case, everything should work as usual.
-
-### ActionHelper and ActionMessage
-
-- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
-information whether to report a success or failure message instead of deriving it implicitely 
-from returnvalue
-
-### PUS Parameter Service 20
-
-Added PUS parameter service 20 (only custom subservices available).

CHANGELOG.md

@@ -0,0 +1,404 @@
+Change Log
+=======
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+# [unreleased]
+
+# [v5.0.0]
+
+## Changes
+
+- GPIO HAL: Renamed entries of enumerations to avoid nameclashes with Windows defines.
+  `IN` and `OUT` in `Direction` changed to `DIR_IN` and `DIR_OUT`.
+  `CALLBACK` in `GpioTypes` changed to `TYPE_CALLBACK`
+- HAL Devicehandlers: Periodic printout is run-time configurable now
+- `oneShotAction` flag in the `TestTask` class is not static anymore
+
+## Removed
+
+- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
+  datapools have been implemented
+
+## Additions
+
+- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
+
+# [v4.0.0]
+
+## Additions
+
+- CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to
+  allow sending of CFDP packets to the CCSDS handlers.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/528
+- added virtual function to print datasets
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/544
+- doSendRead Hook
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/545
+- Dockumentation for DHB
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/551
+  
+### HAL additions
+
+- Linux Command Executor, which can execute shell commands in blocking and non-blocking mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/536
+- uio Mapper
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/543
+
+## Changes
+
+- Applied the `clang-format` auto-formatter to all source code
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/534
+- Updated Catch2 to v3.0.0-preview4
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/538
+- Changed CI to use prebuilt docker image
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/549
+
+## Bugfix
+
+- CMake fixes in PR https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/533 , was problematic
+  if the uppermost user `CMakeLists.txt` did not have the include paths set up properly, which
+  could lead to compile errors that `#include "fsfw/FSFW.h"` was not found.
+- Fix for build regression in Catch2 v3.0.0-preview4
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/548
+- Fix in unittest which failed on CI
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/552
+- Fix in helper script
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/553
+
+## API Changes
+
+- Aforementioned changes to existing TMTC stack
+
+## Known bugs
+
+- 
+
+# [v3.0.1]
+
+## API Changes
+
+* 
+
+## Bugfixes
+
+* Version number was not updated for v3.0.0 #542
+
+## Enhancement
+
+* 
+
+## Known bugs
+
+* 
+
+# [v3.0.0]
+
+## API Changes
+
+#### TCP Socket Changes
+
+* Keep Open TCP Implementation #496
+    * The socket will now kept open after disconnect. This allows reconnecting. 
+    * Only one connection is allowed
+    * No internal influence but clients need to change their Code.
+
+### GPIO IF
+
+* Add feature to open GPIO by line name #506
+
+### Bitutil
+
+* Unittests for Op Divider and Bitutility #510
+
+### Filesystem IF changed
+
+*  Filesystem Base Interface: Use IF instead of void pointer #511 
+
+### STM32
+
+* STM32 SPI Updates #518
+
+## Bugfixes
+
+* Small bugfix for LIS3 handler #504
+* Spelling fixed for function names #509
+* CMakeLists fixes #517
+* Out of bound reads and writes in unittests #519
+* Bug in TmPacketStoredPusC (#478)
+* Windows ifdef fixed #529
+
+## Enhancement
+
+* FSFW.h.in more default values #491
+* Minor updates for PUS services #498
+* HasReturnvaluesIF naming for parameter #499
+* Tests can now be built as part of FSFW and versioning moved to CMake #500
+*  Added integration test code #508 
+* More printouts for rejected TC packets #505
+* Arrayprinter format improvements #514
+* Adding code for CI with docker and jenkins #520
+* Added new function in SerializeAdapter  #513
+    *  Enables simple deSerialize if you keep track of the buffer position yourself
+    *  `` static ReturnValue_t deSerialize(T *object, const uint8_t* buffer,
+            size_t* deserSize, SerializeIF::Endianness streamEndianness) ``
+* Unittest helper scripts has a new Parameter to open the coverage html in the webrowser  #525
+    * ``'-o', '--open', Open coverage data in webbrowser`` 
+* Documentation updated. Sphinx Documentation can now be build with python script #526
+
+## Known bugs
+
+* Version number was not updated for v3.0.0 #542
+
+
+All Pull Requests:
+
+Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19
+
+# [v2.0.0]
+
+## API Changes
+
+
+### File Structure changed to fit more common structure
+
+* See pull request (#445)
+  * HAL is now part of the main project
+    * **See Instructions below:**
+
+#### Instruction how to update existing / user code
+
+* Changes in `#include`:
+  * Rename `internalError` in includes to `internalerror`
+  * Rename `fsfw/hal` to `fsfw_hal`
+  * Rename `fsfw/tests` to `fsfw_tests`
+  * Rename `osal/FreeRTOS` to `osal/freertos`
+
+* Changes in `CMakeLists.txt`: 
+  * Rename `OS_FSFW` to `FSFW_OSAL`
+
+* Changes in `DleEncoder.cpp`
+    * Create an instance of the `DleEncoder` first before calling the `encode` and `decode` functions
+
+### Removed osal/linux/Timer (#486)
+
+* Was redundant to timemanager/Countdown
+
+#### Instruction how to update existing / user code
+
+* Use timemanager/Countdown instead
+
+## Bugfixes
+
+### TM Stack
+
+* Increased TM stack robustness by introducing `nullptr` checks and more printouts (#483)
+
+#### Host OSAL / FreeRTOS 
+
+* QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)
+
+#### Events
+
+* Event output is now consistent (#447)
+
+#### DLE Encoder
+
+* Fixed possible out of bounds access in DLE Encoder (#492)
+
+## Enhancment
+
+* HAL as major new feature, also includes three MEMS devicehandlers as part of #481
+* Linux HAL updates (#456)
+* FreeRTOS Header cleaning update and Cmake tweaks (#442)
+* Printer updates (#453)
+* New returnvalue for for empty PST (#485)
+* TMTC Bridge: Increase limit of packets stored (#484)
+
+## Known bugs
+
+* Bug in TmPacketStoredPusC (#478)
+
+
+All Pull Requests:
+
+Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5
+
+# [v1.2.0]
+
+## API Changes
+
+### FSFW Architecture
+
+- New src folder which contains all source files except the HAL, contributed code and test code
+- External and internal API mostly stayed the same
+- Folder names are now all smaller case: internalError was renamed to internalerror and
+  FreeRTOS was renamed to freertos
+- Warning if optional headers are used but the modules was not added to the source files to compile
+
+### HAL
+
+- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
+  made using it more complicated than necessary
+
+## Bugfixes
+
+### FreeRTOS QueueMapManager
+
+- Fixed a bug which causes the first generated Queue ID to be invalid
+
+## Enhancements
+
+### FSFW Architecture
+
+- See API changes chapter. This change will keep the internal API consistent in the future
+
+# [v1.1.0]
+
+## API Changes
+
+### PUS
+
+- Added PUS C support
+- SUBSYSTEM_IDs added for PUS Services
+- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
+
+### ObjectManager
+
+ - ObjectManager is now a singelton
+
+
+### Configuration
+
+- Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
+  need to be specified in FSFWConfig.h
+
+### CMake
+
+- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
+
+## Bugfixes 
+
+- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
+- TCP server fixes
+
+## Enhancements
+
+### FreeRTOS Queue Handles
+
+- Fixed an internal issue how FreeRTOS MessageQueues were handled
+
+### Linux OSAL
+
+- Better printf error messages
+
+### CMake
+
+- Check for C++11 as mininimum required Version
+
+### Debug Output
+
+- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs
+
+
+# Changes from ASTP 0.0.1 to 1.0.0
+
+### Host OSAL
+
+- Bugfix in MessageQueue, which caused the sender not to be set properly
+
+### FreeRTOS OSAL
+
+- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
+a C file without issues
+
+### PUS Services
+
+- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
+- The same is possible for the event reporting service (PUS5)
+- PUS Health Service added, which allows to command and retrieve health via PUS packets
+
+
+### EnhancedControllerBase
+
+- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
+
+### Local Pool
+
+- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
+bucket number of the pools per page and the number of pages are passed to the ctor instead of
+two ctor arguments and a template parameter
+
+### Parameter Service
+
+- The API of the parameter service has been changed to prevent inconsistencies
+between documentation and actual code and to clarify usage.
+- The parameter ID now consists of:
+	1. Domain ID (1 byte)
+	2. Unique Identifier (1 byte)
+	3. Linear Index (2 bytes)
+The linear index can be used for arrays as well as matrices.
+The parameter load command now explicitely expects the ECSS PTC and PFC
+information as well as  the rows and column number. Rows and column will
+default to one, which is equivalent to one scalar parameter (the most
+important use-case)
+   
+### File System Interface
+
+- A new interfaces specifies the functions for a software object which exposes the file system of
+a given hardware to use message based file handling (e.g. PUS commanding)
+
+### Internal Error Reporter
+
+- The new internal error reporter uses the local data pools. The pool IDs for
+the exisiting three error values and the new error set will be hardcoded for
+now, the the constructor for the internal error reporter just takes an object
+ID for now.
+
+### Device Handler Base
+
+- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
+that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
+a clear distinction between operation and communication steps
+- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
+- getTransitionDelayMs is now an abstract method
+
+### DeviceHandlerIF
+
+- Typo for UNKNOWN_DEVICE_REPLY 
+
+### Events
+
+- makeEvent function: Now takes three input parameters instead of two and
+allows setting a unique ID. Event.cpp source file removed, functions now
+defined in header directly. Namespaces renamed. Functions declared `constexpr`
+now
+
+### Commanding Service Base
+
+- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
+CSB instance. This variable has to be set in the FSFWConfig.h file
+
+### Service Interface
+
+- Proper printf support contained in ServiceInterfacePrinter.h
+- CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
+- Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. 
+  Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
+- If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. 
+  For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. 
+  For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
+  If this is not the case, everything should work as usual.
+
+### ActionHelper and ActionMessage
+
+- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
+information whether to report a success or failure message instead of deriving it implicitely 
+from returnvalue
+
+### PUS Parameter Service 20
+
+Added PUS parameter service 20 (only custom subservices available).

CMakeLists.txt

@@ -1,9 +1,12 @@
 cmake_minimum_required(VERSION 3.13)
 
-set(FSFW_VERSION 2)
+set(FSFW_VERSION 4)
 set(FSFW_SUBVERSION 0)
 set(FSFW_REVISION 0)
 
+# Add the cmake folder so the FindSphinx module is found
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+
 option(FSFW_GENERATE_SECTIONS
     "Generate function and data sections. Required to remove unused code" ON
 )
@@ -12,6 +15,7 @@ if(FSFW_GENERATE_SECTIONS)
 endif()
 
 option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
 if(FSFW_BUILD_UNITTESTS)
     option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
@@ -36,7 +40,9 @@ option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
 set(LIB_FSFW_NAME fsfw)
 set(FSFW_TEST_TGT fsfw-tests)
+set(FSFW_DUMMY_TGT fsfw-dummy)
 
+project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
 
 if(FSFW_BUILD_UNITTESTS)
@@ -50,16 +56,17 @@ if(FSFW_BUILD_UNITTESTS)
         FetchContent_Declare(
             Catch2
             GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        v3.0.0-preview3
+            GIT_TAG        v3.0.0-preview4
         )
 
         FetchContent_MakeAvailable(Catch2)
+        #fixes regression -preview4, to be confirmed in later releases
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
     endif()
 
     set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
     configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
     configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
-    configure_file(tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in OBSWConfig.h)
 
     project(${FSFW_TEST_TGT} CXX C)
     add_executable(${FSFW_TEST_TGT})
@@ -85,7 +92,7 @@ set(FSFW_CORE_INC_PATH "inc")
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
-# Configure Files
+# For configure files
 target_include_directories(${LIB_FSFW_NAME} PRIVATE
     ${CMAKE_CURRENT_BINARY_DIR}
 )
@@ -147,13 +154,8 @@ else()
     set(OS_FSFW "host")
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
-    configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
+configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
-    configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
-else()
-    configure_file(src/fsfw/FSFW.h.in FSFW.h)
-    configure_file(src/fsfw/FSFWVersion.h.in FSFWVersion.h)
-endif()
 
 message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 
@@ -163,6 +165,9 @@ if(FSFW_ADD_HAL)
     add_subdirectory(hal)
 endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_DOCS)
+    add_subdirectory(docs)
+endif()
 
 if(FSFW_BUILD_UNITTESTS)
     if(FSFW_TESTS_GEN_COV)
@@ -189,13 +194,13 @@ if(FSFW_BUILD_UNITTESTS)
                     "--exclude-unreachable-branches"
                 )
                 set(COVERAGE_EXCLUDES
-                    "/c/msys64/mingw64/*"
+                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
                 )
             elseif(UNIX)
                 set(COVERAGE_EXCLUDES
                     "/usr/include/*" "/usr/bin/*" "Catch2/*"
                     "/usr/local/include/*" "*/fsfw_tests/*"
-                    "*/catch2-src/*"
+                    "*/catch2-src/*" "*/fsfw_hal/*"
                 )
             endif()
 
@@ -234,9 +239,11 @@ endif()
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
 # If this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-    message(WARNING "Flight Software Framework configuration path not set!")
     set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
-    message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+    if(NOT FSFW_BUILD_DOCS)
+        message(WARNING "Flight Software Framework configuration path not set!")
+        message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+    endif()
     add_subdirectory(${DEF_CONF_PATH})
     set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
@@ -274,6 +281,24 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 		  -Wimplicit-fallthrough=1
 		  -Wno-unused-parameter
 		  -Wno-psabi
+          -Wduplicated-cond # check for duplicate conditions
+          -Wduplicated-branches # check for duplicate branches
+          -Wlogical-op # Search for bitwise operations instead of logical 
+          -Wnull-dereference # Search for NULL dereference
+          -Wundef # Warn if undefind marcos are used
+          -Wformat=2 # Format string problem detection
+          -Wformat-overflow=2 # Formatting issues in printf
+          -Wformat-truncation=2 # Formatting issues in printf
+          -Wformat-security # Search for dangerous printf operations
+          -Wstrict-overflow=3 # Warn if integer overflows might happen
+          -Warray-bounds=2 # Some array bounds violations will be found
+          -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
+          -Wcast-qual # Warn if the constness is cast away
+          -Wstringop-overflow=4
+          # -Wstack-protector # Emits a few false positives for low level access
+          # -Wconversion # Creates many false positives
+          # -Warith-conversion # Use with Wconversion to find more implicit conversions
+          # -fanalyzer # Should be used to look through problems
         )
     endif()
 

README.md

@@ -42,7 +42,7 @@ There are some functions like `printChar` which are different depending on the t
 and need to be implemented by the mission developer.
 
 A template configuration folder was provided and can be copied into the project root to have
-a starting point. The [configuration section](doc/README-config.md#top) provides more specific 
+a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
 information about the possible options.
 
 ## Adding the library
@@ -71,9 +71,9 @@ add and link against the FSFW library in general.
 
 4. Link against the FSFW library
 
-	```cmake
+   ```cmake
-	target_link_libraries(<YourProjectName> PRIVATE fsfw)
+   target_link_libraries(${YourProjectName} PRIVATE fsfw)
-	```
+   ```
 
 5. It should now be possible use the FSFW as a static library from the user code.
 
@@ -91,7 +91,7 @@ You can use the following commands inside the `fsfw` folder to set up the build
 
 ```sh
 mkdir build-Unittest && cd build-Unittest
-cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 
 You can also use `-DFSFW_OSAL=linux` on Linux systems.
@@ -107,16 +107,58 @@ cmake --build . -- fsfw-tests_coverage -j
 
 The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
 
+## Building the documentations
+
+The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
+instructions provided in  [this blogpost](https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/). If you
+want to do this locally, set up the prerequisites first. This requires a ``python3``
+installation as well. Example here is for Ubuntu.
+
+```sh
+sudo apt-get install doxygen graphviz
+```
+
+And the following Python packages
+
+```sh
+python3 -m pip install sphinx breathe
+```
+
+You can set up a documentation build system using the following commands
+
+```sh
+mkdir build-docs && cd build-docs
+cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
+```
+
+Then you can generate the documentation using
+
+```sh
+cmake --build . -j
+```
+
+You can find the generated documentation inside the `docs/sphinx` folder inside the build
+folder. Simply open the `index.html` in the webbrowser of your choice.
+
+The `helper.py` script located in the script` folder can also be used to create, build
+and open the documentation conveniently. Try `helper.py -h for more information.
+
+## Formatting the sources
+
+The formatting is done by the `clang-format` tool. The configuration is contained within the
+`.clang-format` file in the repository root. As long as `clang-format` is installed, you
+can run the `apply-clang-format.sh` helper script to format all source files consistently.
+
 ## Index
 
-[1. High-level overview](doc/README-highlevel.md#top) <br>
+[1. High-level overview](docs/README-highlevel.md#top) <br>
-[2. Core components](doc/README-core.md#top) <br>
+[2. Core components](docs/README-core.md#top) <br>
-[3. Configuration](doc/README-config.md#top) <br>
+[3. Configuration](docs/README-config.md#top) <br>
-[4. OSAL overview](doc/README-osal.md#top) <br>
+[4. OSAL overview](docs/README-osal.md#top) <br>
-[5. PUS services](doc/README-pus.md#top) <br>
+[5. PUS services](docs/README-pus.md#top) <br>
-[6. Device Handler overview](doc/README-devicehandlers.md#top) <br>
+[6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
-[7. Controller overview](doc/README-controllers.md#top) <br>
+[7. Controller overview](docs/README-controllers.md#top) <br>
-[8. Local Data Pools](doc/README-localpools.md#top) <br>
+[8. Local Data Pools](docs/README-localpools.md#top) <br>
 
 
 

automation/Dockerfile

@@ -5,4 +5,4 @@ RUN apt-get --yes upgrade
 
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping

automation/Jenkinsfile

@@ -1,28 +1,17 @@
 pipeline {
-    agent any
     environment {
-        BUILDDIR = 'build-unittests'
+        BUILDDIR = 'build-tests'
+    }
+    agent {
+        docker { image 'fsfw-ci:d1'}
     }
     stages {
-        stage('Create Docker') {
+        stage('Clean') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    additionalBuildArgs  '--no-cache'
-                    reuseNode true
-                }
-            }
             steps {
                 sh 'rm -rf $BUILDDIR'
             }
         }
         stage('Configure') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
             steps {
                 dir(BUILDDIR) {
                     sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
@@ -30,38 +19,20 @@ pipeline {
             }
         }
         stage('Build') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake --build . -j'
+                    sh 'cmake --build . -j4'
                 }
             }
         }
         stage('Unittests') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake --build . -- fsfw-tests_coverage -j'
+                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
                 }
             }
         }
         stage('Valgrind') {
-            agent {
-                dockerfile {
-                    dir 'automation'
-                    reuseNode true
-                }
-            }
             steps {
                 dir(BUILDDIR) {
                     sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'

cmake/FindSphinx.cmake

@@ -0,0 +1,13 @@
+# Look for an executable called sphinx-build
+find_program(SPHINX_EXECUTABLE
+             NAMES sphinx-build
+             DOC "Path to sphinx-build executable")
+
+include(FindPackageHandleStandardArgs)
+
+# Handle standard arguments to find_package like REQUIRED and QUIET
+find_package_handle_standard_args(
+    Sphinx
+    "Failed to find sphinx-build executable"
+    SPHINX_EXECUTABLE
+)

docs/.gitignore

@@ -0,0 +1 @@
+/_build

docs/CMakeLists.txt

@@ -0,0 +1,66 @@
+# This is based on this excellent posting provided by Sy: 
+# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/
+find_package(Doxygen REQUIRED)
+find_package(Sphinx REQUIRED)
+
+get_target_property(LIB_FSFW_PUBLIC_HEADER_DIRS ${LIB_FSFW_NAME} INTERFACE_INCLUDE_DIRECTORIES)
+# TODO: Add HAL as well
+file(GLOB_RECURSE LIB_FSFW_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/src/*.h)
+file(GLOB_RECURSE RST_DOC_FILES ${PROJECT_SOURCE_DIR}/docs/*.rst)
+
+set(DOXYGEN_INPUT_DIR ${PROJECT_SOURCE_DIR}/src)
+set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen)
+set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
+set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
+set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+# Replace variables inside @@ with the current values
+configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
+
+# Doxygen won't create this for us
+file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
+
+# Only regenerate Doxygen when the Doxyfile or public headers change
+add_custom_command(
+  OUTPUT ${DOXYGEN_INDEX_FILE}
+  DEPENDS ${LIB_FSFW_PUBLIC_HEADERS}
+  COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
+  MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
+  COMMENT "Generating docs"
+  VERBATIM
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
+
+set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
+set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
+set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
+
+# Only regenerate Sphinx when:
+# - Doxygen has rerun
+# - Our doc files have been updated
+# - The Sphinx config has been updated
+add_custom_command(
+  OUTPUT ${SPHINX_INDEX_FILE}
+  COMMAND
+    ${SPHINX_EXECUTABLE} -b html
+    # Tell Breathe where to find the Doxygen output
+    -Dbreathe_projects.fsfw=${DOXYGEN_OUTPUT_DIR}/xml
+  ${SPHINX_SOURCE} ${SPHINX_BUILD}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  DEPENDS
+  # Other docs files you want to track should go here (or in some variable)
+  ${RST_DOC_FILES}
+  ${DOXYGEN_INDEX_FILE}
+  MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
+  COMMENT "Generating documentation with Sphinx"
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
+
+# Add an install target to install the docs
+include(GNUInstallDirs)
+install(DIRECTORY ${SPHINX_BUILD}
+DESTINATION ${CMAKE_INSTALL_DOCDIR})

docs/Doxyfile.in

@@ -0,0 +1,7 @@
+INPUT = "@DOXYGEN_INPUT_DIR@"
+
+RECURSIVE = YES
+
+OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
+
+GENERATE_XML = YES

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README-localpools.md

@@ -31,7 +31,9 @@ cohesive pool variables. These sets simply iterator over the list of variables a
 `read` and `commit` functions of each variable. The following diagram shows the
 high-level architecture of the local data pools.
 
-<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
 
 An example is shown for using the local data pools with a Gyroscope.
 For example, the following code shows an implementation to access data from a Gyroscope taken

docs/api.rst

@@ -0,0 +1,16 @@
+API
+====
+
+.. toctree::
+   :maxdepth: 4
+
+   api/objectmanager
+   api/task
+   api/ipc
+   api/returnvalue
+   api/event
+   api/modes
+   api/health
+   api/action
+   api/devicehandler
+   api/controller

docs/api/action.rst

@@ -0,0 +1,15 @@
+Action Module API
+=================
+
+``ActionHelper``
+-----------------
+
+.. doxygenclass:: ActionHelper
+	:members:
+
+``HasActionsIF``
+-----------------
+
+.. doxygenclass:: HasActionsIF
+	:members:
+	:protected-members:

docs/api/controller.rst

@@ -0,0 +1,16 @@
+Controller API
+=================
+
+``ControllerBase``
+-------------------------
+
+.. doxygenclass:: ControllerBase
+	:members:
+	:protected-members:
+
+``ExtendedControllerBase``
+-----------------------------
+
+.. doxygenclass:: ExtendedControllerBase
+	:members:
+	:protected-members:

docs/api/devicehandler.rst

@@ -0,0 +1,16 @@
+Device Handler Base API
+=========================
+
+``DeviceHandlerBase``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerBase
+	:members:
+	:protected-members:
+
+``DeviceHandlerIF``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerIF
+	:members:
+	:protected-members:

docs/api/event.rst

@@ -0,0 +1,6 @@
+.. _eventapi:
+
+Event API
+============
+
+.. doxygenfile:: Event.h

docs/api/health.rst

@@ -0,0 +1,9 @@
+Health API
+===========
+
+``HasHealthIF``
+------------------
+
+.. doxygenclass:: HasHealthIF
+	:members:
+	:protected-members:

docs/api/ipc.rst

@@ -0,0 +1,9 @@
+IPC Module API
+=================
+
+``MessageQueueIF``
+-------------------
+
+.. doxygenclass:: MessageQueueIF
+	:members:
+	:protected-members:

docs/api/modes.rst

@@ -0,0 +1,10 @@
+Modes API
+=========
+
+
+``HasModesIF``
+---------------
+
+.. doxygenclass:: HasModesIF
+	:members:
+	:protected-members:

docs/api/objectmanager.rst

@@ -0,0 +1,30 @@
+Object Manager API
+=========================
+
+``SystemObject``
+--------------------
+
+.. doxygenclass:: SystemObject
+	:members:
+	:protected-members:
+
+``ObjectManager``
+-----------------------
+
+.. doxygenclass:: ObjectManager
+	:members:
+	:protected-members:
+
+``SystemObjectIF``
+--------------------
+
+.. doxygenclass:: SystemObjectIF
+	:members:
+	:protected-members:
+
+``ObjectManagerIF``
+-----------------------
+
+.. doxygenclass:: ObjectManagerIF
+	:members:
+	:protected-members:

docs/api/returnvalue.rst

@@ -0,0 +1,10 @@
+.. _retvalapi:
+
+Returnvalue API
+==================
+
+.. doxygenfile:: HasReturnvaluesIF.h
+
+.. _fwclassids:
+
+.. doxygenfile:: FwClassIds.h

docs/api/task.rst

@@ -0,0 +1,8 @@
+Task API
+=========
+
+``ExecutableObjectIF``
+-----------------------
+
+.. doxygenclass:: ExecutableObjectIF
+	:members:

docs/conf.py

@@ -0,0 +1,56 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'Flight Software Framework'
+copyright = '2021, Institute of Space Systems (IRS)'
+author = 'Institute of Space Systems (IRS)'
+
+# The full version, including alpha/beta/rc tags
+release = '2.0.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [ "breathe" ]
+
+breathe_default_project = "fsfw"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'alabaster'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []

docs/config.rst

@@ -0,0 +1,41 @@
+Configuring the FSFW
+=====================
+
+The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
+``misc/defaultcfg`` to have a starting point for this. The folder should be added
+to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
+of the available options will be explained in more detail here.
+
+Auto-Translation of Events
+----------------------------
+
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the
+   `fsfwgen Python scripts <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen>`_.
+3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
+   and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
+4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
+   ``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
+
+An example implementations of these translation file generators can be found as part
+of the `SOURCE project here <https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/develop/generators>`_
+or the `FSFW example <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/generators>`_
+
+Configuring the Event Manager
+----------------------------------
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+.. code-block:: cpp
+
+   namespace fsfwconfig {
+   //! Configure the allocated pool sizes for the event manager.
+   static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+   static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+   static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+   }

docs/controllers.rst

@@ -0,0 +1,2 @@
+Controllers
+=============

docs/core.rst

@@ -0,0 +1,70 @@
+.. _core:
+
+Core Modules
+=============
+
+The core modules provide the most important functionalities of the Flight Software Framework.
+
+Clock
+------
+
+- This is a class of static functions that can be used at anytime
+- Leap Seconds must be set if any time conversions from UTC to other times is used
+
+Object Manager
+---------------
+
+- Must be created during program startup
+- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
+  component.
+- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
+  framework objects.
+- A reference to an object can be retrieved by calling the ``get`` function of
+  :cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
+  A ``nullptr`` check of the returning pointer must be done. This function is based on
+  run-time type information.
+
+	.. code-block:: cpp
+
+		template <typename T> T* ObjectManagerIF::get(object_id_t id);
+
+- A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
+  produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
+  afterwards.
+
+Event Manager
+---------------
+
+- Component which allows routing of events
+- Other objects can subscribe to specific events, ranges of events or all events of an object.
+- Subscriptions can be done during runtime but should be done during initialization
+- Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
+
+Health Table
+---------------
+
+- A component which holds every health state
+- Provides a thread safe way to access all health states without the need of message exchanges
+
+Stores
+--------------
+
+- The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+- Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
+- All of them should use the Thread Safe Class storagemanager/PoolManager
+
+Tasks
+---------
+
+There are two different types of tasks:
+
+- The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+  insertion to the Tasks.
+- FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+  DeviceHandlers, where polling should be in a defined order. An example can be found in 
+  ``defaultcfg/fsfwconfig/pollingSequence`` folder
+

docs/devicehandlers.rst

@@ -0,0 +1,110 @@
+.. _dhb-prim-doc:
+
+Device Handlers
+==================
+
+Device handler components represent, control and monitor equipment, for example sensors or actuators
+of a spacecraft or the payload.
+
+Most device handlers have the same common functionality or
+requirements, which are fulfilled by implementing certain interfaces:
+
+- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
+- The handler needs to communicate with the physical device via a dedicated
+  communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
+- The handler has housekeeping data which has to be exposed to the operator and/or other software
+  components: :cpp:class:`HasLocalDataPoolIF`
+- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
+  also implements :cpp:class:`HasParametersIF`
+- The handler has health states, for example to indicate a broken device:
+  :cpp:class:`HasHealthIF`
+- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
+  and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
+  but that it is not periodically polling data from the
+  physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
+
+The device handler base therefore provides abstractions for a lot of common
+functionality, which can potentially avoid high amounts or logic and code duplication.
+
+Template Device Handler Base File
+----------------------------------
+
+This is an example template device handler header file with all necessary
+functions implemented:
+
+.. code-block:: cpp
+
+	#ifndef __TESTDEVICEHANDLER_H_
+	#define __TESTDEVICEHANDLER_H_
+
+	#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+	class TestDeviceHandler: DeviceHandlerBase {
+	public:
+	  TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
+	private:
+	  void doStartUp() override;
+	  void doShutDown() override;
+	  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+	  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+	  void fillCommandAndReplyMap() override;
+	  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+	                                        size_t commandDataLen) override;
+	  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+	                             size_t* foundLen) override;
+	  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+	  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+	  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                                        LocalDataPoolManager& poolManager) override;
+
+	};
+
+	#endif /* __TESTDEVICEHANDLER_H_ */
+
+and the respective source file with sensible default return values:
+
+.. code-block:: cpp
+
+	#include "TestDeviceHandler.h"
+
+	TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
+	    : DeviceHandlerBase(objectId, comIF, cookie) {}
+
+	void TestDeviceHandler::doStartUp() {}
+
+	void TestDeviceHandler::doShutDown() {}
+
+	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void TestDeviceHandler::fillCommandAndReplyMap() {}
+
+	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+	                                                         const uint8_t* commandData,
+	                                                         size_t commandDataLen) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
+	                                                      const uint8_t* packet) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+	  return 10000;
+	}
+
+	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+	                                                         LocalDataPoolManager& poolManager) {
+	  return HasReturnvaluesIF::RETURN_OK;
+	}

docs/getting_started.rst

@@ -0,0 +1,136 @@
+Getting Started
+================
+
+
+Getting started
+----------------
+
+The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
+It is recommended to get started by building and playing around with the demo application.
+There are also other examples provided for all OSALs using the popular embedded platforms
+Raspberry Pi, Beagle Bone Black and STM32H7.
+
+Generally, the FSFW is included in a project by providing
+a configuration folder, building the static library and linking against it. 
+There are some functions like ``printChar`` which are different depending on the target architecture
+and need to be implemented by the mission developer.
+
+A template configuration folder was provided and can be copied into the project root to have
+a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
+information about the possible options.
+
+Adding the library
+-------------------
+
+The following steps show how to add and use FSFW components. It is still recommended to
+try out the example mentioned above to get started, but the following steps show how to
+add and link against the FSFW library in general.
+
+1. Add this repository as a submodule
+
+   .. code-block:: console
+
+      git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
+
+2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
+
+   .. code-block:: cmake
+
+      add_subdirectory(fsfw)
+
+3. Make sure to provide a configuration folder and supply the path to that folder with
+   the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
+   It is also necessary to provide the `printChar` function. You can find an example
+   implementation for a hosted build
+   `here <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c>`_.
+
+4. Link against the FSFW library
+
+   .. code-block:: cmake
+
+      target_link_libraries(<YourProjectName> PRIVATE fsfw)
+
+
+5. It should now be possible use the FSFW as a static library from the user code.
+
+Building the unittests
+-------------------------
+
+The FSFW also has unittests which use the `Catch2 library`_.
+These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
+from your project `CMakeLists.txt` file or from the command line.
+
+The fsfw-tests binary will be built as part of the static library and dropped alongside it.
+If the unittests are built, the library and the tests will be built with coverage information by
+default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
+
+You can use the following commands inside the ``fsfw`` folder to set up the build system
+
+.. code-block:: console
+
+   mkdir build-tests && cd build-tests
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+
+
+You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
+
+Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
+To build the unittests, run them and then generare the coverage data in this format,
+the following command can be used inside the build directory after the build system was set up
+
+.. code-block:: console
+
+   cmake --build . -- fsfw-tests_coverage -j
+
+
+The ``helper.py`` script located in the ``script`` folder can also be used to create, build
+and open the unittests conveniently. Try ``helper.py -h`` for more information.
+
+Building the documentation
+----------------------------
+
+The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
+instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. If you
+want to do this locally, set up the prerequisites first. This requires a ``python3``
+installation as well. Example here is for Ubuntu.
+
+.. code-block:: console
+
+   sudo apt-get install doxygen graphviz
+
+And the following Python packages
+
+.. code-block:: console
+
+   python3 -m pip install sphinx breathe
+
+You can set up a documentation build system using the following commands
+
+.. code-block:: bash
+
+   mkdir build-docs && cd build-docs
+   cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
+
+Then you can generate the documentation using
+
+.. code-block:: bash
+
+   cmake --build . -j
+
+You can find the generated documentation inside the ``docs/sphinx`` folder inside the build
+folder. Simply open the ``index.html`` in the webbrowser of your choice.
+
+The ``helper.py`` script located in the ``script`` folder can also be used to create, build
+and open the documentation conveniently. Try ``helper.py -h`` for more information.
+
+Formatting the source
+-----------------------
+
+The formatting is done by the ``clang-format`` tool. The configuration is contained within the
+``.clang-format`` file in the repository root. As long as ``clang-format`` is installed, you
+can run the ``apply-clang-format.sh`` helper script to format all source files consistently.
+
+
+.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
+.. _`Catch2 library`: https://github.com/catchorg/Catch2
+.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

docs/highlevel.rst

@@ -0,0 +1,149 @@
+.. _highlevel:
+
+High-level overview
+===================
+
+Structure
+----------
+
+The general structure is driven by the usage of interfaces provided by objects.
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
+This simplifies the instantiation of objects and allows the usage of some standard containers.
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
+
+Failure Handling
+-----------------
+
+Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
+or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
+See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
+``fsfwconfig`` folder.
+
+OSAL
+------------
+
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
+The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
+The :ref:`OSAL README <osal>` provides more detailed information on provided components
+and how to use them.
+
+Core Components
+----------------
+
+The FSFW has following core components. More detailed informations can be found in the
+:ref:`core component section <core>`:
+
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
+   with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
+4. Clock: This module provided common time related functions
+5. EventManager: This module allows routing of events generated by `SystemObjects`
+6. HealthTable: A component which stores the health states of objects
+
+Static IDs in the framework
+--------------------------------
+
+Some parts of the framework use a static routing address for communication.
+An example setup of IDs can be found in the example config in ``misc/defaultcfg/fsfwconfig/objects``
+inside the function ``Factory::setStaticFrameworkObjectIds``.
+
+Events
+----------------
+
+Events are tied to objects. EventIds can be generated by calling the
+:ref:`macro MAKE_EVENT <eventapi>` or the function :cpp:func:`event::makeEvent`.
+This works analog to the returnvalues. Every object that needs own Event IDs has to get a
+unique ``SUBSYSTEM_ID``. Every :cpp:class:`SystemObject` can call
+:cpp:func:`SystemObject::triggerEvent` from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
+
+Internal Communication
+-------------------------
+
+Components communicate mostly via Messages through Queues.
+Those queues are created by calling the singleton ``QueueFactory::instance()->create`` which
+will create `MessageQueue` instances for the used OSAL.
+
+External Communication
+--------------------------
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used.
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+TMTC Communication
+~~~~~~~~~~~~~~~~~~~
+
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
+files located in ``osal/common``. The FSFW example uses this functionality to allow sending
+telecommands and receiving telemetry using the
+`TMTC commander application <https://github.com/robamu-org/tmtccmd>`_.
+
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+``tmtc_client_cli.py`` or ``tmtc_client_gui.py`` utility in
+the `example tmtc folder <https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc>`_
+while the `fsfw_example` application is running.
+
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic ``TmTcBridge`` class located in ``tmtcservices``. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the ``TmTcBridge`` implementation.
+
+CCSDS Frames, CCSDS Space Packets and PUS
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in ``tcdistribution``.
+If Space Packets are used, a timestamper has to be provided by the user.
+An example can be found in the ``timemanager`` folder, which uses ``CCSDSTime::CDS_short``.
+
+Device Handlers
+--------------------------
+
+DeviceHandlers are another important component of the FSFW. The idea is, to have a software
+counterpart of every physical device to provide a simple mode, health and commanding interface.
+By separating the underlying Communication Interface with
+``DeviceCommunicationIF``, a device handler (DH) can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow
+for FDIR reaction.  Device Handlers can be created by implementing ``DeviceHandlerBase``.
+A standard FDIR component for the DH will be created automatically but can
+be overwritten by the user. More information on DeviceHandlers can be found in the
+related :ref:`documentation section <dhb-prim-doc>`.
+
+Modes and Health
+--------------------
+
+The two interfaces ``HasModesIF`` and ``HasHealthIF`` provide access for commanding and monitoring
+of components. On-board mode management is implement in hierarchy system.
+
+- Device handlers and controllers are the lowest part of the hierarchy.
+- The next layer are assemblies. Those assemblies act as a component which handle
+  redundancies of handlers. Assemblies share a common core with the top level subsystem components
+- The top level subsystem components are used to group assemblies, controllers and device handlers.
+  For example, a spacecraft can have a atttitude control subsystem and a power subsystem.
+
+Those assemblies are intended to act as auto-generated components from a database which describes
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component.
+The target table is used to describe the state that is checked continuously by the subsystem.
+All of this allows System Modes to be generated as Subsystem object as well from the same database.
+This System contains list of subsystem modes in the transition and target tables.
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
+
+The health state represents if the component is able to perform its tasks.
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery.

docs/index.rst

@@ -0,0 +1,69 @@
+.. Flight Software Framework documentation master file, created by
+   sphinx-quickstart on Tue Nov 30 10:56:03 2021.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Flight Software Framework (FSFW) documentation
+================================================
+
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
+The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
+automated systems like Satellites. 
+
+The initial version of the Flight Software Framework was developed during
+the Flying Laptop Project by the University of Stuttgart in cooperation
+with Airbus Defence and Space GmbH.
+
+Quick facts
+---------------
+
+The framework is designed for systems, which communicate with external devices, perform control
+loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
+Therefore, a mode and health system provides control over the states of the software and the
+controlled devices. In addition, a simple mechanism of event based fault detection, isolation and
+recovery is implemented as well.
+
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system
+abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
+also very useful for developers to implement the same application logic on different operating
+systems with a uniform interface.
+
+Currently, the FSFW provides the following OSALs:
+
+- Linux
+- Host 
+- FreeRTOS
+- RTEMS
+
+The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
+memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
+ISISPACE IOBC or a Zynq-7020 SoC. The ``fsfw`` was also successfully run on the
+STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
+satellite mission Flying Laptop.
+
+Index
+-------
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   getting_started
+   highlevel
+   core
+   config
+   osal
+   pus
+   devicehandlers
+   controllers
+   localpools
+   api
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

docs/localpools.rst

@@ -0,0 +1,181 @@
+Local Data Pools
+=========================================
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be
+used by other software objects like controllers as well. If a custom class should have a local
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a ``LocalDataPoolManager`` member object in the custom class
+2. Implement the ``HasLocalDataPoolIF`` with specifies the interface between the local pool
+   manager and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change
+detected by the data creator instead of checking the data manually each cycle. Two important
+framework classes ``DeviceHandlerBase`` and ``ExtendedControllerBase`` already perform the two steps
+shown above so the steps required are altered slightly.
+
+Storing and Accessing pool data
+-------------------------------------
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a ``read`` call. Changed variables can then be written to the local pool with a ``commit`` call.
+The ``read`` and ``commit`` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all
+cohesive pool variables. These sets simply iterator over the list of variables and call the
+``read`` and ``commit`` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+.. image:: ../docs/images/PoolArchitecture.png
+	:alt: Pool Architecture
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+.. code-block:: cpp
+
+	class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+	public:
+	    /**
+	     * Constructor for data users
+	     * @param gyroId
+	     */
+	    GyroPrimaryDataset(object_id_t gyroId):
+	            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+	        setAllVariablesReadOnly();
+	    }
+
+	    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_X, this);
+	    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_Y, this);
+	    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_Z, this);
+	private:
+
+	    friend class GyroHandler;
+	    /**
+	     * Constructor for data creator
+	     * @param hkOwner
+	     */
+	    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+	            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+	};
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the ``GyroHandler``
+as a friend class. Both the atittude controller and the ``GyroHandler`` can now
+use the same class definition to access the pool variables with ``read`` and ``commit`` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a ``DeviceHandlerBase`` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+Using the local data pools in a ``DeviceHandlerBase`` subclass
+--------------------------------------------------------------
+
+It is very common to store data generated by devices like a sensor into a pool which can
+then be used by other objects. Therefore, the ``DeviceHandlerBase`` already has a
+local pool. Using the aforementioned example, the ``GyroHandler`` will now have the set class
+as a member:
+
+.. code-block:: cpp
+
+	class GyroHandler: ... {
+
+	public:
+		...
+	private:
+		...
+		GyroPrimaryDataset gyroData;
+		...
+	};
+
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+.. code-block:: cpp
+
+	GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+	        CookieIF *comCookie, uint8_t switchId):
+	        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+			gyroData(this) {}
+
+
+We need to assign the set to a reply ID used in the ``DeviceHandlerBase``.
+The combination of the ``GyroHandler`` object ID and the reply ID will be the 64-bit structure ID
+``sid_t`` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local
+pool manager can access the custom data sets as well.
+By default, the ``getDataSetHandle`` will take care of this tasks. The default implementation for a
+``DeviceHandlerBase`` subclass will use the internal command map to retrieve
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the ``fillCommandAndReplyMap`` function:
+
+.. code-block:: cpp
+
+	void GyroHandler::fillCommandAndReplyMap() {
+		...
+		this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+		...
+	}
+
+
+Now, we need to create the actual pool entries as well, using the ``initializeLocalDataPool``
+function. Here, we also immediately subscribe for periodic housekeeping packets
+with an interval of 4 seconds. They are still disabled in this example and can be enabled
+with a housekeeping service command.
+
+.. code-block:: cpp
+
+	ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+			LocalDataPoolManager &poolManager) {
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+				new PoolEntry<uint8_t>({0}));
+		localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+				new PoolEntry<uint8_t>({0}));
+
+		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+Now, if we receive some sensor data and converted them into the right format,
+we can write it into the pool like this, using a guard class to ensure the set is commited back
+in any case:
+
+.. code-block:: cpp
+
+	PoolReadGuard readHelper(&gyroData);
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+		if(not gyroData.isValid()) {
+			gyroData.setValidity(true, true);
+		}
+
+		gyroData.angVelocityX = angularVelocityX;
+		gyroData.angVelocityY = angularVelocityY;
+		gyroData.angVelocityZ = angularVelocityZ;
+	}
+
+
+The guard class will commit the changed data on destruction automatically.
+
+Using the local data pools in a ``ExtendedControllerBase`` subclass
+----------------------------------------------------------------------
+
+Coming soon
+
+

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/osal.rst

@@ -0,0 +1,63 @@
+.. _osal:
+
+Operating System Abstraction Layer (OSAL)
+============================================
+
+Some specific information on the provided OSALs are provided.
+
+Linux
+-------
+
+This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
+embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
+and real-time functionalities. For most UNIX systems, this is done by adding ``-lrt`` and
+``-lpthread`` to the linked libraries in the compilation process. The CMake build support provided
+will do this automatically for the ``fsfw`` target. It should be noted that most UNIX systems need
+to be configured specifically to allow the real-time functionalities required by the FSFW.
+
+Hosted OSAL
+-------------------
+
+This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be
+implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the
+FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike
+the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation).
+Cross-platform serial port (USB) support might be added soon.
+
+FreeRTOS OSAL
+------------------
+
+FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and
+adding the  ``FreeRTOSConfig.h`` file location to the include path. This OSAL has only been tested
+extensively with the pre-emptive scheduler configuration so far but it should in principle also be
+possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme.
+When using newlib (nano), it is also recommended to add ``#define configUSE_NEWLIB_REENTRANT`` to
+the FreeRTOS configuration file to ensure thread-safety.
+
+When using this OSAL, developers also need to provide an implementation for the
+``vRequestContextSwitchFromISR`` function. This has been done because the call to request a context
+switch from an ISR is generally located in the ``portmacro.h`` header and is different depending on
+the target architecture or device.
+
+RTEMS OSAL
+---------------
+
+The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
+
+TCP/IP socket abstraction
+------------------------------
+
+The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets
+have been imlemented. This is very useful to test TMTC handling either on the host computer
+directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending
+TMTC packets via Ethernet.
+
+Example Applications
+----------------------
+
+There are example applications available for each OSAL
+
+- `Hosted OSAL <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted>`_
+- `Linux OSAL for MCUs <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu>`_
+- `FreeRTOS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos>`_
+- `RTEMS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems>`_

docs/pus.rst

@@ -0,0 +1,2 @@
+PUS Services
+==============

hal/CMakeLists.txt

@@ -3,7 +3,14 @@ cmake_minimum_required(VERSION 3.13)
 # Can also be changed by upper CMakeLists.txt file
 find_library(LIB_FSFW_NAME fsfw REQUIRED)
 
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF)
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
+
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
 option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

hal/src/fsfw_hal/CMakeLists.txt

@@ -1,7 +1,7 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
 
-if(FSFW_HAL_ADD_LINUX)
+if(UNIX)
     add_subdirectory(linux)
 endif()
 

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

@@ -1,50 +1,48 @@
 #include "fsfw_hal/common/gpio/GpioCookie.h"
+
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-GpioCookie::GpioCookie() {
+GpioCookie::GpioCookie() {}
-}
 
 ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
-    if (gpioConfig == nullptr) {
+  if (gpioConfig == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
+    sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
 #else
-        sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
+    sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
-#endif
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    auto gpioMapIter = gpioMap.find(gpioId);
-    if(gpioMapIter == gpioMap.end()) {
-        auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
-        if (statusPair.second == false) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
-                    " to GPIO map" << std::endl;
-#else
-            sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
-#endif
-#endif
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
-#else
-    sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
-#endif
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  auto gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+    auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
+    if (statusPair.second == false) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
+                   << std::endl;
+#else
+      sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
+#endif
+#endif
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
+#else
+  sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
+#endif
+#endif
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-GpioMap GpioCookie::getGpioMap() const {
+GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
-    return gpioMap;
-}
 
 GpioCookie::~GpioCookie() {
-    for(auto& config: gpioMap) {
+  for (auto& config : gpioMap) {
-        delete(config.second);
+    delete (config.second);
-    }
+  }
 }

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

@@ -1,12 +1,12 @@
 #ifndef COMMON_GPIO_GPIOCOOKIE_H_
 #define COMMON_GPIO_GPIOCOOKIE_H_
 
-#include "GpioIF.h"
-#include "gpioDefinitions.h"
-
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
+#include "GpioIF.h"
+#include "gpioDefinitions.h"
+
 /**
  * @brief   Cookie for the GpioIF. Allows the GpioIF to determine which
  * 			GPIOs to initialize and whether they should be configured as in- or
@@ -17,25 +17,24 @@
  *
  * @author 	J. Meier
  */
-class GpioCookie: public CookieIF {
+class GpioCookie : public CookieIF {
-public:
+ public:
+  GpioCookie();
 
-    GpioCookie();
+  virtual ~GpioCookie();
 
-    virtual ~GpioCookie();
+  ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
 
-    ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
+  /**
+   * @brief	Get map with registered GPIOs.
+   */
+  GpioMap getGpioMap() const;
 
-    /**
+ private:
-     * @brief	Get map with registered GPIOs.
+  /**
-     */
+   * Returns a copy of the internal GPIO map.
-    GpioMap getGpioMap() const;
+   */
-
+  GpioMap gpioMap;
-private:
-    /**
-     * Returns a copy of the internal GPIO map.
-     */
-    GpioMap gpioMap;
 };
 
 #endif /* COMMON_GPIO_GPIOCOOKIE_H_ */

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

@@ -1,9 +1,10 @@
 #ifndef COMMON_GPIO_GPIOIF_H_
 #define COMMON_GPIO_GPIOIF_H_
 
-#include "gpioDefinitions.h"
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include "gpioDefinitions.h"
 
 class GpioCookie;
 
@@ -13,42 +14,41 @@ class GpioCookie;
  * @author	J. Meier
  */
 class GpioIF : public HasReturnvaluesIF {
-public:
+ public:
+  virtual ~GpioIF(){};
 
-	virtual ~GpioIF() {};
+  /**
+   * @brief   Called by the GPIO using object.
+   * @param cookie	Cookie specifying informations of the GPIOs required
+   * 					by a object.
+   */
+  virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
 
-	/**
+  /**
-	 * @brief   Called by the GPIO using object.
+   * @brief	By implementing this function a child must provide the
-	 * @param cookie	Cookie specifying informations of the GPIOs required
+   * 			functionality to pull a certain GPIO to high logic level.
-	 * 					by a object.
+   *
-	 */
+   * @param gpioId	A unique number which specifies the GPIO to drive.
-	virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
+   * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
+   */
+  virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
 
-	/**
+  /**
-	 * @brief	By implementing this function a child must provide the
+   * @brief	By implementing this function a child must provide the
-	 * 			functionality to pull a certain GPIO to high logic level.
+   * 			functionality to pull a certain GPIO to low logic level.
-	 *
+   *
-	 * @param gpioId	A unique number which specifies the GPIO to drive.
+   * @param gpioId	A unique number which specifies the GPIO to drive.
-	 * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
+   */
-	 */
+  virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
-	virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
 
-	/**
+  /**
-	 * @brief	By implementing this function a child must provide the
+   * @brief   This function requires a child to implement the functionality to read the state of
-	 * 			functionality to pull a certain GPIO to low logic level.
+   *          an ouput or input gpio.
-	 *
+   *
-	 * @param gpioId	A unique number which specifies the GPIO to drive.
+   * @param gpioId    A unique number which specifies the GPIO to read.
-	 */
+   * @param gpioState State of GPIO will be written to this pointer.
-	virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
+   */
-
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
-	/**
-     * @brief   This function requires a child to implement the functionality to read the state of
-     *          an ouput or input gpio.
-     *
-     * @param gpioId    A unique number which specifies the GPIO to read.
-     * @param gpioState State of GPIO will be written to this pointer.
-     */
-    virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
 };
 
 #endif /* COMMON_GPIO_GPIOIF_H_ */

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

@@ -1,44 +1,34 @@
 #ifndef COMMON_GPIO_GPIODEFINITIONS_H_
 #define COMMON_GPIO_GPIODEFINITIONS_H_
 
+#include <map>
 #include <string>
 #include <unordered_map>
-#include <map>
 
 using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels: uint8_t {
+enum class Levels : int { LOW = 0, HIGH = 1, NONE = 99 };
-    LOW = 0,
-    HIGH = 1,
-    NONE = 99
-};
 
-enum Direction: uint8_t {
+enum class Direction : int { IN = 0, OUT = 1 };
-    IN = 0,
-    OUT = 1
-};
 
-enum GpioOperation {
+enum class GpioOperation { READ, WRITE };
-    READ,
-    WRITE
-};
 
 enum class GpioTypes {
-    NONE,
+  NONE,
-    GPIO_REGULAR_BY_CHIP,
+  GPIO_REGULAR_BY_CHIP,
-    GPIO_REGULAR_BY_LABEL,
+  GPIO_REGULAR_BY_LABEL,
-    GPIO_REGULAR_BY_LINE_NAME,
+  GPIO_REGULAR_BY_LINE_NAME,
-    CALLBACK
+  CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
 
-using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
+using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
-        void* args);
+                           void* args);
 
-}
+}  // namespace gpio
 
 /**
  * @brief   Struct containing information about the GPIO to use. This is
@@ -55,78 +45,71 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::L
  *                      pointer.
  */
 class GpioBase {
-public:
+ public:
+  GpioBase() = default;
 
-    GpioBase() = default;
+  GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+           gpio::Levels initValue)
+      : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
 
-    GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+  virtual ~GpioBase(){};
-            gpio::Levels initValue):
-            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
 
-    virtual~ GpioBase() {};
+  // Can be used to cast GpioBase to a concrete child implementation
-
+  gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
-    // Can be used to cast GpioBase to a concrete child implementation
+  std::string consumer;
-    gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
+  gpio::Direction direction = gpio::Direction::IN;
-    std::string consumer;
+  gpio::Levels initValue = gpio::Levels::NONE;
-    gpio::Direction direction = gpio::Direction::IN;
-    gpio::Levels initValue = gpio::Levels::NONE;
 };
 
-class GpiodRegularBase: public GpioBase {
+class GpiodRegularBase : public GpioBase {
-public:
+ public:
-    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+  GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            gpio::Levels initValue, int lineNum):
+                   gpio::Levels initValue, int lineNum)
-            GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
+      : GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
-    }
 
-    // line number will be configured at a later point for the open by line name configuration
+  // line number will be configured at a later point for the open by line name configuration
-    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+  GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
+                   gpio::Levels initValue)
-    }
+      : GpioBase(gpioType, consumer, direction, initValue) {}
 
-    int lineNum = 0;
+  int lineNum = 0;
-    struct gpiod_line* lineHandle = nullptr;
+  struct gpiod_line* lineHandle = nullptr;
 };
 
-class GpiodRegularByChip: public GpiodRegularBase {
+class GpiodRegularByChip : public GpiodRegularBase {
-public:
+ public:
-    GpiodRegularByChip() :
+  GpiodRegularByChip()
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, std::string(), gpio::Direction::IN,
-                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
+                         gpio::Levels::LOW, 0) {}
-    }
 
-    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
+  GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, gpio::Levels initValue_) :
+                     gpio::Direction direction_, gpio::Levels initValue_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, direction_, initValue_,
-                    consumer_, direction_, initValue_, lineNum_),
+                         lineNum_),
-            chipname(chipname_){
+        chipname(chipname_) {}
-    }
 
-    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
+  GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_, gpio::Direction::IN,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
+                         gpio::Levels::LOW, lineNum_),
-            chipname(chipname_) {
+        chipname(chipname_) {}
-    }
 
-    std::string chipname;
+  std::string chipname;
 };
 
-class GpiodRegularByLabel: public GpiodRegularBase {
+class GpiodRegularByLabel : public GpiodRegularBase {
-public:
+ public:
-    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
+  GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, gpio::Levels initValue_) :
+                      gpio::Direction direction_, gpio::Levels initValue_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, direction_, initValue_,
-                    direction_, initValue_, lineNum_),
+                         lineNum_),
-            label(label_) {
+        label(label_) {}
-    }
 
-    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
+  GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_, gpio::Direction::IN,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
+                         gpio::Levels::LOW, lineNum_),
-            label(label_) {
+        label(label_) {}
-    }
 
-    std::string label;
+  std::string label;
 };
 
 /**
@@ -134,34 +117,34 @@ public:
  *          line name. This line name can be set in the device tree and must be unique. Otherwise
  *          the driver will open the first line with the given name.
  */
-class GpiodRegularByLineName: public GpiodRegularBase {
+class GpiodRegularByLineName : public GpiodRegularBase {
-public:
+ public:
-    GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
+  GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
-            gpio::Levels initValue_) :
+                         gpio::Levels initValue_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
-                    initValue_), lineName(lineName_) {
+                         initValue_),
-    }
+        lineName(lineName_) {}
 
-    GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
+  GpiodRegularByLineName(std::string lineName_, std::string consumer_)
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
-                    gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
+                         gpio::Levels::LOW),
-    }
+        lineName(lineName_) {}
 
-    std::string lineName;
+  std::string lineName;
 };
 
-class GpioCallback: public GpioBase {
+class GpioCallback : public GpioBase {
-public:
+ public:
-    GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
+  GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
-            gpio::gpio_cb_t callback, void* callbackArgs):
+               gpio::gpio_cb_t callback, void* callbackArgs)
-            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+      : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
-            callback(callback), callbackArgs(callbackArgs) {}
+        callback(callback),
+        callbackArgs(callbackArgs) {}
 
-    gpio::gpio_cb_t callback = nullptr;
+  gpio::gpio_cb_t callback = nullptr;
-    void* callbackArgs = nullptr;
+  void* callbackArgs = nullptr;
 };
 
-
 using GpioMap = std::map<gpioId_t, GpioBase*>;
 using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
 using GpioMapIter = GpioMap::iterator;

hal/src/fsfw_hal/common/spi/spiCommon.h

@@ -5,12 +5,7 @@
 
 namespace spi {
 
-enum SpiModes: uint8_t {
+enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
-    MODE_0,
-    MODE_1,
-    MODE_2,
-    MODE_3
-};
 
 }
 

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -1,287 +1,275 @@
 #include "GyroL3GD20Handler.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
-
 #include <cmath>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie, uint32_t transitionDelayMs):
+                                       CookieIF *comCookie, uint32_t transitionDelayMs)
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        transitionDelayMs(transitionDelayMs), dataset(this) {
+      transitionDelayMs(transitionDelayMs),
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+      dataset(this) {}
-    debugDivider = new PeriodicOperationDivider(3);
-#endif
-}
 
 GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
 
 void GyroHandlerL3GD20H::doStartUp() {
-    if(internalState == InternalState::NONE) {
+  if (internalState == InternalState::NONE) {
-        internalState = InternalState::CONFIGURE;
+    internalState = InternalState::CONFIGURE;
-    }
+  }
 
-    if(internalState == InternalState::CONFIGURE) {
+  if (internalState == InternalState::CONFIGURE) {
-        if(commandExecuted) {
+    if (commandExecuted) {
-            internalState = InternalState::CHECK_REGS;
+      internalState = InternalState::CHECK_REGS;
-            commandExecuted = false;
+      commandExecuted = false;
-        }
     }
+  }
 
-    if(internalState == InternalState::CHECK_REGS) {
+  if (internalState == InternalState::CHECK_REGS) {
-        if(commandExecuted) {
+    if (commandExecuted) {
-            internalState = InternalState::NORMAL;
+      internalState = InternalState::NORMAL;
-            if(goNormalModeImmediately) {
+      if (goNormalModeImmediately) {
-                setMode(MODE_NORMAL);
+        setMode(MODE_NORMAL);
-            }
+      } else {
-            else {
+        setMode(_MODE_TO_ON);
-                setMode(_MODE_TO_ON);
+      }
-            }
+      commandExecuted = false;
-            commandExecuted = false;
-        }
     }
+  }
 }
 
-void GyroHandlerL3GD20H::doShutDown() {
+void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
-    setMode(_MODE_POWER_DOWN);
-}
 
 ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-    switch(internalState) {
+  switch (internalState) {
-    case(InternalState::NONE):
+    case (InternalState::NONE):
-    case(InternalState::NORMAL): {
+    case (InternalState::NORMAL): {
-        return NOTHING_TO_SEND;
+      return NOTHING_TO_SEND;
     }
-    case(InternalState::CONFIGURE): {
+    case (InternalState::CONFIGURE): {
-        *id = L3GD20H::CONFIGURE_CTRL_REGS;
+      *id = L3GD20H::CONFIGURE_CTRL_REGS;
-        uint8_t command [5];
+      uint8_t command[5];
-        command[0] = L3GD20H::CTRL_REG_1_VAL;
+      command[0] = L3GD20H::CTRL_REG_1_VAL;
-        command[1] = L3GD20H::CTRL_REG_2_VAL;
+      command[1] = L3GD20H::CTRL_REG_2_VAL;
-        command[2] = L3GD20H::CTRL_REG_3_VAL;
+      command[2] = L3GD20H::CTRL_REG_3_VAL;
-        command[3] = L3GD20H::CTRL_REG_4_VAL;
+      command[3] = L3GD20H::CTRL_REG_4_VAL;
-        command[4] = L3GD20H::CTRL_REG_5_VAL;
+      command[4] = L3GD20H::CTRL_REG_5_VAL;
-        return buildCommandFromCommand(*id, command, 5);
+      return buildCommandFromCommand(*id, command, 5);
     }
-    case(InternalState::CHECK_REGS): {
+    case (InternalState::CHECK_REGS): {
-        *id = L3GD20H::READ_REGS;
+      *id = L3GD20H::READ_REGS;
-        return buildCommandFromCommand(*id, nullptr, 0);
+      return buildCommandFromCommand(*id, nullptr, 0);
     }
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        /* Might be a configuration error. */
+      /* Might be a configuration error. */
-        sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
+      sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state!" << std::endl;
+                      "Unknown internal state!"
+                   << std::endl;
 #else
-        sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
+      sif::printDebug(
-                "Unknown internal state!\n");
+          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
+          "Unknown internal state!\n");
 #endif
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-    *id = L3GD20H::READ_REGS;
+  *id = L3GD20H::READ_REGS;
-    return buildCommandFromCommand(*id, nullptr, 0);
+  return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
+ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                                          const uint8_t *commandData,
-        size_t commandDataLen) {
+                                                          size_t commandDataLen) {
-    switch(deviceCommand) {
+  switch (deviceCommand) {
-    case(L3GD20H::READ_REGS): {
+    case (L3GD20H::READ_REGS): {
-        commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
-        std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
+      std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = L3GD20H::READ_LEN + 1;
+      rawPacketLen = L3GD20H::READ_LEN + 1;
-        break;
+      break;
     }
-    case(L3GD20H::CONFIGURE_CTRL_REGS): {
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
-        commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
+      commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
-        if(commandData == nullptr or commandDataLen != 5) {
+      if (commandData == nullptr or commandDataLen != 5) {
-            return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-        }
+      }
 
-        ctrlReg1Value = commandData[0];
+      ctrlReg1Value = commandData[0];
-        ctrlReg2Value = commandData[1];
+      ctrlReg2Value = commandData[1];
-        ctrlReg3Value = commandData[2];
+      ctrlReg3Value = commandData[2];
-        ctrlReg4Value = commandData[3];
+      ctrlReg4Value = commandData[3];
-        ctrlReg5Value = commandData[4];
+      ctrlReg5Value = commandData[4];
 
-        bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
+      bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
-        bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
+      bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
 
-        if(not fsH and not fsL) {
+      if (not fsH and not fsL) {
-            sensitivity = L3GD20H::SENSITIVITY_00;
+        sensitivity = L3GD20H::SENSITIVITY_00;
-        }
+      } else if (not fsH and fsL) {
-        else if(not fsH and fsL) {
+        sensitivity = L3GD20H::SENSITIVITY_01;
-            sensitivity = L3GD20H::SENSITIVITY_01;
+      } else {
-        }
+        sensitivity = L3GD20H::SENSITIVITY_11;
-        else {
+      }
-            sensitivity = L3GD20H::SENSITIVITY_11;
-        }
 
-        commandBuffer[1] = ctrlReg1Value;
+      commandBuffer[1] = ctrlReg1Value;
-        commandBuffer[2] = ctrlReg2Value;
+      commandBuffer[2] = ctrlReg2Value;
-        commandBuffer[3] = ctrlReg3Value;
+      commandBuffer[3] = ctrlReg3Value;
-        commandBuffer[4] = ctrlReg4Value;
+      commandBuffer[4] = ctrlReg4Value;
-        commandBuffer[5] = ctrlReg5Value;
+      commandBuffer[5] = ctrlReg5Value;
 
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 6;
+      rawPacketLen = 6;
-        break;
+      break;
     }
-    case(L3GD20H::READ_CTRL_REGS): {
+    case (L3GD20H::READ_CTRL_REGS): {
-        commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
-                L3GD20H::READ_MASK;
 
-        std::memset(commandBuffer + 1, 0, 5);
+      std::memset(commandBuffer + 1, 0, 5);
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 6;
+      rawPacketLen = 6;
-        break;
+      break;
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
-        DeviceCommandId_t *foundId, size_t *foundLen) {
+                                               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();
+  *foundId = this->getPendingCommand();
-    *foundLen = this->rawPacketLen;
+  *foundLen = this->rawPacketLen;
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
-        const uint8_t *packet) {
+                                                       const uint8_t *packet) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    switch(id) {
+  switch (id) {
-    case(L3GD20H::CONFIGURE_CTRL_REGS): {
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
+      commandExecuted = true;
+      break;
+    }
+    case (L3GD20H::READ_CTRL_REGS): {
+      if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
+          packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
+          packet[5] == ctrlReg5Value) {
         commandExecuted = true;
-        break;
+      } else {
+        // Attempt reconfiguration
+        internalState = InternalState::CONFIGURE;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      }
+      break;
     }
-    case(L3GD20H::READ_CTRL_REGS): {
+    case (L3GD20H::READ_REGS): {
-        if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
+      if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
-                packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
+          packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
-                packet[5] == ctrlReg5Value) {
+          packet[5] != ctrlReg5Value) {
-            commandExecuted = true;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
+      } else {
-        else {
+        if (internalState == InternalState::CHECK_REGS) {
-            // Attempt reconfiguration
+          commandExecuted = true;
-            internalState = InternalState::CONFIGURE;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        break;
-    }
-    case(L3GD20H::READ_REGS): {
-        if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
-                packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
-                packet[5] != ctrlReg5Value) {
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        else {
-            if(internalState == InternalState::CHECK_REGS) {
-                commandExecuted = true;
-            }
         }
+      }
 
-        statusReg = packet[L3GD20H::STATUS_IDX];
+      statusReg = packet[L3GD20H::STATUS_IDX];
 
-        int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
+      int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
-        int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
+      int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
-        int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
+      int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
-        float angVelocX = angVelocXRaw * sensitivity;
+      float angVelocX = angVelocXRaw * sensitivity;
-        float angVelocY = angVelocYRaw * sensitivity;
+      float angVelocY = angVelocYRaw * sensitivity;
-        float angVelocZ = angVelocZRaw * sensitivity;
+      float angVelocZ = angVelocZRaw * sensitivity;
 
-        int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
+      int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
-        float temperature = 25.0 + temperaturOffset;
+      float temperature = 25.0 + temperaturOffset;
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+      if (periodicPrintout) {
-        if(debugDivider->checkAndIncrement()) {
+        if (debugDivider.checkAndIncrement()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
+          /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
+          sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-            sif::info << "X: " << angVelocX << std::endl;
+          sif::info << "X: " << angVelocX << std::endl;
-            sif::info << "Y: " << angVelocY << std::endl;
+          sif::info << "Y: " << angVelocY << std::endl;
-            sif::info << "Z: " << angVelocZ << std::endl;
+          sif::info << "Z: " << angVelocZ << std::endl;
 #else
-            sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
+          sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
-            sif::printInfo("X: %f\n", angVelocX);
+          sif::printInfo("X: %f\n", angVelocX);
-            sif::printInfo("Y: %f\n", angVelocY);
+          sif::printInfo("Y: %f\n", angVelocY);
-            sif::printInfo("Z: %f\n", angVelocZ);
+          sif::printInfo("Z: %f\n", angVelocZ);
 #endif
         }
-#endif
+      }
 
-        PoolReadGuard readSet(&dataset);
+      PoolReadGuard readSet(&dataset);
-        if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+      if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(angVelocX) < this->absLimitX) {
+        if (std::abs(angVelocX) < this->absLimitX) {
-                dataset.angVelocX = angVelocX;
+          dataset.angVelocX = angVelocX;
-                dataset.angVelocX.setValid(true);
+          dataset.angVelocX.setValid(true);
-            }
+        } else {
-            else {
+          dataset.angVelocX.setValid(false);
-                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.temperature.setValid(true);
         }
-        break;
+
+        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.temperature.setValid(true);
+      }
+      break;
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+  }
-    return result;
+  return result;
 }
 
-
 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return this->transitionDelayMs;
+  return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
-    this->goNormalModeImmediately = true;
-}
 
-ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
+ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+                                                          LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, 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_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, 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::TEMPERATURE, new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
+  insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
-    insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
-    insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
+  insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
 }
 
-void GyroHandlerL3GD20H::modeChanged() {
+void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
-    internalState = InternalState::NONE;
-}
 
 void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
-    this->absLimitX = limitX;
+  this->absLimitX = limitX;
-    this->absLimitY = limitY;
+  this->absLimitY = limitY;
-    this->absLimitZ = limitZ;
+  this->absLimitZ = limitZ;
+}
+
+void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
 }

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -1,12 +1,11 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
-#include "fsfw/FSFW.h"
-#include "devicedefinitions/GyroL3GD20Definitions.h"
-
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
+#include "devicedefinitions/GyroL3GD20Definitions.h"
+
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
  *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@@ -16,84 +15,74 @@
  *
  * Data is read big endian with the smallest possible range of 245 degrees per second.
  */
-class GyroHandlerL3GD20H: public DeviceHandlerBase {
+class GyroHandlerL3GD20H : public DeviceHandlerBase {
-public:
+ public:
-    GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
+  GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
-            CookieIF* comCookie, uint32_t transitionDelayMs);
+                     uint32_t transitionDelayMs);
-    virtual ~GyroHandlerL3GD20H();
+  virtual ~GyroHandlerL3GD20H();
 
-    /**
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
-     * 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
+   * 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
-    void setToGoToNormalMode(bool enable);
+   * @param xLimit
-protected:
+   * @param yLimit
+   * @param zLimit
+   */
+  void setAbsoluteLimits(float limitX, float limitY, float limitZ);
 
-    /* DeviceHandlerBase overrides */
+  /**
-    ReturnValue_t buildTransitionDeviceCommand(
+   * @brief   Configure device handler to go to normal mode immediately
-            DeviceCommandId_t *id) override;
+   */
-    void doStartUp() override;
+  void setToGoToNormalMode(bool enable);
-    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;
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-            const uint8_t *packet) override;
 
-    void fillCommandAndReplyMap() override;
+ protected:
-    void modeChanged() override;
+  /* DeviceHandlerBase overrides */
-    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
-    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+  void doStartUp() override;
-            LocalDataPoolManager &poolManager) 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;
+  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
 
-private:
+  void fillCommandAndReplyMap() override;
-    uint32_t transitionDelayMs = 0;
+  void modeChanged() override;
-    GyroPrimaryDataset dataset;
+  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
 
-    float absLimitX = L3GD20H::RANGE_DPS_00;
+ private:
-    float absLimitY = L3GD20H::RANGE_DPS_00;
+  uint32_t transitionDelayMs = 0;
-    float absLimitZ = L3GD20H::RANGE_DPS_00;
+  GyroPrimaryDataset dataset;
 
-    enum class InternalState {
+  float absLimitX = L3GD20H::RANGE_DPS_00;
-        NONE,
+  float absLimitY = L3GD20H::RANGE_DPS_00;
-        CONFIGURE,
+  float absLimitZ = L3GD20H::RANGE_DPS_00;
-        CHECK_REGS,
-        NORMAL
-    };
-    InternalState internalState = InternalState::NONE;
-    bool commandExecuted = false;
 
-    uint8_t statusReg = 0;
+  enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
-    bool goNormalModeImmediately = false;
+  InternalState internalState = InternalState::NONE;
+  bool commandExecuted = false;
 
-    uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
+  uint8_t statusReg = 0;
-    uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
+  bool goNormalModeImmediately = false;
-    uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
-    uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
-    uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
 
-    uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
+  uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
+  uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
+  uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
+  uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
+  uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
 
-    // Set default value
+  uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
-    float sensitivity = L3GD20H::SENSITIVITY_00;
 
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+  // Set default value
-    PeriodicOperationDivider* debugDivider = nullptr;
+  float sensitivity = L3GD20H::SENSITIVITY_00;
-#endif
+
+  bool periodicPrintout = false;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
-
-
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -8,513 +8,483 @@
 #include <cmath>
 
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF* comCookie, uint32_t transitionDelay):
+                                     CookieIF *comCookie, uint32_t transitionDelay)
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        dataset(this), transitionDelay(transitionDelay) {
+      dataset(this),
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      transitionDelay(transitionDelay) {
-    debugDivider = new PeriodicOperationDivider(3);
+  // Set to default values right away
-#endif
+  registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-    // Set to default values right away
+  registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+  registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
+  registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
+  registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-}
-
-MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
 }
 
+MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
 
 void MgmLIS3MDLHandler::doStartUp() {
-    switch (internalState) {
+  switch (internalState) {
-    case(InternalState::STATE_NONE): {
+    case (InternalState::STATE_NONE): {
-        internalState = InternalState::STATE_FIRST_CONTACT;
+      internalState = InternalState::STATE_FIRST_CONTACT;
-        break;
+      break;
     }
-    case(InternalState::STATE_FIRST_CONTACT): {
+    case (InternalState::STATE_FIRST_CONTACT): {
-        /* Will be set by checking device ID (WHO AM I register) */
+      /* Will be set by checking device ID (WHO AM I register) */
-        if(commandExecuted) {
+      if (commandExecuted) {
-            commandExecuted = false;
+        commandExecuted = false;
-            internalState = InternalState::STATE_SETUP;
+        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;
+      }
-    }
+      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;
+      break;
-    }
+  }
-
 }
 
-void MgmLIS3MDLHandler::doShutDown() {
+void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
-    setMode(_MODE_POWER_DOWN);
-}
 
-ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
+ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
+  switch (internalState) {
-    switch (internalState) {
+    case (InternalState::STATE_NONE):
-    case(InternalState::STATE_NONE):
+    case (InternalState::STATE_NORMAL): {
-    case(InternalState::STATE_NORMAL): {
+      return DeviceHandlerBase::NOTHING_TO_SEND;
-        return DeviceHandlerBase::NOTHING_TO_SEND;
     }
-    case(InternalState::STATE_FIRST_CONTACT): {
+    case (InternalState::STATE_FIRST_CONTACT): {
-        *id = MGMLIS3MDL::IDENTIFY_DEVICE;
+      *id = MGMLIS3MDL::IDENTIFY_DEVICE;
-        break;
+      break;
     }
-    case(InternalState::STATE_SETUP): {
+    case (InternalState::STATE_SETUP): {
-        *id = MGMLIS3MDL::SETUP_MGM;
+      *id = MGMLIS3MDL::SETUP_MGM;
-        break;
+      break;
     }
-    case(InternalState::STATE_CHECK_REGISTERS): {
+    case (InternalState::STATE_CHECK_REGISTERS): {
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+      *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        break;
+      break;
     }
     default: {
-        /* might be a configuration error. */
+      /* might be a configuration error. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+      sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
-                std::endl;
+                   << std::endl;
 #else
-        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
+      sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
     }
-
+  }
-    }
+  return buildCommandFromCommand(*id, NULL, 0);
-    return buildCommandFromCommand(*id, NULL, 0);
 }
 
 uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
-    command |= (1 << MGMLIS3MDL::RW_BIT);
+  command |= (1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
+  if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
+    command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
+  }
-    return command;
+  return command;
 }
 
 uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
-    command &= ~(1 << MGMLIS3MDL::RW_BIT);
+  command &= ~(1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
+  if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
+    command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
+  }
-    return command;
+  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;
 
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
+  prepareCtrlRegisterWrite();
-    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(
+ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
+  // Data/config register will be read in an alternating manner.
-    // Data/config register will be read in an alternating manner.
+  if (communicationStep == CommunicationStep::DATA) {
-    if(communicationStep == CommunicationStep::DATA) {
+    *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+    communicationStep = CommunicationStep::TEMPERATURE;
-        communicationStep = CommunicationStep::TEMPERATURE;
+    return buildCommandFromCommand(*id, NULL, 0);
-        return buildCommandFromCommand(*id, NULL, 0);
+  } else {
-    }
+    *id = MGMLIS3MDL::READ_TEMPERATURE;
-    else {
+    communicationStep = CommunicationStep::DATA;
-        *id = MGMLIS3MDL::READ_TEMPERATURE;
+    return buildCommandFromCommand(*id, NULL, 0);
-        communicationStep = CommunicationStep::DATA;
+  }
-        return buildCommandFromCommand(*id, NULL, 0);
-    }
-
 }
 
-ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
+ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                                         const uint8_t *commandData,
-        size_t commandDataLen) {
+                                                         size_t commandDataLen) {
-    switch(deviceCommand) {
+  switch (deviceCommand) {
-    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
+    case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
-        std::memset(commandBuffer, 0, sizeof(commandBuffer));
+      std::memset(commandBuffer, 0, sizeof(commandBuffer));
-        commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
+      commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
 
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
+      rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-        return RETURN_OK;
+      return RETURN_OK;
     }
-    case(MGMLIS3MDL::READ_TEMPERATURE): {
+    case (MGMLIS3MDL::READ_TEMPERATURE): {
-        std::memset(commandBuffer, 0, 3);
+      std::memset(commandBuffer, 0, 3);
-        commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
+      commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
 
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 3;
+      rawPacketLen = 3;
-        return RETURN_OK;
+      return RETURN_OK;
     }
-    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
+    case (MGMLIS3MDL::IDENTIFY_DEVICE): {
-        return identifyDevice();
+      return identifyDevice();
     }
-    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
+    case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
-        return enableTemperatureSensor(commandData, commandDataLen);
+      return enableTemperatureSensor(commandData, commandDataLen);
     }
-    case(MGMLIS3MDL::SETUP_MGM): {
+    case (MGMLIS3MDL::SETUP_MGM): {
-        setupMgm();
+      setupMgm();
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
     }
-    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
+    case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
-        return setOperatingMode(commandData, commandDataLen);
+      return setOperatingMode(commandData, commandDataLen);
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
-    uint32_t size = 2;
+  uint32_t size = 2;
-    commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
+  commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
-    commandBuffer[1] = 0x00;
+  commandBuffer[1] = 0x00;
 
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    rawPacketLen = size;
+  rawPacketLen = size;
 
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
-ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
+ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
-        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
+                                              DeviceCommandId_t *foundId, size_t *foundLen) {
+  *foundLen = len;
+  if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
     *foundLen = len;
-    if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
+    *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        *foundLen = len;
+    // Check validity by checking config registers
-        *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
+    if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
-        // Check validity by checking config registers
+        start[4] != registers[3] or start[5] != registers[4]) {
-        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;
+      sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
 #else
-            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
+      sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
 #endif
 #endif
-            return DeviceHandlerIF::INVALID_DATA;
+      return DeviceHandlerIF::INVALID_DATA;
-        }
+    }
-        if(mode == _MODE_START_UP) {
+    if (mode == _MODE_START_UP) {
-            commandExecuted = true;
+      commandExecuted = true;
-        }
+    }
 
-    }
+  } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
-    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
+    *foundLen = len;
-        *foundLen = len;
+    *foundId = MGMLIS3MDL::READ_TEMPERATURE;
-        *foundId = MGMLIS3MDL::READ_TEMPERATURE;
+  } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
-    }
+    *foundLen = len;
-    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
+    *foundId = MGMLIS3MDL::SETUP_MGM;
-        *foundLen = len;
+  } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
-        *foundId = MGMLIS3MDL::SETUP_MGM;
+    *foundLen = len;
-    }
+    *foundId = getPendingCommand();
-    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
+    if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
-        *foundLen = len;
+      if (start[1] != MGMLIS3MDL::DEVICE_ID) {
-        *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: "
+        sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!" << std::endl;
+                        "Device identification failed!"
+                     << std::endl;
 #else
-                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
+        sif::printWarning(
-                        "Device identification failed!\n");
+            "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 (mode == _MODE_START_UP) {
-    if (start[0] == 0b11111111) {
+        commandExecuted = true;
-        return RETURN_OK;
+      }
-    }
-    else {
-        return DeviceHandlerIF::INVALID_DATA;
     }
+  } 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,
+ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-        const uint8_t *packet) {
+  switch (id) {
-
-    switch (id) {
     case MGMLIS3MDL::IDENTIFY_DEVICE: {
-        break;
+      break;
     }
     case MGMLIS3MDL::SETUP_MGM: {
-        break;
+      break;
     }
     case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
-        // TODO: Store configuration in new local datasets.
+      // TODO: Store configuration in new local datasets.
-        float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
+      float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
 
-        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
+      int16_t mgmMeasurementRawX =
-                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
+          packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
-        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
+      int16_t mgmMeasurementRawY =
-                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
+          packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
-        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
+      int16_t mgmMeasurementRawZ =
-                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
+          packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
 
-        /* Target value in microtesla */
+      // Target value in microtesla
-        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
+      float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
+      float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
+      float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
+                   MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (periodicPrintout) {
-        if(debugDivider->checkAndIncrement()) {
+        if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Magnetic field strength in"
+          sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                    " microtesla:" << std::endl;
+                       " microtesla:"
-            sif::info << "X: " << mgmX << " uT" << std::endl;
+                    << std::endl;
-            sif::info << "Y: " << mgmY << " uT" << std::endl;
+          sif::info << "X: " << mgmX << " uT" << std::endl;
-            sif::info << "Z: " << mgmZ << " 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("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-            sif::printInfo("X: %f uT\n", mgmX);
+          sif::printInfo("X: %f uT\n", mgmX);
-            sif::printInfo("Y: %f uT\n", mgmY);
+          sif::printInfo("Y: %f uT\n", mgmY);
-            sif::printInfo("Z: %f uT\n", mgmZ);
+          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) {
+      PoolReadGuard readHelper(&dataset);
-                dataset.fieldStrengthY = mgmY;
+      if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-                dataset.fieldStrengthY.setValid(true);
+        if (std::abs(mgmX) < absLimitX) {
-            }
+          dataset.fieldStrengthX = mgmX;
-            else {
+          dataset.fieldStrengthX.setValid(true);
-                dataset.fieldStrengthY.setValid(false);
+        } else {
-            }
+          dataset.fieldStrengthX.setValid(false);
-
-            if(std::abs(mgmZ) < absLimitZ) {
-                dataset.fieldStrengthZ = mgmZ;
-                dataset.fieldStrengthZ.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthZ.setValid(false);
-            }
         }
-        break;
+
+        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];
+      int16_t tempValueRaw = packet[2] << 8 | packet[1];
-        float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
+      float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-    #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (periodicPrintout) {
-        if(debugDivider->check()) {
+        if (debugDivider.check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
+          sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
-                    std::endl;
 #else
-            sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
+          sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
         }
-#endif
+      }
-        ReturnValue_t result = dataset.read();
+
-        if(result == HasReturnvaluesIF::RETURN_OK) {
+      ReturnValue_t result = dataset.read();
-            dataset.temperature = tempValue;
+      if (result == HasReturnvaluesIF::RETURN_OK) {
-            dataset.commit();
+        dataset.temperature = tempValue;
-        }
+        dataset.commit();
-        break;
+      }
+      break;
     }
 
     default: {
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
-
+  }
-    }
+  return RETURN_OK;
-    return RETURN_OK;
 }
 
 MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
-    bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
+  bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
-    bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
+  bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
 
-    if (fs0Set && fs1Set)
+  if (fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_16;
+    return MGMLIS3MDL::Sensitivies::GAUSS_16;
-    else if (!fs0Set && fs1Set)
+  else if (!fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_12;
+    return MGMLIS3MDL::Sensitivies::GAUSS_12;
-    else if (fs0Set && !fs1Set)
+  else if (fs0Set && !fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_8;
+    return MGMLIS3MDL::Sensitivies::GAUSS_8;
-    else
+  else
-        return MGMLIS3MDL::Sensitivies::GAUSS_4;
+    return MGMLIS3MDL::Sensitivies::GAUSS_4;
 }
 
 float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
-    switch(sens) {
+  switch (sens) {
-    case(MGMLIS3MDL::GAUSS_4): {
+    case (MGMLIS3MDL::GAUSS_4): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
     }
-    case(MGMLIS3MDL::GAUSS_8): {
+    case (MGMLIS3MDL::GAUSS_8): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
     }
-    case(MGMLIS3MDL::GAUSS_12): {
+    case (MGMLIS3MDL::GAUSS_12): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
     }
-    case(MGMLIS3MDL::GAUSS_16): {
+    case (MGMLIS3MDL::GAUSS_16): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
     }
     default: {
-        // Should never happen
+      // Should never happen
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
+      return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
-    }
     }
+  }
 }
 
-
+ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
-ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
+                                                         size_t commandDataLen) {
-        const uint8_t *commandData, size_t commandDataLen) {
+  triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
+  uint32_t size = 2;
-    uint32_t size = 2;
+  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
+  if (commandDataLen > 1) {
-    if (commandDataLen > 1) {
+    return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
+  }
-    }
+  switch (*commandData) {
-    switch (*commandData) {
     case (MGMLIS3MDL::ON): {
-        commandBuffer[1] = registers[0] | (1 << 7);
+      commandBuffer[1] = registers[0] | (1 << 7);
-        break;
+      break;
     }
     case (MGMLIS3MDL::OFF): {
-        commandBuffer[1] = registers[0] & ~(1 << 7);
+      commandBuffer[1] = registers[0] & ~(1 << 7);
-        break;
+      break;
     }
     default:
-        return INVALID_COMMAND_PARAMETER;
+      return INVALID_COMMAND_PARAMETER;
-    }
+  }
-    registers[0] = commandBuffer[1];
+  registers[0] = commandBuffer[1];
 
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    rawPacketLen = size;
+  rawPacketLen = size;
 
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
-        size_t commandDataLen) {
+                                                  size_t commandDataLen) {
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
+  triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    if (commandDataLen != 1) {
+  if (commandDataLen != 1) {
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
+    return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
+  }
 
-    switch (commandData[0]) {
+  switch (commandData[0]) {
     case MGMLIS3MDL::LOW:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
+      registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
+      registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
+      break;
     case MGMLIS3MDL::MEDIUM:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
+      registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
+      registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
-        break;
+      break;
 
     case MGMLIS3MDL::HIGH:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
+      registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
+      registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
+      break;
 
     case MGMLIS3MDL::ULTRA:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
+      registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
+      registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
-        break;
+      break;
     default:
-        break;
+      break;
-    }
+  }
 
-    return prepareCtrlRegisterWrite();
+  return prepareCtrlRegisterWrite();
 }
 
 void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
+  insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
+  insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
 }
 
-void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
+void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
-    this->goToNormalMode = enable;
-}
 
 ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
+  commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
 
-    for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
+  for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
-        commandBuffer[i + 1] = registers[i];
+    commandBuffer[i + 1] = registers[i];
-    }
+  }
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
+  rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
 
-    // We dont have to check if this is working because we just did i
+  // We dont have to check if this is working because we just did i
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
 void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-
+  DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
 }
 
-uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
+uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
-    return transitionDelay;
-}
 
-void MgmLIS3MDLHandler::modeChanged(void) {
+void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
-    internalState = InternalState::STATE_NONE;
-}
 
-ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
+ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+                                                         LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
-            new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-            new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
+  return HasReturnvaluesIF::RETURN_OK;
-            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->absLimitX = xLimit;
-    this->absLimitY = yLimit;
+  this->absLimitY = yLimit;
-    this->absLimitZ = zLimit;
+  this->absLimitZ = zLimit;
+}
+
+void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
 }

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -1,11 +1,10 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
-#include "fsfw/FSFW.h"
-#include "events/subsystemIdRanges.h"
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
-
+#include "events/subsystemIdRanges.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 
 class PeriodicOperationDivider;
 
@@ -18,169 +17,159 @@ class PeriodicOperationDivider;
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
  * @author  L. Loidold, R. Mueller
  */
-class MgmLIS3MDLHandler: public DeviceHandlerBase {
+class MgmLIS3MDLHandler : public DeviceHandlerBase {
-public:
+ public:
-    enum class CommunicationStep {
+  enum class CommunicationStep { DATA, TEMPERATURE };
-        DATA,
-        TEMPERATURE
-    };
 
-    static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
+  static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
-    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
-    //Notifies a command to change the setup parameters
+  // Notifies a command to change the setup parameters
-    static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
+  static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
 
-    MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
+  MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
-            uint32_t transitionDelay);
+                    uint32_t transitionDelay);
-    virtual ~MgmLIS3MDLHandler();
+  virtual ~MgmLIS3MDLHandler();
 
-    /**
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
-     * 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
+   * Set the absolute limit for the values on the axis in microtesla. The dataset values will
-     * @param xLimit
+   * be marked as invalid if that limit is exceeded
-     * @param yLimit
+   * @param xLimit
-     * @param zLimit
+   * @param yLimit
-     */
+   * @param zLimit
-    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
+   */
-    void setToGoToNormalMode(bool enable);
+  void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
+  void setToGoToNormalMode(bool enable);
 
-protected:
+ 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;
 
-    /** DeviceHandlerBase overrides */
+ private:
-    void doShutDown() override;
+  MGMLIS3MDL::MgmPrimaryDataset dataset;
-    void doStartUp() override;
+  // Length a single command SPI answer
-    void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
-    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:
+  uint32_t transitionDelay;
-    MGMLIS3MDL::MgmPrimaryDataset dataset;
+  // Single SPI command has 2 bytes, first for adress, second for content
-    //Length a single command SPI answer
+  size_t singleComandSize = 2;
-    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 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];
 
-    uint32_t transitionDelay;
+  float absLimitX = 100;
-    // Single SPI command has 2 bytes, first for adress, second for content
+  float absLimitY = 100;
-    size_t singleComandSize = 2;
+  float absLimitZ = 150;
-    // 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;
+   * We want to save the registers we set, so we dont have to read the
-    float absLimitZ = 150;
+   * 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;
-     * We want to save the registers we set, so we dont have to read the
+  bool goToNormalMode = false;
-     * 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;
+  enum class InternalState {
-    bool goToNormalMode = false;
+    STATE_NONE,
+    STATE_FIRST_CONTACT,
+    STATE_SETUP,
+    STATE_CHECK_REGISTERS,
+    STATE_NORMAL
+  };
 
-    enum class InternalState {
+  InternalState internalState = InternalState::STATE_NONE;
-        STATE_NONE,
+  CommunicationStep communicationStep = CommunicationStep::DATA;
-        STATE_FIRST_CONTACT,
+  bool commandExecuted = false;
-        STATE_SETUP,
-        STATE_CHECK_REGISTERS,
-        STATE_NORMAL
-    };
 
-    InternalState internalState = InternalState::STATE_NONE;
+  /*------------------------------------------------------------------------*/
-    CommunicationStep communicationStep = CommunicationStep::DATA;
+  /* Device specific commands and variables */
-    bool commandExecuted = false;
+  /*------------------------------------------------------------------------*/
+  /**
+   * 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);
 
-    /*------------------------------------------------------------------------*/
+  /**
-    /* Device specific commands and variables */
+   * 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
-     * Sets the read bit for the command
+   */
-     * @param single command to set the read-bit at
+  uint8_t writeCommand(uint8_t command, bool continuousCom = false);
-     * @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
+   * This Method gets the full scale for the measurement range
-     * @param single command to set the write-bit at
+   * e.g.: +- 4 gauss. See p.25 datasheet.
-     * @param boolean to select a continuous write bit, default = false
+   *  @return The ReturnValue does not contain the sign of the value
-     */
+   */
-    uint8_t writeCommand(uint8_t command, bool continuousCom = false);
+  MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
 
-    /**
+  /**
-     * This Method gets the full scale for the measurement range
+   * The 16 bit value needs to be multiplied with a sensitivity factor
-     * e.g.: +- 4 gauss. See p.25 datasheet.
+   * which depends on the sensitivity configuration
-     *  @return The ReturnValue does not contain the sign of the value
+   *
-     */
+   * @param sens Configured sensitivity of the LIS3 device
-    MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
+   * @return Multiplication factor to get the sensor value from raw data.
+   */
+  float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
 
-    /**
+  /**
-     * The 16 bit value needs to be multiplied with a sensitivity factor
+   * This Command detects the device ID
-     * which depends on the sensitivity configuration
+   */
-     *
+  ReturnValue_t identifyDevice();
-     * @param sens Configured sensitivity of the LIS3 device
-     * @return Multiplication factor to get the sensor value from raw data.
-     */
-    float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
 
-    /**
+  virtual void setupMgm();
-     * 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);
 
-    /*------------------------------------------------------------------------*/
+  /**
-    /* Non normal commands */
+   * 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
-     * Enables/Disables the integrated Temperaturesensor
+   */
-     * @param commandData On or Off
+  virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
-     * @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.
+   * We always update all registers together, so this method updates
-     * @param commandData LOW, MEDIUM, HIGH, ULTRA
+   * the rawpacket and rawpacketLen, so we just manipulate the local
-     * @param length of the command, has to be 1
+   * saved register
-     */
+   *
-    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
+   */
-            size_t commandDataLen);
+  ReturnValue_t prepareCtrlRegisterWrite();
 
-    /**
+  bool periodicPrintout = false;
-     * We always update all registers together, so this method updates
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
-     * 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

@@ -1,376 +1,368 @@
 #include "MgmRM3100Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
-#include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
+#include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
-
+MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
-MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
+                                   CookieIF *comCookie, uint32_t transitionDelay)
-        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+      primaryDataset(this),
-        primaryDataset(this), transitionDelay(transitionDelay) {
+      transitionDelay(transitionDelay) {}
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
-#endif
-}
 
 MgmRM3100Handler::~MgmRM3100Handler() {}
 
 void MgmRM3100Handler::doStartUp() {
-    switch(internalState) {
+  switch (internalState) {
-    case(InternalState::NONE): {
+    case (InternalState::NONE): {
-        internalState = InternalState::CONFIGURE_CMM;
+      internalState = InternalState::CONFIGURE_CMM;
-        break;
+      break;
     }
-    case(InternalState::CONFIGURE_CMM): {
+    case (InternalState::CONFIGURE_CMM): {
-        internalState = InternalState::READ_CMM;
+      internalState = InternalState::READ_CMM;
-        break;
+      break;
     }
-    case(InternalState::READ_CMM): {
+    case (InternalState::READ_CMM): {
-        if(commandExecuted) {
+      if (commandExecuted) {
-            internalState = InternalState::STATE_CONFIGURE_TMRC;
+        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;
+      }
-    }
+      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;
+      break;
-    }
     }
+  }
 }
 
-void MgmRM3100Handler::doShutDown() {
+void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
-    setMode(_MODE_POWER_DOWN);
-}
 
-ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
+ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
+  size_t commandLen = 0;
-    size_t commandLen = 0;
+  switch (internalState) {
-    switch(internalState) {
+    case (InternalState::NONE):
-    case(InternalState::NONE):
+    case (InternalState::NORMAL): {
-    case(InternalState::NORMAL): {
+      return NOTHING_TO_SEND;
-        return NOTHING_TO_SEND;
     }
-    case(InternalState::CONFIGURE_CMM): {
+    case (InternalState::CONFIGURE_CMM): {
-        *id = RM3100::CONFIGURE_CMM;
+      *id = RM3100::CONFIGURE_CMM;
-        break;
+      break;
     }
-    case(InternalState::READ_CMM): {
+    case (InternalState::READ_CMM): {
-        *id = RM3100::READ_CMM;
+      *id = RM3100::READ_CMM;
-        break;
+      break;
     }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
+    case (InternalState::STATE_CONFIGURE_TMRC): {
-        commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
+      commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
-        commandLen = 1;
+      commandLen = 1;
-        *id = RM3100::CONFIGURE_TMRC;
+      *id = RM3100::CONFIGURE_TMRC;
-        break;
+      break;
     }
-    case(InternalState::STATE_READ_TMRC): {
+    case (InternalState::STATE_READ_TMRC): {
-        *id = RM3100::READ_TMRC;
+      *id = RM3100::READ_TMRC;
-        break;
+      break;
     }
     default:
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        // Might be a configuration error
+      // Might be a configuration error
-        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
+      sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state" << std::endl;
+                      "Unknown internal state"
+                   << std::endl;
 #else
-        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
+      sif::printWarning(
-                "Unknown internal state\n");
+          "MgmRM3100Handler::buildTransitionDeviceCommand: "
+          "Unknown internal state\n");
 #endif
 #endif
-        return HasReturnvaluesIF::RETURN_OK;
+      return HasReturnvaluesIF::RETURN_OK;
-    }
+  }
 
-    return buildCommandFromCommand(*id, commandBuffer, commandLen);
+  return buildCommandFromCommand(*id, commandBuffer, commandLen);
 }
 
 ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                        const uint8_t *commandData,
-    switch(deviceCommand) {
+                                                        size_t commandDataLen) {
-    case(RM3100::CONFIGURE_CMM): {
+  switch (deviceCommand) {
-        commandBuffer[0] = RM3100::CMM_REGISTER;
+    case (RM3100::CONFIGURE_CMM): {
-        commandBuffer[1] = RM3100::CMM_VALUE;
+      commandBuffer[0] = RM3100::CMM_REGISTER;
-        rawPacket = commandBuffer;
+      commandBuffer[1] = RM3100::CMM_VALUE;
-        rawPacketLen = 2;
+      rawPacket = commandBuffer;
-        break;
+      rawPacketLen = 2;
+      break;
     }
-    case(RM3100::READ_CMM): {
+    case (RM3100::READ_CMM): {
-        commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
+      commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
-        commandBuffer[1] = 0;
+      commandBuffer[1] = 0;
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 2;
+      rawPacketLen = 2;
-        break;
+      break;
     }
-    case(RM3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_TMRC): {
-        return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
+      return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
     }
-    case(RM3100::READ_TMRC): {
+    case (RM3100::READ_TMRC): {
-        commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
+      commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
-        commandBuffer[1] = 0;
+      commandBuffer[1] = 0;
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 2;
+      rawPacketLen = 2;
-        break;
+      break;
     }
-    case(RM3100::CONFIGURE_CYCLE_COUNT): {
+    case (RM3100::CONFIGURE_CYCLE_COUNT): {
-        return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
+      return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
     }
-    case(RM3100::READ_CYCLE_COUNT): {
+    case (RM3100::READ_CYCLE_COUNT): {
-        commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
+      commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
-        std::memset(commandBuffer + 1, 0, 6);
+      std::memset(commandBuffer + 1, 0, 6);
-        rawPacket = commandBuffer;
+      rawPacket = commandBuffer;
-        rawPacketLen = 7;
+      rawPacketLen = 7;
-        break;
+      break;
     }
-    case(RM3100::READ_DATA): {
+    case (RM3100::READ_DATA): {
-        commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
+      commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
-        std::memset(commandBuffer + 1, 0,  9);
+      std::memset(commandBuffer + 1, 0, 9);
-        rawPacketLen = 10;
+      rawPacketLen = 10;
-        break;
+      break;
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
+  }
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
+ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
+  *id = RM3100::READ_DATA;
-    *id = RM3100::READ_DATA;
+  return buildCommandFromCommand(*id, nullptr, 0);
-    return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
+ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
-        size_t len, DeviceCommandId_t *foundId,
+                                             DeviceCommandId_t *foundId, size_t *foundLen) {
-        size_t *foundLen) {
+  // For SPI, ID will always be the one of the last sent command
-
+  *foundId = this->getPendingCommand();
-    // For SPI, ID will always be the one of the last sent command
+  *foundLen = len;
-    *foundId = this->getPendingCommand();
+  return HasReturnvaluesIF::RETURN_OK;
-    *foundLen = len;
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    switch(id) {
+  switch (id) {
-    case(RM3100::CONFIGURE_CMM):
+    case (RM3100::CONFIGURE_CMM):
-    case(RM3100::CONFIGURE_CYCLE_COUNT):
+    case (RM3100::CONFIGURE_CYCLE_COUNT):
-    case(RM3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_TMRC): {
-        // We can only check whether write was successful with read operation
+      // We can only check whether write was successful with read operation
-        if(mode == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
-            commandExecuted = true;
+        commandExecuted = true;
-        }
+      }
-        break;
+      break;
     }
-    case(RM3100::READ_CMM): {
+    case (RM3100::READ_CMM): {
-        uint8_t cmmValue = packet[1];
+      uint8_t cmmValue = packet[1];
-        // We clear the seventh bit in any case
+      // We clear the seventh bit in any case
-        // because this one is zero sometimes for some reason
+      // because this one is zero sometimes for some reason
-        bitutil::clear(&cmmValue, 6);
+      bitutil::clear(&cmmValue, 6);
-        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
+      if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
-            commandExecuted = true;
+        commandExecuted = true;
-        }
+      } else {
-        else {
+        // Attempt reconfiguration
-            // Attempt reconfiguration
+        internalState = InternalState::CONFIGURE_CMM;
-            internalState = InternalState::CONFIGURE_CMM;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      }
-        }
+      break;
-        break;
     }
-    case(RM3100::READ_TMRC): {
+    case (RM3100::READ_TMRC): {
-        if(packet[1] == tmrcRegValue) {
+      if (packet[1] == tmrcRegValue) {
-            commandExecuted = true;
+        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) {
+        if (mode != _MODE_START_UP) {
-            uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
+          triggerEvent(tmrcSet, tmrcRegValue, 0);
-            triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
         }
-        break;
+      } else {
+        // Attempt reconfiguration
+        internalState = InternalState::STATE_CONFIGURE_TMRC;
+        return DeviceHandlerIF::DEVICE_REPLY_INVALID;
+      }
+      break;
     }
-    case(RM3100::READ_DATA): {
+    case (RM3100::READ_CYCLE_COUNT): {
-        result = handleDataReadout(packet);
+      uint16_t cycleCountX = packet[1] << 8 | packet[2];
-        break;
+      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 DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
+  }
 
-    return result;
+  return result;
 }
 
 ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                              const uint8_t *commandData,
-    if(commandData == nullptr) {
+                                                              size_t commandDataLen) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+  if (commandData == nullptr) {
-    }
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+  }
 
-    // Set cycle count
+  // Set cycle count
-    if(commandDataLen == 2) {
+  if (commandDataLen == 2) {
-        handleCycleCommand(true, commandData, commandDataLen);
+    handleCycleCommand(true, commandData, commandDataLen);
-    }
+  } else if (commandDataLen == 6) {
-    else if(commandDataLen == 6) {
+    handleCycleCommand(false, commandData, commandDataLen);
-        handleCycleCommand(false, commandData, commandDataLen);
+  } else {
-    }
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    else {
+  }
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
 
-    commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
+  commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
-    std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
+  std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
-    std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
+  std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
-    std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
+  std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
-    rawPacketLen = 7;
+  rawPacketLen = 7;
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
+ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                   size_t commandDataLen) {
-    RM3100::CycleCountCommand command(oneCycleValue);
+  RM3100::CycleCountCommand command(oneCycleValue);
-    ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
+  ReturnValue_t result =
-            SerializeIF::Endianness::BIG);
+      command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
+    return result;
-    }
+  }
 
-    // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
+  // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
-    if(command.cycleCountX > 450 ) {
+  if (command.cycleCountX > 450) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
+  }
 
-    if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
+  if (not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
+  }
 
-    cycleCountRegValueX = command.cycleCountX;
+  cycleCountRegValueX = command.cycleCountX;
-    cycleCountRegValueY = command.cycleCountY;
+  cycleCountRegValueY = command.cycleCountY;
-    cycleCountRegValueZ = command.cycleCountZ;
+  cycleCountRegValueZ = command.cycleCountZ;
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                        const uint8_t *commandData,
-    if(commandData == nullptr or commandDataLen != 1) {
+                                                        size_t commandDataLen) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+  if (commandData == nullptr or commandDataLen != 1) {
-    }
+    return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
+  }
 
-    commandBuffer[0] = RM3100::TMRC_REGISTER;
+  commandBuffer[0] = RM3100::TMRC_REGISTER;
-    commandBuffer[1] = commandData[0];
+  commandBuffer[1] = commandData[0];
-    tmrcRegValue = commandData[0];
+  tmrcRegValue = commandData[0];
-    rawPacketLen = 2;
+  rawPacketLen = 2;
-    rawPacket = commandBuffer;
+  rawPacket = commandBuffer;
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void MgmRM3100Handler::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
-    insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
+  insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
 
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
-    insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
+  insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
 
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
+  insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
-    insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
+  insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
 
-    insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
+  insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
 }
 
-void MgmRM3100Handler::modeChanged(void) {
+void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
-    internalState = InternalState::NONE;
-}
 
-ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
+ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+                                                        LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  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_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return this->transitionDelay;
+  return this->transitionDelay;
 }
 
-void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
+void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = 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
+  // 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
+  // trickery here to calculate the raw values first
-    int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
+  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 fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-    int32_t fieldStrengthRawZ  = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
+  int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
 
-    // Now scale to physical value in microtesla
+  // Now scale to physical value in microtesla
-    float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
+  float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-    float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
+  float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
-    float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
+  float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
 
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+  if (periodicPrintout) {
-    if(debugDivider->checkAndIncrement()) {
+    if (debugDivider.checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MgmRM3100Handler: Magnetic field strength in"
+      sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                " microtesla:" << std::endl;
+                   " microtesla:"
-        sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
+                << std::endl;
-        sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
+      sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-        sif::info << "Z: " << fieldStrengthZ << " 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("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-        sif::printInfo("X: %f uT\n", fieldStrengthX);
+      sif::printInfo("X: %f uT\n", fieldStrengthX);
-        sif::printInfo("Y: %f uT\n", fieldStrengthY);
+      sif::printInfo("Y: %f uT\n", fieldStrengthY);
-        sif::printInfo("Z: %f uT\n", fieldStrengthZ);
+      sif::printInfo("Z: %f uT\n", fieldStrengthZ);
 #endif
     }
-#endif
+  }
 
-    // TODO: Sanity check on values?
+  // TODO: Sanity check on values?
-    PoolReadGuard readGuard(&primaryDataset);
+  PoolReadGuard readGuard(&primaryDataset);
-    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-        primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengthX = fieldStrengthX;
-        primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengthY = fieldStrengthY;
-        primaryDataset.fieldStrengthZ = fieldStrengthZ;
+    primaryDataset.fieldStrengthZ = fieldStrengthZ;
-        primaryDataset.setValidity(true, true);
+    primaryDataset.setValidity(true, true);
-    }
+  }
-    return RETURN_OK;
+  return RETURN_OK;
+}
+
+void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
+  periodicPrintout = enable;
+  debugDivider.setDivider(divider);
 }

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -1,13 +1,9 @@
 #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
@@ -16,95 +12,92 @@
  * Flight manual:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
  */
-class MgmRM3100Handler: public DeviceHandlerBase {
+class MgmRM3100Handler : public DeviceHandlerBase {
-public:
+ public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
+  static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
 
-	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
+  //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
-	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
+  static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
-			0x00, severity::INFO);
 
-	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
+  //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
-	//! P1: Second two bytes new Cycle Count Y
+  //! P1: Second two bytes new Cycle Count Y
-	//! P2: New cycle count Z
+  //! P2: New cycle count Z
-	static constexpr Event cycleCountersSet = event::makeEvent(
+  static constexpr Event cycleCountersSet =
-			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
+      event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
 
-	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
+  MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
-	        CookieIF* comCookie, uint32_t transitionDelay);
+                   uint32_t transitionDelay);
-	virtual ~MgmRM3100Handler();
+  virtual ~MgmRM3100Handler();
 
-	/**
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
-	 * Configure device handler to go to normal mode after startup immediately
+  /**
-	 * @param enable
+   * Configure device handler to go to normal mode after startup immediately
-	 */
+   * @param enable
-	void setToGoToNormalMode(bool enable);
+   */
+  void setToGoToNormalMode(bool enable);
 
-protected:
+ 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;
 
-	/* DeviceHandlerBase overrides */
+  void fillCommandAndReplyMap() override;
-	ReturnValue_t buildTransitionDeviceCommand(
+  void modeChanged(void) override;
-	        DeviceCommandId_t *id) override;
+  virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-	void doStartUp() override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-	void doShutDown() override;
+                                        LocalDataPoolManager &poolManager) 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;
+ private:
-	void modeChanged(void) override;
+  enum class InternalState {
-	virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    NONE,
-	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+    CONFIGURE_CMM,
-			LocalDataPoolManager &poolManager) override;
+    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;
 
-private:
+  uint8_t commandBuffer[10];
+  uint8_t commandBufferLen = 0;
 
-	enum class InternalState {
+  uint8_t cmmRegValue = RM3100::CMM_VALUE;
-	    NONE,
+  uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
-		CONFIGURE_CMM,
+  uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
-		READ_CMM,
+  uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
-		// The cycle count states are propably not going to be used because
+  uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
-		// the default cycle count will be used.
+  float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
-		STATE_CONFIGURE_CYCLE_COUNT,
+  float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
-		STATE_READ_CYCLE_COUNT,
+  float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
-		STATE_CONFIGURE_TMRC,
-		STATE_READ_TMRC,
-		NORMAL
-	};
-	InternalState internalState = InternalState::NONE;
-	bool commandExecuted = false;
-	RM3100::Rm3100PrimaryDataset primaryDataset;
 
-	uint8_t commandBuffer[10];
+  bool goToNormalModeAtStartup = false;
-	uint8_t commandBufferLen = 0;
+  uint32_t transitionDelay;
 
-	uint8_t cmmRegValue = RM3100::CMM_VALUE;
+  ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-	uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
+                                              const uint8_t *commandData, size_t commandDataLen);
-	uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
+  ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
-	uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
+                                   size_t commandDataLen);
-	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;
+  ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-	uint32_t transitionDelay;
+                                        size_t commandDataLen);
 
-	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
+  ReturnValue_t handleDataReadout(const uint8_t *packet);
-			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,
+  bool periodicPrintout = false;
-			const uint8_t *commandData,size_t commandDataLen);
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
-
-	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/GyroL3GD20Definitions.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+
 #include <cstdint>
 
 namespace L3GD20H {
@@ -36,8 +37,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
 static constexpr uint8_t SET_X_ENABLE = 1 << 1;
 static constexpr uint8_t SET_Y_ENABLE = 1;
 
-static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
+static constexpr uint8_t CTRL_REG_1_VAL =
-		SET_Y_ENABLE | SET_X_ENABLE;
+    SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
 
 /* Register 2 */
 static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
@@ -104,40 +105,29 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
 
 static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
 
-enum GyroPoolIds: lp_id_t {
+enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
-    ANG_VELOC_X,
+
-	ANG_VELOC_Y,
+}  // namespace L3GD20H
-	ANG_VELOC_Z,
+
-	TEMPERATURE
+class GyroPrimaryDataset : public StaticLocalDataSet<5> {
+ public:
+  /** Constructor  for data users like controllers */
+  GyroPrimaryDataset(object_id_t mgmId)
+      : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
+    setAllVariablesReadOnly();
+  }
+
+  /* Angular velocities in degrees per second (DPS) */
+  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
+  lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
+  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
+
+ private:
+  friend class GyroHandlerL3GD20H;
+  /** Constructor  for the data creator */
+  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
 };
 
-}
-
-class GyroPrimaryDataset: public StaticLocalDataSet<5> {
-public:
-
-    /** Constructor  for data users like controllers */
-    GyroPrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
-        setAllVariablesReadOnly();
-    }
-
-    /* Angular velocities in degrees per second (DPS) */
-    lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_X, this);
-    lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_Y, this);
-    lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_Z, this);
-    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-            L3GD20H::TEMPERATURE, this);
-private:
-
-    friend class GyroHandlerL3GD20H;
-    /** Constructor  for the data creator */
-    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
-};
-
-
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

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

@@ -1,26 +1,18 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
 
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+
 #include <cstdint>
 
 namespace MGMLIS3MDL {
 
-enum Set {
+enum Set { ON, OFF };
-    ON, OFF
+enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
-};
-enum OpMode {
-    LOW, MEDIUM, HIGH, ULTRA
-};
 
-enum Sensitivies: uint8_t {
+enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
-    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;
@@ -54,7 +46,7 @@ static const uint8_t SETUP_REPLY_LEN = 6;
 /*------------------------------------------------------------------------*/
 /* 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
+static const uint8_t DEVICE_ID = 0b00111101;  // Identifier for Device
 
 /* Register adress to access register 1 */
 static const uint8_t CTRL_REG1 = 0b00100000;
@@ -105,74 +97,67 @@ static const uint8_t RW_BIT = 7;
 static const uint8_t MS_BIT = 6;
 
 /* CTRL_REG1 bits */
-static const uint8_t ST = 0;        // Self test enable bit, enabled = 1
+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 DO0 = 2;      // Output data rate bit 2
-static const uint8_t DO1 = 3;       // Output data rate bit 3
+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 DO2 = 4;      // Output data rate bit 4
-static const uint8_t OM0 = 5;       // XY operating mode bit 5
+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 OM1 = 6;      // XY operating mode bit 6
-static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1
+static const uint8_t TEMP_EN = 7;  // Temperature sensor enable enabled = 1
-static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
+static const uint8_t CTRL_REG1_DEFAULT =
-        (1 << DO0) | (1 << DO1) | (1 << DO2);
+    (1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
 
 /* CTRL_REG2 bits */
-//reset configuration registers and user registers
+// 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 REBOOT = 3;  // reboot memory content
-static const uint8_t FSO = 5;       //full-scale selection bit 5
+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 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 MD0 = 0;  // Operating mode bit 0
-static const uint8_t MD1 = 1;       //Operating mode bit 1
+static const uint8_t MD1 = 1;  // Operating mode bit 1
-//SPI serial interface mode selection enabled = 3-wire-mode
+// 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 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
+// 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 OMZ0 = 2;  // Z operating mode bit 2
-static const uint8_t OMZ1 = 3;      //Z operating mode bit 3
+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 BDU = 6;        // Block data update
-static const uint8_t FAST_READ = 7; //Fast read enabled = 1
+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 {
+enum MgmPoolIds : lp_id_t {
-    FIELD_STRENGTH_X,
+  FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
+  FIELD_STRENGTH_Z,
-    TEMPERATURE_CELCIUS
+  TEMPERATURE_CELCIUS
 };
 
-class MgmPrimaryDataset: public StaticLocalDataSet<4> {
+class MgmPrimaryDataset : public StaticLocalDataSet<4> {
-public:
+ public:
-    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+  MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
-        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
 
-    MgmPrimaryDataset(object_id_t mgmId):
+  MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
 
-    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
-            FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
-            FIELD_STRENGTH_Y, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, 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);
 };
 
-}
+}  // namespace MGMLIS3MDL
-
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

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

@@ -1,10 +1,11 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/serialize/SerialLinkedListAdapter.h>
+
 #include <cstdint>
 
 namespace RM3100 {
@@ -24,8 +25,8 @@ 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 |
+static constexpr uint8_t CMM_VALUE =
-		SET_CMM_DRDM | SET_CMM_START;
+    SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
 
 /*----------------------------------------------------------------------------*/
 /* Cycle count register */
@@ -33,8 +34,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
 // Default value (200)
 static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
 
-static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
+static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
-		100 * 38;
 static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
 
 /*----------------------------------------------------------------------------*/
@@ -67,66 +67,58 @@ 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> {
+class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
-public:
+ public:
-	CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
+  CycleCountCommand(bool oneCycleCount = true) : oneCycleCount(oneCycleCount) {
-		setLinks(oneCycleCount);
+    setLinks(oneCycleCount);
-	}
+  }
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override {
+                            Endianness streamEndianness) override {
-		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
+    ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
-				size, streamEndianness);
+    if (oneCycleCount) {
-		if(oneCycleCount) {
+      cycleCountY = cycleCountX;
-			cycleCountY = cycleCountX;
+      cycleCountZ = cycleCountX;
-			cycleCountZ = cycleCountX;
+    }
-		}
+    return result;
-		return result;
+  }
-	}
 
-	SerializeElement<uint16_t> cycleCountX;
+  SerializeElement<uint16_t> cycleCountX;
-	SerializeElement<uint16_t> cycleCountY;
+  SerializeElement<uint16_t> cycleCountY;
-	SerializeElement<uint16_t> cycleCountZ;
+  SerializeElement<uint16_t> cycleCountZ;
 
-private:
+ private:
-	void setLinks(bool oneCycleCount) {
+  void setLinks(bool oneCycleCount) {
-		setStart(&cycleCountX);
+    setStart(&cycleCountX);
-		if(not oneCycleCount) {
+    if (not oneCycleCount) {
-			cycleCountX.setNext(&cycleCountY);
+      cycleCountX.setNext(&cycleCountY);
-			cycleCountY.setNext(&cycleCountZ);
+      cycleCountY.setNext(&cycleCountZ);
-		}
+    }
-	}
+  }
 
-	bool oneCycleCount;
+  bool oneCycleCount;
 };
 
 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
 
-enum MgmPoolIds: lp_id_t {
+enum MgmPoolIds : lp_id_t {
-    FIELD_STRENGTH_X,
+  FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
+  FIELD_STRENGTH_Z,
 };
 
-class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
+class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
-public:
+ public:
-	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
+  Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
-        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
 
-	Rm3100PrimaryDataset(object_id_t mgmId):
+  Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
 
-	// Field strengths in micro Tesla.
+  // Field strengths in micro Tesla.
-    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
-            FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
-            FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Z, this);
 };
 
-}
+}  // namespace RM3100
-
-
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,10 +4,17 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 
-add_subdirectory(gpio)
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-add_subdirectory(spi)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
-add_subdirectory(i2c)
+	add_subdirectory(gpio)
-add_subdirectory(uart)
+endif()
+	add_subdirectory(spi)
+	add_subdirectory(i2c)
+	add_subdirectory(uart)
+endif()
+
+add_subdirectory(uio)

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,207 @@
+#include "CommandExecutor.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+#include "fsfw/container/DynamicFIFO.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/serviceinterface.h"
+
+CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
+  waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+  if (state == States::PENDING) {
+    return COMMAND_PENDING;
+  }
+
+  currentCmd = command;
+  this->blocking = blocking;
+  this->printOutput = printOutput;
+  if (state == States::IDLE) {
+    state = States::COMMAND_LOADED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+  if (state == States::IDLE) {
+    return NO_COMMAND_LOADED_OR_PENDING;
+  } else if (state == States::PENDING) {
+    return COMMAND_PENDING;
+  }
+  currentCmdFile = popen(currentCmd.c_str(), "r");
+  if (currentCmdFile == nullptr) {
+    lastError = errno;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (blocking) {
+    ReturnValue_t result = executeBlocking();
+    state = States::IDLE;
+    return result;
+  } else {
+    currentFd = fileno(currentCmdFile);
+    waiter.fd = currentFd;
+  }
+  state = States::PENDING;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+  if (state == States::PENDING) {
+    // Attempt to close process, irrespective of if it is running or not
+    if (currentCmdFile != nullptr) {
+      pclose(currentCmdFile);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+  if (lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << funcName << " pclose failed with code " << lastError << ": "
+                 << strerror(lastError) << std::endl;
+#else
+    sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
+                    strerror(lastError));
+#endif
+  }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
+                                    DynamicFIFO<uint16_t>* sizesFifo) {
+  this->ringBuffer = ringBuffer;
+  this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& replyReceived) {
+  if (blocking) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+  switch (state) {
+    case (States::IDLE):
+    case (States::COMMAND_LOADED): {
+      return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case (States::PENDING): {
+      break;
+    }
+  }
+
+  int result = poll(&waiter, 1, 0);
+  switch (result) {
+    case (0): {
+      return HasReturnvaluesIF::RETURN_OK;
+      break;
+    }
+    case (1): {
+      if (waiter.revents & POLLIN) {
+        ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+        if (readBytes == 0) {
+          // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::warning << "CommandExecutor::check: No bytes read "
+                          "after poll event.."
+                       << std::endl;
+#else
+          sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+          break;
+        } else if (readBytes > 0) {
+          replyReceived = true;
+          if (printOutput) {
+            // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << readVec.data();
+#else
+            sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+          }
+          if (ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
+          }
+          if (sizesFifo != nullptr) {
+            if (not sizesFifo->full()) {
+              sizesFifo->insert(readBytes);
+            }
+          }
+        } else {
+          // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
+                       << std::endl;
+#else
+          sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+        }
+      }
+      if (waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+        sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+        return COMMAND_ERROR;
+      }
+      if (waiter.revents & POLLHUP) {
+        result = pclose(currentCmdFile);
+        ReturnValue_t retval = EXECUTION_FINISHED;
+        if (result != 0) {
+          lastError = result;
+          retval = HasReturnvaluesIF::RETURN_FAILED;
+        }
+        state = States::IDLE;
+        currentCmdFile = nullptr;
+        currentFd = 0;
+        return retval;
+      }
+      break;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+  CommandExecutor::close();
+  currentCmdFile = nullptr;
+  currentFd = 0;
+  state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+  // See:
+  // https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
+  return WEXITSTATUS(this->lastError);
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+  while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+    std::string output(readVec.data());
+    if (printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::info << currentCmd << " | " << output;
+#else
+      sif::printInfo("%s | %s", currentCmd, output);
+#endif
+    }
+    if (ringBuffer != nullptr) {
+      ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+    }
+    if (sizesFifo != nullptr) {
+      if (not sizesFifo->full()) {
+        sizesFifo->insert(output.size());
+      }
+    }
+  }
+  int result = pclose(currentCmdFile);
+  if (result != 0) {
+    lastError = result;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,129 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class SimpleRingBuffer;
+template <typename T>
+class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+ public:
+  enum class States { IDLE, COMMAND_LOADED, PENDING };
+
+  static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+  //! [EXPORT] : [COMMENT] Execution of the current command has finished
+  static constexpr ReturnValue_t EXECUTION_FINISHED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+  //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+  //! to load another command but a command is still pending
+  static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+  //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+  static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+  //! [EXPORT] : [COMMENT] Command execution failed
+  static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+  //! [EXPORT] : [COMMENT]
+  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+  /**
+   * Constructor. Is initialized with maximum size of internal buffer to read data from the
+   * executed process.
+   * @param maxSize
+   */
+  CommandExecutor(const size_t maxSize);
+
+  /**
+   * Load a new command which should be executed
+   * @param command
+   * @param blocking
+   * @param printOutput
+   * @return
+   */
+  ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+  /**
+   * Execute the loaded command.
+   * @return
+   *  - In blocking mode, it will return RETURN_FAILED if
+   *    the result of the system call was not 0. The error value can be accessed using
+   *    getLastError
+   *  - In non-blocking mode, this call will start
+   *    the execution and then return RETURN_OK
+   */
+  ReturnValue_t execute();
+  /**
+   * Only used in non-blocking mode. Checks the currently running command.
+   * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+   * @return
+   *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+   *    check again after this
+   *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+   *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+   *  - EXECUTION_FINISHED if the process was executed successfully
+   *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
+   *  - COMMAND_ERROR internal poll error
+   */
+  ReturnValue_t check(bool& replyReceived);
+  /**
+   * Abort the current command. Should normally not be necessary, check can be used to find
+   * out whether command execution was successful
+   * @return RETURN_OK
+   */
+  ReturnValue_t close();
+
+  States getCurrentState() const;
+  int getLastError() const;
+  void printLastError(std::string funcName) const;
+
+  /**
+   * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+   * read from the started process
+   * @param ringBuffer
+   * @param sizesFifo
+   */
+  void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+  /**
+   * Reset the executor. This calls close internally and then reset the state machine so new
+   * commands can be loaded and executed
+   */
+  void reset();
+
+ private:
+  std::string currentCmd;
+  bool blocking = true;
+  FILE* currentCmdFile = nullptr;
+  int currentFd = 0;
+  bool printOutput = true;
+  std::vector<char> readVec;
+  struct pollfd waiter {};
+  SimpleRingBuffer* ringBuffer = nullptr;
+  DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+  States state = States::IDLE;
+  int lastError = 0;
+
+  ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -1,37 +1,36 @@
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 
 #include <cerrno>
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+
 UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
-        std::string diagnosticPrefix):
+                             std::string diagnosticPrefix)
-        fileDescriptor(fileDescriptor) {
+    : fileDescriptor(fileDescriptor) {
-    if(fileDescriptor == nullptr) {
+  if (fileDescriptor == nullptr) {
-        return;
+    return;
-    }
+  }
-    *fileDescriptor = open(device.c_str(), flags);
+  *fileDescriptor = open(device.c_str(), flags);
-    if (*fileDescriptor < 0) {
+  if (*fileDescriptor < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
+    sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
-                errno << ": " << strerror(errno) << std::endl;
+                 << strerror(errno) << std::endl;
 #else
-        sif::printWarning("%s: Opening device failed with error code %d: %s\n",
+    sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
-                diagnosticPrefix, errno, strerror(errno));
+                      strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        openStatus = OPEN_FILE_FAILED;
+    openStatus = OPEN_FILE_FAILED;
-    }
+  }
 }
 
 UnixFileGuard::~UnixFileGuard() {
-    if(fileDescriptor != nullptr) {
+  if (fileDescriptor != nullptr) {
-        close(*fileDescriptor);
+    close(*fileDescriptor);
-    }
+  }
 }
 
-ReturnValue_t UnixFileGuard::getOpenResult() const {
+ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
-    return openStatus;
-}

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -1,33 +1,30 @@
 #ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
 #define LINUX_UTILITY_UNIXFILEGUARD_H_
 
+#include <fcntl.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <unistd.h>
 
 #include <string>
 
-#include <fcntl.h>
-#include <unistd.h>
-
-
 class UnixFileGuard {
-public:
+ public:
-    static constexpr int READ_WRITE_FLAG = O_RDWR;
+  static constexpr int READ_WRITE_FLAG = O_RDWR;
-    static constexpr int READ_ONLY_FLAG = O_RDONLY;
+  static constexpr int READ_ONLY_FLAG = O_RDONLY;
-    static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
+  static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
 
-    static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
+  static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
 
-    UnixFileGuard(std::string device, int* fileDescriptor, int flags,
+  UnixFileGuard(std::string device, int* fileDescriptor, int flags,
-            std::string diagnosticPrefix = "");
+                std::string diagnosticPrefix = "");
 
-    virtual~ UnixFileGuard();
+  virtual ~UnixFileGuard();
 
-    ReturnValue_t getOpenResult() const;
+  ReturnValue_t getOpenResult() const;
-private:
+
-    int* fileDescriptor = nullptr;
+ private:
-    ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
+  int* fileDescriptor = nullptr;
+  ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };
 
-
-
 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

hal/src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -1,12 +1,16 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    LinuxLibgpioIF.cpp
-)
-
 # This abstraction layer requires the gpiod library. You can install this library
 # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
 # to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod REQUIRED)
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_GPIO}
+    )
+endif()
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${LIB_GPIO}
-)

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

@@ -1,442 +1,447 @@
 #include "LinuxLibgpioIF.h"
 
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+#include <gpiod.h>
-#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include <unistd.h>
-
-#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <utility>
-#include <unistd.h>
-#include <gpiod.h>
 
-LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
+#include "fsfw/serviceinterface/ServiceInterface.h"
-}
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+
+LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
 
 LinuxLibgpioIF::~LinuxLibgpioIF() {
-    for(auto& config: gpioMap) {
+  for (auto& config : gpioMap) {
-        delete(config.second);
+    delete (config.second);
-    }
+  }
 }
 
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
-    ReturnValue_t result;
+  ReturnValue_t result;
-    if(gpioCookie == nullptr) {
+  if (gpioCookie == nullptr) {
-        sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+    sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
 
-    GpioMap mapToAdd = gpioCookie->getGpioMap();
+  GpioMap mapToAdd = gpioCookie->getGpioMap();
 
-    /* Check whether this ID already exists in the map and remove duplicates */
+  /* Check whether this ID already exists in the map and remove duplicates */
-    result = checkForConflicts(mapToAdd);
+  result = checkForConflicts(mapToAdd);
-    if (result != RETURN_OK){
+  if (result != RETURN_OK) {
-        return result;
+    return result;
-    }
+  }
 
-    result = configureGpios(mapToAdd);
+  result = configureGpios(mapToAdd);
-    if (result != RETURN_OK) {
+  if (result != RETURN_OK) {
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
 
-    /* Register new GPIOs in gpioMap */
+  /* Register new GPIOs in gpioMap */
-    gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
+  gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
 
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-    for(auto& gpioConfig: mapToAdd) {
+  for (auto& gpioConfig : mapToAdd) {
-        auto& gpioType = gpioConfig.second->gpioType;
+    auto& gpioType = gpioConfig.second->gpioType;
-        switch(gpioType) {
+    switch (gpioType) {
-        case(gpio::GpioTypes::NONE): {
+      case (gpio::GpioTypes::NONE): {
-            return GPIO_INVALID_INSTANCE;
+        return GPIO_INVALID_INSTANCE;
+      }
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+        auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
+        if (regularGpio == nullptr) {
+          return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+        configureGpioByChip(gpioConfig.first, *regularGpio);
-            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
+        break;
-            if(regularGpio == nullptr) {
+      }
-                return GPIO_INVALID_INSTANCE;
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
-            }
+        auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
-            configureGpioByChip(gpioConfig.first, *regularGpio);
+        if (regularGpio == nullptr) {
-            break;
+          return GPIO_INVALID_INSTANCE;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+        configureGpioByLabel(gpioConfig.first, *regularGpio);
-            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
+        break;
-            if(regularGpio == nullptr) {
+      }
-                return GPIO_INVALID_INSTANCE;
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
-            }
+        auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
-            configureGpioByLabel(gpioConfig.first, *regularGpio);
+        if (regularGpio == nullptr) {
-            break;
+          return GPIO_INVALID_INSTANCE;
-        }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
-            auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
-            if(regularGpio == nullptr) {
-                return GPIO_INVALID_INSTANCE;
-            }
-            configureGpioByLineName(gpioConfig.first, *regularGpio);
-            break;
-        }
-        case(gpio::GpioTypes::CALLBACK): {
-            auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
-            if(gpioCallback->callback == nullptr) {
-                return GPIO_INVALID_INSTANCE;
-            }
-            gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
-                    gpioCallback->initValue, gpioCallback->callbackArgs);
         }
+        configureGpioByLineName(gpioConfig.first, *regularGpio);
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        if (gpioCallback->callback == nullptr) {
+          return GPIO_INVALID_INSTANCE;
         }
+        gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
+                               gpioCallback->initValue, gpioCallback->callbackArgs);
+      }
     }
-    return RETURN_OK;
+  }
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
-        GpiodRegularByLabel &gpioByLabel) {
+                                                   GpiodRegularByLabel& gpioByLabel) {
-    std::string& label = gpioByLabel.label;
+  std::string& label = gpioByLabel.label;
-    struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
+  struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
-    if (chip == nullptr) {
+  if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
+    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
-                << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
+                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-
+  }
-    }
+  std::string failOutput = "label: " + label;
-    std::string failOutput = "label: " + label;
+  return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
-    return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
 }
 
-ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
+ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip) {
-        GpiodRegularByChip &gpioByChip) {
+  std::string& chipname = gpioByChip.chipname;
-    std::string& chipname = gpioByChip.chipname;
+  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
-    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
+  if (chip == nullptr) {
-    if (chip == nullptr) {
+    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
-        sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
+                 << ". Gpio ID: " << gpioId << std::endl;
-                << chipname << ". Gpio ID: " << gpioId << std::endl;
+    return RETURN_FAILED;
-        return RETURN_FAILED;
+  }
-    }
+  std::string failOutput = "chipname: " + chipname;
-    std::string failOutput = "chipname: " + chipname;
+  return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
-    return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
-        GpiodRegularByLineName &gpioByLineName) {
+                                                      GpiodRegularByLineName& gpioByLineName) {
-    std::string& lineName = gpioByLineName.lineName;
+  std::string& lineName = gpioByLineName.lineName;
-    char chipname[MAX_CHIPNAME_LENGTH];
+  char chipname[MAX_CHIPNAME_LENGTH];
-    unsigned int lineOffset;
+  unsigned int lineOffset;
 
-    int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
+  int result =
-            &lineOffset);
+      gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
-    if (result != LINE_FOUND) {
+  if (result != LINE_FOUND) {
-        parseFindeLineResult(result, lineName);
+    parseFindeLineResult(result, lineName);
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
 
-    gpioByLineName.lineNum = static_cast<int>(lineOffset);
+  gpioByLineName.lineNum = static_cast<int>(lineOffset);
 
-    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
+  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
-    if (chip == nullptr) {
+  if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
+    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
-                << chipname << ". <Gpio ID: " << gpioId << std::endl;
+                 << ". <Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
-    std::string failOutput = "line name: " + lineName;
+  std::string failOutput = "line name: " + lineName;
-    return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
+  return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
 }
 
 ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
-        GpiodRegularBase& regularGpio, std::string failOutput) {
+                                                   GpiodRegularBase& regularGpio,
-    unsigned int lineNum;
+                                                   std::string failOutput) {
-    gpio::Direction direction;
+  unsigned int lineNum;
-    std::string consumer;
+  gpio::Direction direction;
-    struct gpiod_line *lineHandle;
+  std::string consumer;
-    int result = 0;
+  struct gpiod_line* lineHandle;
+  int result = 0;
 
-    lineNum = regularGpio.lineNum;
+  lineNum = regularGpio.lineNum;
-    lineHandle = gpiod_chip_get_line(chip, lineNum);
+  lineHandle = gpiod_chip_get_line(chip, lineNum);
-    if (!lineHandle) {
+  if (!lineHandle) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+    sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+    sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
-                ", " << failOutput << std::endl;
+                 << std::endl;
-        sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
+    sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
-        gpiod_chip_close(chip);
+    gpiod_chip_close(chip);
-        return RETURN_FAILED;
+    return RETURN_FAILED;
-    }
+  }
 
-    direction = regularGpio.direction;
+  direction = regularGpio.direction;
-    consumer = regularGpio.consumer;
+  consumer = regularGpio.consumer;
-    /* Configure direction and add a description to the GPIO */
+  /* Configure direction and add a description to the GPIO */
-    switch (direction) {
+  switch (direction) {
-    case(gpio::OUT): {
+    case (gpio::Direction::OUT): {
-        result = gpiod_line_request_output(lineHandle, consumer.c_str(),
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                regularGpio.initValue);
+                                         static_cast<int>(regularGpio.initValue));
-        break;
+      break;
     }
-    case(gpio::IN): {
+    case (gpio::Direction::IN): {
-        result = gpiod_line_request_input(lineHandle, consumer.c_str());
+      result = gpiod_line_request_input(lineHandle, consumer.c_str());
-        break;
+      break;
     }
     default: {
-        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
+      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
-                << std::endl;
+      return GPIO_INVALID_INSTANCE;
-        return GPIO_INVALID_INSTANCE;
     }
 
-    if (result < 0) {
+      if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
+        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
-                lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
+                   << " from GPIO instance with ID: " << gpioId << std::endl;
 #else
-        sif::printError("LinuxLibgpioIF::configureRegularGpio: "
+        sif::printError(
-                "Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
+            "LinuxLibgpioIF::configureRegularGpio: "
+            "Failed to request line %d from GPIO instance with ID: %d\n",
+            lineNum, gpioId);
 #endif
         gpiod_line_release(lineHandle);
         return RETURN_FAILED;
-    }
+      }
-
+  }
-    }
+  /**
-    /**
+   * Write line handle to GPIO configuration instance so it can later be used to set or
-     * Write line handle to GPIO configuration instance so it can later be used to set or
+   * read states of GPIOs.
-     * read states of GPIOs.
+   */
-     */
+  regularGpio.lineHandle = lineHandle;
-    regularGpio.lineHandle = lineHandle;
+  return RETURN_OK;
-    return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
-    gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
-    if (gpioMapIter == gpioMap.end()) {
+  if (gpioMapIter == gpioMap.end()) {
-        sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
+    sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
-        return UNKNOWN_GPIO_ID;
+    return UNKNOWN_GPIO_ID;
-    }
+  }
 
-    auto gpioType = gpioMapIter->second->gpioType;
+  auto gpioType = gpioMapIter->second->gpioType;
-    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
+      return GPIO_TYPE_FAILURE;
-        }
-        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
     }
-    else {
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
-        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+  } else {
-        if(gpioCallback->callback == nullptr) {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-            return GPIO_INVALID_INSTANCE;
+    if (gpioCallback->callback == nullptr) {
-        }
+      return GPIO_INVALID_INSTANCE;
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                gpio::Levels::HIGH, gpioCallback->callbackArgs);
-        return RETURN_OK;
     }
-    return GPIO_TYPE_FAILURE;
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
+                           gpioCallback->callbackArgs);
+    return RETURN_OK;
+  }
+  return GPIO_TYPE_FAILURE;
 }
 
 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
-    gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
-    if (gpioMapIter == gpioMap.end()) {
+  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
+    sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
 #else
-        sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
+    sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
 #endif
-        return UNKNOWN_GPIO_ID;
+    return UNKNOWN_GPIO_ID;
-    }
+  }
 
-    auto& gpioType = gpioMapIter->second->gpioType;
+  auto& gpioType = gpioMapIter->second->gpioType;
-    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
+      return GPIO_TYPE_FAILURE;
-        }
-        return driveGpio(gpioId, *regularGpio, gpio::LOW);
     }
-    else {
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
-        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+  } else {
-        if(gpioCallback->callback == nullptr) {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-            return GPIO_INVALID_INSTANCE;
+    if (gpioCallback->callback == nullptr) {
-        }
+      return GPIO_INVALID_INSTANCE;
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                gpio::Levels::LOW, gpioCallback->callbackArgs);
-        return RETURN_OK;
     }
-    return GPIO_TYPE_FAILURE;
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
+                           gpioCallback->callbackArgs);
+    return RETURN_OK;
+  }
+  return GPIO_TYPE_FAILURE;
 }
 
-ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
-        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
+                                        gpio::Levels logicLevel) {
-    int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
+  int result = gpiod_line_set_value(regularGpio.lineHandle, static_cast<int>(logicLevel));
-    if (result < 0) {
+  if (result < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
+    sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
-                " to logic level " << logicLevel << std::endl;
+                 << " to logic level " << static_cast<int>(logicLevel) << std::endl;
 #else
-        sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+    sif::printWarning(
-                "logic level %d\n", gpioId, logicLevel);
+        "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+        "logic level %d\n",
+        gpioId, logicLevel);
 #endif
-        return DRIVE_GPIO_FAILURE;
+    return DRIVE_GPIO_FAILURE;
-    }
+  }
 
-    return RETURN_OK;
+  return RETURN_OK;
 }
 
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
-    gpioMapIter = gpioMap.find(gpioId);
+  gpioMapIter = gpioMap.find(gpioId);
-    if (gpioMapIter == gpioMap.end()){
+  if (gpioMapIter == gpioMap.end()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+    sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
 #else
-        sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
+    sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
 #endif
-        return UNKNOWN_GPIO_ID;
+    return UNKNOWN_GPIO_ID;
-    }
+  }
 
-    auto gpioType = gpioMapIter->second->gpioType;
+  auto gpioType = gpioMapIter->second->gpioType;
-    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
+  if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
-            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+    auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
+      return GPIO_TYPE_FAILURE;
-        }
-        *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
     }
-    else {
+    *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
-        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+  } else {
-        if(gpioCallback->callback == nullptr) {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-            return GPIO_INVALID_INSTANCE;
+    if (gpioCallback->callback == nullptr) {
-        }
+      return GPIO_INVALID_INSTANCE;
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
-                gpio::Levels::NONE, gpioCallback->callbackArgs);
-        return RETURN_OK;
     }
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
+                           gpioCallback->callbackArgs);
     return RETURN_OK;
+  }
+  return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
+ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
-    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    for(auto& gpioConfig: mapToAdd) {
+  for (auto& gpioConfig : mapToAdd) {
-        switch(gpioConfig.second->gpioType) {
+    switch (gpioConfig.second->gpioType) {
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
-            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
+        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
-            if(regularGpio == nullptr)  {
+        if (regularGpio == nullptr) {
-                return GPIO_TYPE_FAILURE;
+          return GPIO_TYPE_FAILURE;
-            }
-            // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-            if(result != HasReturnvaluesIF::RETURN_OK) {
-                status = result;
-            }
-            break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+        // Check for conflicts and remove duplicates if necessary
-            auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-            if(callbackGpio == nullptr)  {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
-                return GPIO_TYPE_FAILURE;
+          status = result;
-            }
-            // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsById(gpioConfig.first,
-                    gpioConfig.second->gpioType, mapToAdd);
-            if(result != HasReturnvaluesIF::RETURN_OK) {
-                status = result;
-            }
-            break;
         }
-        default: {
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        if (callbackGpio == nullptr) {
+          return GPIO_TYPE_FAILURE;
+        }
+        // Check for conflicts and remove duplicates if necessary
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          status = result;
+        }
+        break;
+      }
+      default: {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
+        sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
-                    << std::endl;
 #else
-            sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
+        sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
 #endif
-            status = GPIO_TYPE_FAILURE;
+        status = GPIO_TYPE_FAILURE;
-        }
+      }
-        }
     }
-    return status;
+  }
+  return status;
 }
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
-        gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
+                                                    gpio::GpioTypes expectedType,
-    // Cross check with private map
+                                                    GpioMap& mapToAdd) {
-    gpioMapIter = gpioMap.find(gpioIdToCheck);
+  // Cross check with private map
-    if(gpioMapIter != gpioMap.end()) {
+  gpioMapIter = gpioMap.find(gpioIdToCheck);
-        auto& gpioType = gpioMapIter->second->gpioType;
+  if (gpioMapIter != gpioMap.end()) {
-        bool eraseDuplicateDifferentType = false;
+    auto& gpioType = gpioMapIter->second->gpioType;
-        switch(expectedType) {
+    bool eraseDuplicateDifferentType = false;
-        case(gpio::GpioTypes::NONE): {
+    switch (expectedType) {
-            break;
+      case (gpio::GpioTypes::NONE): {
+        break;
+      }
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+        if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+          eraseDuplicateDifferentType = true;
         }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+        break;
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+      case (gpio::GpioTypes::CALLBACK): {
-            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+        if (gpioType != gpio::GpioTypes::CALLBACK) {
-                eraseDuplicateDifferentType = true;
+          eraseDuplicateDifferentType = true;
-            }
-            break;
         }
-        case(gpio::GpioTypes::CALLBACK): {
+      }
-            if(gpioType != gpio::GpioTypes::CALLBACK) {
-                eraseDuplicateDifferentType = true;
-            }
-        }
-        }
-        if(eraseDuplicateDifferentType) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
-                    "different GPIO type " << gpioIdToCheck <<
-                    ". Removing duplicate from map to add" << std::endl;
-#else
-            sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
-                    "different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
-#endif
-            mapToAdd.erase(gpioIdToCheck);
-            return GPIO_DUPLICATE_DETECTED;
-        }
-
-        // Remove element from map to add because a entry for this GPIO already exists
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
-                "definition with ID " << gpioIdToCheck << " detected. " <<
-                "Duplicate will be removed from map to add" << std::endl;
-#else
-        sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
-                "with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
-#endif
-        mapToAdd.erase(gpioIdToCheck);
-        return GPIO_DUPLICATE_DETECTED;
     }
-    return HasReturnvaluesIF::RETURN_OK;
+    if (eraseDuplicateDifferentType) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                      "different GPIO type "
+                   << gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
+#else
+      sif::printWarning(
+          "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+          "different GPIO type %d. Removing duplicate from map to add\n",
+          gpioIdToCheck);
+#endif
+      mapToAdd.erase(gpioIdToCheck);
+      return GPIO_DUPLICATE_DETECTED;
+    }
+
+    // Remove element from map to add because a entry for this GPIO already exists
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
+                    "definition with ID "
+                 << gpioIdToCheck << " detected. "
+                 << "Duplicate will be removed from map to add" << std::endl;
+#else
+    sif::printWarning(
+        "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+        "with ID %d detected. Duplicate will be removed from map to add\n",
+        gpioIdToCheck);
+#endif
+    mapToAdd.erase(gpioIdToCheck);
+    return GPIO_DUPLICATE_DETECTED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
-    switch (result) {
+  switch (result) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     case LINE_NOT_EXISTS:
     case LINE_ERROR: {
-        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
+      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
-                " does not exist" << std::endl;
+                   << " does not exist" << std::endl;
-        break;
+      break;
     }
     default: {
-        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
-                "with name " << lineName << std::endl;
+                      "with name "
-        break;
+                   << lineName << std::endl;
+      break;
     }
 #else
     case LINE_NOT_EXISTS:
     case LINE_ERROR: {
-        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
+      sif::printWarning(
-                "does not exist\n", lineName);
+          "LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
-        break;
+          "does not exist\n",
+          lineName);
+      break;
     }
     default: {
-        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+      sif::printWarning(
-                "with name %s\n", lineName);
+          "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
-        break;
+          "with name %s\n",
+          lineName);
+      break;
     }
 #endif
-    }
+  }
-
 }

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

@@ -1,9 +1,9 @@
 #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
 #define LINUX_GPIO_LINUXLIBGPIOIF_H_
 
+#include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/FwClassIds.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
 
 class GpioCookie;
 class GpiodRegularIF;
@@ -16,76 +16,71 @@ class GpiodRegularIF;
  * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
  */
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
-public:
+ public:
+  static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
 
-    static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
+  static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+  static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
-    static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+  LinuxLibgpioIF(object_id_t objectId);
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  virtual ~LinuxLibgpioIF();
-    static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
-    static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
-    static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
-    static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
-            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
-	LinuxLibgpioIF(object_id_t objectId);
+  ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
-	virtual ~LinuxLibgpioIF();
+  ReturnValue_t pullHigh(gpioId_t gpioId) override;
+  ReturnValue_t pullLow(gpioId_t gpioId) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
-	ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
+ private:
-	ReturnValue_t pullHigh(gpioId_t gpioId) override;
+  static const size_t MAX_CHIPNAME_LENGTH = 11;
-	ReturnValue_t pullLow(gpioId_t gpioId) override;
+  static const int LINE_NOT_EXISTS = 0;
-	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
+  static const int LINE_ERROR = -1;
+  static const int LINE_FOUND = 1;
 
-private:
+  // Holds the information and configuration of all used GPIOs
+  GpioUnorderedMap gpioMap;
+  GpioUnorderedMapIter gpioMapIter;
 
-	static const size_t MAX_CHIPNAME_LENGTH = 11;
+  /**
-	static const int LINE_NOT_EXISTS = 0;
+   * @brief	This functions drives line of a GPIO specified by the GPIO ID.
-	static const int LINE_ERROR = -1;
+   *
-	static const int LINE_FOUND = 1;
+   * @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, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
 
-	// Holds the information and configuration of all used GPIOs
+  ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
-	GpioUnorderedMap gpioMap;
+  ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
-	GpioUnorderedMapIter gpioMapIter;
+  ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
+  ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+                                     GpiodRegularBase& regularGpio, std::string failOutput);
 
-	/**
+  /**
-	 * @brief	This functions drives line of a GPIO specified by the GPIO ID.
+   * @brief	This function checks if GPIOs are already registered and whether
-	 *
+   * 			there exists a conflict in the GPIO configuration. E.g. the
-	 * @param gpioId	The GPIO ID of the GPIO to drive.
+   * 			direction.
-	 * @param logiclevel	The logic level to set. O or 1.
+   *
-	 */
+   * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+   *
-	        gpio::Levels logicLevel);
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
+   */
+  ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
+  ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
-	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
-    ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
-            GpiodRegularByLineName &gpioByLineName);
-    ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
-            GpiodRegularBase& regularGpio, std::string failOutput);
 
-	/**
+  /**
-	 * @brief	This function checks if GPIOs are already registered and whether
+   * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
-	 * 			there exists a conflict in the GPIO configuration. E.g. the
+   */
-	 * 			direction.
+  ReturnValue_t configureGpios(GpioMap& mapToAdd);
-	 *
-	 * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
-	 *
-	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED
-	 */
-	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
+  void parseFindeLineResult(int result, std::string& lineName);
-	        GpioMap& mapToAdd);
-
-	/**
-	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
-	 */
-	ReturnValue_t configureGpios(GpioMap& mapToAdd);
-
-	void parseFindeLineResult(int result, std::string& lineName);
 };
 
 #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

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

@@ -1,205 +1,237 @@
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "I2cComIF.h"
-#include "fsfw_hal/linux/utility.h"
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+#include "fsfw/globalfunctions/arrayprinter.h"
+#endif
 
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <linux/i2c-dev.h>
 #include <errno.h>
+#include <fcntl.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
 
 #include <cstring>
 
-
+I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
-I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
-}
 
 I2cComIF::~I2cComIF() {}
 
 ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
+  address_t i2cAddress;
+  std::string deviceFile;
 
-    address_t i2cAddress;
+  if (cookie == nullptr) {
-    std::string deviceFile;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-
+    sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
-    if(cookie == nullptr) {
-        sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
-        sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-
-    i2cAddress = i2cCookie->getAddress();
-
-    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-    if(i2cDeviceMapIter == i2cDeviceMap.end()) {
-        size_t maxReplyLen = i2cCookie->getMaxReplyLen();
-        I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
-        auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
-        if (not statusPair.second) {
-            sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
-                    i2cAddress << "to I2C device " << "map" << std::endl;
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
-            "already in use" << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
-        const uint8_t *sendData, size_t sendLen) {
-
-    ReturnValue_t result;
-    int fd;
-    std::string deviceFile;
-
-    if(sendData == nullptr) {
-        sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
-                << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    if(sendLen == 0) {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
-        sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-
-    address_t i2cAddress = i2cCookie->getAddress();
-    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-        sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
-                << "registered in i2cDeviceMap" << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    deviceFile = i2cCookie->getDeviceFile();
-    UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-        return fileHelper.getOpenResult();
-    }
-    result = openDevice(deviceFile, i2cAddress, &fd);
-    if (result != HasReturnvaluesIF::RETURN_OK){
-        return result;
-    }
-
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
-        sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                "device with error code " << errno << ". Error description: "
-                << strerror(errno) << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
-        size_t requestLen) {
-    ReturnValue_t result;
-    int fd;
-    std::string deviceFile;
-
-    if (requestLen == 0) {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
-        sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
-        i2cDeviceMapIter->second.replyLen = 0;
-        return NULLPOINTER;
-    }
-
-    address_t i2cAddress = i2cCookie->getAddress();
-    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
-        sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
-                << "registered in i2cDeviceMap" << std::endl;
-        i2cDeviceMapIter->second.replyLen = 0;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-
-    deviceFile = i2cCookie->getDeviceFile();
-    UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-        return fileHelper.getOpenResult();
-    }
-    result = openDevice(deviceFile, i2cAddress, &fd);
-    if (result != HasReturnvaluesIF::RETURN_OK){
-        i2cDeviceMapIter->second.replyLen = 0;
-        return result;
-    }
-
-    uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
-
-    int readLen = read(fd, replyBuffer, requestLen);
-    if (readLen != static_cast<int>(requestLen)) {
-#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
-                << "device failed with error code " << errno <<". Description"
-                << " of error: " << strerror(errno) << std::endl;
-        sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
-                << requestLen << " bytes" << std::endl;
 #endif
-        i2cDeviceMapIter->second.replyLen = 0;
+    return NULLPOINTER;
-        sif::debug << "I2cComIF::requestReceiveMessage: Read "  << readLen << " of " << requestLen << " bytes" << std::endl;
+  }
-        return HasReturnvaluesIF::RETURN_FAILED;
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    }
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
 
-    i2cDeviceMapIter->second.replyLen = requestLen;
+  i2cAddress = i2cCookie->getAddress();
+
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    size_t maxReplyLen = i2cCookie->getMaxReplyLen();
+    I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
+    auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
+    if (not statusPair.second) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
+                 << i2cAddress << "to I2C device "
+                 << "map" << std::endl;
+#endif
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
     return HasReturnvaluesIF::RETURN_OK;
+  }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
+             << "already in use" << std::endl;
+#endif
+  return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
+ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
-        uint8_t **buffer, size_t* size) {
+  ReturnValue_t result;
-    I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  int fd;
-    if(i2cCookie == nullptr) {
+  std::string deviceFile;
-        sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
-        return NULLPOINTER;
-    }
 
-    address_t i2cAddress = i2cCookie->getAddress();
+  if (sendData == nullptr) {
-    i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-    if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
-        sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
+#endif
-                << "found in i2cDeviceMap" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
-        return HasReturnvaluesIF::RETURN_FAILED;
+  }
-    }
-    *buffer = i2cDeviceMapIter->second.replyBuffer.data();
-    *size = i2cDeviceMapIter->second.replyLen;
 
+  if (sendLen == 0) {
     return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
+               << "registered in i2cDeviceMap" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  deviceFile = i2cCookie->getDeviceFile();
+  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+  result = openDevice(deviceFile, i2cAddress, &fd);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
+                  "device with error code "
+               << errno << ". Error description: " << strerror(errno) << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(sendData, sendLen);
+#endif
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
-        address_t i2cAddress, int* fileDescriptor) {
 
-    if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  ReturnValue_t result;
+  int fd;
+  std::string deviceFile;
+
+  if (requestLen == 0) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
+               << "registered in i2cDeviceMap" << std::endl;
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  deviceFile = i2cCookie->getDeviceFile();
+  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+  result = openDevice(deviceFile, i2cAddress, &fd);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    i2cDeviceMapIter->second.replyLen = 0;
+    return result;
+  }
+
+  uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
+
+  int readLen = read(fd, replyBuffer, requestLen);
+  if (readLen != static_cast<int>(requestLen)) {
+#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
+               << "device failed with error code " << errno << ". Description"
+               << " of error: " << strerror(errno) << std::endl;
+    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
+               << " bytes" << std::endl;
+#endif
+    i2cDeviceMapIter->second.replyLen = 0;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+#if FSFW_HAL_I2C_WIRETAPPING == 1
+  sif::info << "I2C read bytes from bus " << deviceFile << ":" << std::endl;
+  arrayprinter::print(replyBuffer, requestLen);
+#endif
+
+  i2cDeviceMapIter->second.replyLen = requestLen;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
+#endif
+    return NULLPOINTER;
+  }
+
+  address_t i2cAddress = i2cCookie->getAddress();
+  i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+  if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
+               << "found in i2cDeviceMap" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  *buffer = i2cDeviceMapIter->second.replyBuffer.data();
+  *size = i2cDeviceMapIter->second.replyLen;
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
+                                   int* fileDescriptor) {
+  if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
+    sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
-                << std::endl;
+                 << std::endl;
-        sif::warning << "Error description " << strerror(errno) << std::endl;
+    sif::warning << "Error description " << strerror(errno) << std::endl;
 #else
-        sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
+    sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
-        sif::printWarning("Error description: %s\n", strerror(errno));
+    sif::printWarning("Error description: %s\n", strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

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

@@ -1,13 +1,14 @@
 #ifndef LINUX_I2C_I2COMIF_H_
 #define LINUX_I2C_I2COMIF_H_
 
-#include "I2cCookie.h"
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 #include <unordered_map>
 #include <vector>
 
+#include "I2cCookie.h"
+
 /**
  * @brief 	This is the communication interface for I2C devices connected
  * 			to a system running a Linux OS.
@@ -16,46 +17,41 @@
  *
  * @author 	J. Meier
  */
-class I2cComIF: public DeviceCommunicationIF, public SystemObject {
+class I2cComIF : public DeviceCommunicationIF, public SystemObject {
-public:
+ public:
-	I2cComIF(object_id_t objectId);
+  I2cComIF(object_id_t objectId);
 
-	virtual ~I2cComIF();
+  virtual ~I2cComIF();
 
-	ReturnValue_t initializeInterface(CookieIF * cookie) override;
+  ReturnValue_t initializeInterface(CookieIF *cookie) override;
-	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
-			size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF *cookie) override;
-	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
-	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
-	        size_t requestLen) override;
-	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			size_t *size) override;
 
-private:
+ private:
+  struct I2cInstance {
+    std::vector<uint8_t> replyBuffer;
+    size_t replyLen;
+  };
 
-	struct I2cInstance {
+  using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
-		std::vector<uint8_t> replyBuffer;
+  using I2cDeviceMapIter = I2cDeviceMap::iterator;
-		size_t replyLen;
-	};
 
-	using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
+  /* In this map all i2c devices will be registered with their address and
-	using I2cDeviceMapIter = I2cDeviceMap::iterator;
+   * the appropriate file descriptor will be stored */
+  I2cDeviceMap i2cDeviceMap;
+  I2cDeviceMapIter i2cDeviceMapIter;
 
-	/* In this map all i2c devices will be registered with their address and
+  /**
-	 * the appropriate file descriptor will be stored */
+   * @brief	This function opens an I2C device and binds the opened file
-	I2cDeviceMap i2cDeviceMap;
+   * 			to a specific I2C address.
-	I2cDeviceMapIter i2cDeviceMapIter;
+   * @param deviceFile	The name of the device file. E.g. i2c-0
-
+   * @param i2cAddress	The address of the i2c slave device.
-	/**
+   * @param fileDescriptor	Pointer to device descriptor.
-	 * @brief	This function opens an I2C device and binds the opened file
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
-	 * 			to a specific I2C address.
+   */
-	 * @param deviceFile	The name of the device file. E.g. i2c-0
+  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
-	 * @param i2cAddress	The address of the i2c slave device.
-	 * @param fileDescriptor	Pointer to device descriptor.
-	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
-	 */
-	ReturnValue_t openDevice(std::string deviceFile,
-			address_t i2cAddress, int* fileDescriptor);
 };
 
 #endif /* LINUX_I2C_I2COMIF_H_ */

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

@@ -1,20 +1,12 @@
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
 
-I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
-		std::string deviceFile_) :
+    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}
-		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
-}
 
-address_t I2cCookie::getAddress() const {
+address_t I2cCookie::getAddress() const { return i2cAddress; }
-	return i2cAddress;
-}
 
-size_t I2cCookie::getMaxReplyLen() const {
+size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }
-	return maxReplyLen;
-}
 
-std::string I2cCookie::getDeviceFile() const {
+std::string I2cCookie::getDeviceFile() const { return deviceFile; }
-	return deviceFile;
-}
 
 I2cCookie::~I2cCookie() {}

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

@@ -2,6 +2,7 @@
 #define LINUX_I2C_I2CCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
+
 #include <string>
 
 /**
@@ -9,30 +10,27 @@
  *
  * @author 	J. Meier
  */
-class I2cCookie: public CookieIF {
+class I2cCookie : public CookieIF {
-public:
+ public:
+  /**
+   * @brief	Constructor for the I2C cookie.
+   * @param i2cAddress_	The i2c address of the target device.
+   * @param maxReplyLen_	The maximum expected length of a reply from the
+   * 						target device.
+   * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
+   */
+  I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
 
-	/**
+  virtual ~I2cCookie();
-	 * @brief	Constructor for the I2C cookie.
-	 * @param i2cAddress_	The i2c address of the target device.
-	 * @param maxReplyLen_	The maximum expected length of a reply from the
-	 * 						target device.
-	 * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
-	 */
-	I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
-			std::string deviceFile_);
 
-	virtual ~I2cCookie();
+  address_t getAddress() const;
+  size_t getMaxReplyLen() const;
+  std::string getDeviceFile() const;
 
-	address_t getAddress() const;
+ private:
-	size_t getMaxReplyLen() const;
+  address_t i2cAddress = 0;
-	std::string getDeviceFile() const;
+  size_t maxReplyLen = 0;
-
+  std::string deviceFile;
-private:
-
-	address_t i2cAddress = 0;
-	size_t maxReplyLen = 0;
-	std::string deviceFile;
 };
 
 #endif /* LINUX_I2C_I2CCOOKIE_H_ */

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

@@ -1,38 +1,38 @@
-#include "fsfw/FSFW.h"
-
 #include "fsfw_hal/linux/rpi/GpioRPi.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
+#include "fsfw/FSFW.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-        std::string consumer, gpio::Direction direction, int initValue) {
+                                        std::string consumer, gpio::Direction direction,
-    if(cookie == nullptr) {
+                                        gpio::Levels initValue) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+  if (cookie == nullptr) {
-    }
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
 
-    auto config = new GpiodRegularByChip();
+  auto config = new GpiodRegularByChip();
-    /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
+  /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
-    will not need this */
+  will not need this */
-    config->chipname = "gpiochip0";
+  config->chipname = "gpiochip0";
 
-    config->consumer = consumer;
+  config->consumer = consumer;
-    config->direction = direction;
+  config->direction = direction;
-    config->initValue = initValue;
+  config->initValue = initValue;
 
-    /* Sanity check for the BCM pins before assigning it */
+  /* Sanity check for the BCM pins before assigning it */
-    if(bcmPin > 27) {
+  if (bcmPin > 27) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
+    sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
 #else
-        sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
+    sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    config->lineNum = bcmPin;
+  config->lineNum = bcmPin;
-    cookie->addGpio(gpioId, config);
+  cookie->addGpio(gpioId, config);
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

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

@@ -2,6 +2,7 @@
 #define BSP_RPI_GPIO_GPIORPI_H_
 
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
 #include "../../common/gpio/gpioDefinitions.h"
 
 class GpioCookie;
@@ -20,7 +21,8 @@ namespace gpio {
  * @return
  */
 ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-        std::string consumer, gpio::Direction direction, int initValue);
+                                  std::string consumer, gpio::Direction direction,
-}
+                                  gpio::Levels initValue);
+}  // namespace gpio
 
 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

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

@@ -1,408 +1,412 @@
-#include "fsfw/FSFW.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
 
-#include <fsfw/ipc/MutexFactory.h>
-#include <fsfw/globalfunctions/arrayprinter.h>
-
-#include <linux/spi/spidev.h>
 #include <fcntl.h>
-#include <unistd.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/ipc/MutexFactory.h>
+#include <linux/spi/spidev.h>
 #include <sys/ioctl.h>
+#include <unistd.h>
 
 #include <cerrno>
 #include <cstring>
 
-SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
+#include "fsfw/FSFW.h"
-        SystemObject(objectId), gpioComIF(gpioComIF) {
+#include "fsfw_hal/linux/UnixFileGuard.h"
-    if(gpioComIF == nullptr) {
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/utility.h"
+
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
+    : SystemObject(objectId), gpioComIF(gpioComIF) {
+  if (gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
+    sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
 #else
-        sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
+    sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    }
+  }
 
-    spiMutex = MutexFactory::instance()->createMutex();
+  spiMutex = MutexFactory::instance()->createMutex();
 }
 
-ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
+ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
-    int retval = 0;
+  int retval = 0;
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return NULLPOINTER;
+    return NULLPOINTER;
-    }
+  }
 
-    address_t spiAddress = spiCookie->getSpiAddress();
+  address_t spiAddress = spiCookie->getSpiAddress();
 
-    auto iter = spiDeviceMap.find(spiAddress);
+  auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
-        size_t bufferSize = spiCookie->getMaxBufferSize();
+    size_t bufferSize = spiCookie->getMaxBufferSize();
-        SpiInstance spiInstance(bufferSize);
+    SpiInstance spiInstance(bufferSize);
-        auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
+    auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
-        if (not statusPair.second) {
+    if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
-                    spiAddress << "to SPI device map" << std::endl;
+                 << spiAddress << "to SPI device map" << std::endl;
 #else
-            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+      sif::printError(
-                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+          "SpiComIF::initializeInterface: Failed to insert device with address "
+          "%lu to SPI device map\n",
+          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        /* Now we emplaced the read buffer in the map, we still need to assign that location
-        to the SPI driver transfer struct */
-        spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
     }
-    else {
+    /* Now we emplaced the read buffer in the map, we still need to assign that location
+    to the SPI driver transfer struct */
+    spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
+  } else {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
+    sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
 #else
-        sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
+    sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  /* Pull CS high in any case to be sure that device is inactive */
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
+  if (gpioId != gpio::NO_GPIO) {
+    gpioComIF->pullHigh(gpioId);
+  }
+
+  uint32_t spiSpeed = 0;
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+
+  SpiCookie::UncommonParameters params;
+  spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
+
+  int fileDescriptor = 0;
+  UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+                           "SpiComIF::initializeInterface");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return fileHelper.getOpenResult();
+  }
+
+  /* These flags are rather uncommon */
+  if (params.threeWireSpi or params.noCs or params.csHigh) {
+    uint32_t currentMode = 0;
+    retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
+    if (retval != 0) {
+      utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
     }
 
-    /* Pull CS high in any case to be sure that device is inactive */
+    if (params.threeWireSpi) {
-    gpioId_t gpioId = spiCookie->getChipSelectPin();
+      currentMode |= SPI_3WIRE;
-    if(gpioId != gpio::NO_GPIO) {
-        gpioComIF->pullHigh(gpioId);
     }
-
+    if (params.noCs) {
-    uint32_t spiSpeed = 0;
+      /* Some drivers like the Raspberry Pi ignore this flag in any case */
-    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+      currentMode |= SPI_NO_CS;
-
-    SpiCookie::UncommonParameters params;
-    spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
-
-    int fileDescriptor = 0;
-    UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
-            "SpiComIF::initializeInterface");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-        return fileHelper.getOpenResult();
     }
-
+    if (params.csHigh) {
-    /* These flags are rather uncommon */
+      currentMode |= SPI_CS_HIGH;
-    if(params.threeWireSpi or params.noCs or params.csHigh) {
-        uint32_t currentMode = 0;
-        retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
-        if(retval != 0) {
-            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
-        }
-
-        if(params.threeWireSpi) {
-            currentMode |= SPI_3WIRE;
-        }
-        if(params.noCs) {
-            /* Some drivers like the Raspberry Pi ignore this flag in any case */
-            currentMode |= SPI_NO_CS;
-        }
-        if(params.csHigh) {
-            currentMode |= SPI_CS_HIGH;
-        }
-        /* Write adapted mode */
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
-        if(retval != 0) {
-            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
-        }
     }
-    if(params.lsbFirst) {
+    /* Write adapted mode */
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
-        if(retval != 0) {
+    if (retval != 0) {
-            utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
+      utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
-        }
     }
-    if(params.bitsPerWord != 8) {
+  }
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
+  if (params.lsbFirst) {
-        if(retval != 0) {
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
-            utility::handleIoctlError("SpiComIF::initializeInterface: "
+    if (retval != 0) {
-                    "Could not write bits per word!");
+      utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
-        }
     }
-    return HasReturnvaluesIF::RETURN_OK;
+  }
+  if (params.bitsPerWord != 8) {
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
+    if (retval != 0) {
+      utility::handleIoctlError(
+          "SpiComIF::initializeInterface: "
+          "Could not write bits per word!");
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
+ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return NULLPOINTER;
+    return NULLPOINTER;
-    }
+  }
 
-    if(sendLen > spiCookie->getMaxBufferSize()) {
+  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 <<
+    sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen
-                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
+                 << "larger than maximum buffer length " << spiCookie->getMaxBufferSize()
+                 << std::endl;
 #else
-        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
+    sif::printWarning(
-                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
+        "SpiComIF::sendMessage: Too much data sent, send length %lu larger "
-                static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
+        "than maximum buffer length %lu!\n",
+        static_cast<unsigned long>(sendLen),
+        static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        return DeviceCommunicationIF::TOO_MUCH_DATA;
+    return DeviceCommunicationIF::TOO_MUCH_DATA;
-    }
+  }
 
-    if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
+  if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
-        result = performRegularSendOperation(spiCookie, sendData, sendLen);
+    result = performRegularSendOperation(spiCookie, sendData, sendLen);
+  } else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+    spi::send_callback_function_t sendFunc = nullptr;
+    void* funcArgs = nullptr;
+    spiCookie->getCallback(&sendFunc, &funcArgs);
+    if (sendFunc != nullptr) {
+      result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
     }
-    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+  }
-        spi::send_callback_function_t sendFunc = nullptr;
+  return result;
-        void* funcArgs = nullptr;
-        spiCookie->getCallback(&sendFunc, &funcArgs);
-        if(sendFunc != nullptr) {
-            result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
-        }
-    }
-    return result;
 }
 
-ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
+ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
-        size_t sendLen) {
+                                                    size_t sendLen) {
-    address_t spiAddress = spiCookie->getSpiAddress();
+  address_t spiAddress = spiCookie->getSpiAddress();
-    auto iter = spiDeviceMap.find(spiAddress);
+  auto iter = spiDeviceMap.find(spiAddress);
-    if(iter != spiDeviceMap.end()) {
+  if (iter != spiDeviceMap.end()) {
-        spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
+    spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
-    }
+  }
 
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    int retval = 0;
+  int retval = 0;
-    /* Prepare transfer */
+  /* Prepare transfer */
-    int fileDescriptor = 0;
+  int fileDescriptor = 0;
-    std::string device = spiCookie->getSpiDevice();
+  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) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-        return OPENING_FILE_FAILED;
+    return OPENING_FILE_FAILED;
-    }
+  }
-    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
-    uint32_t spiSpeed = 0;
+  uint32_t spiSpeed = 0;
-    spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
-    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
-    spiCookie->assignWriteBuffer(sendData);
+  spiCookie->assignWriteBuffer(sendData);
-    spiCookie->setTransferSize(sendLen);
+  spiCookie->setTransferSize(sendLen);
 
-    bool fullDuplex = spiCookie->isFullDuplex();
+  bool fullDuplex = spiCookie->isFullDuplex();
-    gpioId_t gpioId = spiCookie->getChipSelectPin();
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
 
-    /* Pull SPI CS low. For now, no support for active high given  */
+  /* Pull SPI CS low. For now, no support for active high given  */
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
-        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
-        if (result != RETURN_OK) {
+    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;
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
 #else
-            sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
+      sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
 #endif
 #endif
-            return result;
+      return result;
-        }
+    }
-        ReturnValue_t result = gpioComIF->pullLow(gpioId);
+    ReturnValue_t result = gpioComIF->pullLow(gpioId);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
+    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;
+      sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
 #else
-            sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
+      sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
 #endif
 #endif
-            return result;
+      return result;
-        }
     }
+  }
 
-    /* Execute transfer */
+  /* Execute transfer */
-    if(fullDuplex) {
+  if (fullDuplex) {
-        /* Initiate a full duplex SPI transfer. */
+    /* Initiate a full duplex SPI transfer. */
-        retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
+    retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
-        if(retval < 0) {
+    if (retval < 0) {
-            utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+      utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-            result = FULL_DUPLEX_TRANSFER_FAILED;
+      result = FULL_DUPLEX_TRANSFER_FAILED;
-        }
+    }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
-        performSpiWiretapping(spiCookie);
+    performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
-    }
+  } else {
-    else {
+    /* We write with a blocking half-duplex transfer here */
-        /* We write with a blocking half-duplex transfer here */
+    if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
-        if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
+      sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
-                    std::endl;
 #else
-            sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
+      sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            result = HALF_DUPLEX_TRANSFER_FAILED;
+      result = HALF_DUPLEX_TRANSFER_FAILED;
-        }
     }
+  }
 
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
-        gpioComIF->pullHigh(gpioId);
+    gpioComIF->pullHigh(gpioId);
-        result = spiMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
-        if (result != RETURN_OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
+      sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
 #endif
-            return result;
+      return result;
-        }
     }
-    return result;
+  }
+  return result;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
+
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return NULLPOINTER;
+  }
+
+  if (spiCookie->isFullDuplex()) {
     return HasReturnvaluesIF::RETURN_OK;
+  }
+
+  return performHalfDuplexReception(spiCookie);
 }
 
-ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    if(spiCookie == nullptr) {
-        return NULLPOINTER;
-    }
-
-    if(spiCookie->isFullDuplex()) {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    return performHalfDuplexReception(spiCookie);
-}
-
-
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    std::string device = spiCookie->getSpiDevice();
+  std::string device = spiCookie->getSpiDevice();
-    int fileDescriptor = 0;
+  int fileDescriptor = 0;
-    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
-            "SpiComIF::requestReceiveMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return OPENING_FILE_FAILED;
-        return OPENING_FILE_FAILED;
+  }
-    }
 
-    uint8_t* rxBuf = nullptr;
+  uint8_t* rxBuf = nullptr;
-    size_t readSize = spiCookie->getCurrentTransferSize();
+  size_t readSize = spiCookie->getCurrentTransferSize();
-    result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+  result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
+    return result;
-    }
+  }
 
-    gpioId_t gpioId = spiCookie->getChipSelectPin();
+  gpioId_t gpioId = spiCookie->getChipSelectPin();
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
-        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+    result = spiMutex->lockMutex(timeoutType, timeoutMs);
-        if (result != RETURN_OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
+      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
 #endif
-            return result;
+      return result;
-        }
-        gpioComIF->pullLow(gpioId);
     }
+    gpioComIF->pullLow(gpioId);
+  }
 
-    if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
+  if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
+    sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
 #else
-        sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
+    sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-        result = HALF_DUPLEX_TRANSFER_FAILED;
+    result = HALF_DUPLEX_TRANSFER_FAILED;
-    }
+  }
 
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
-        gpioComIF->pullHigh(gpioId);
+    gpioComIF->pullHigh(gpioId);
-        result = spiMutex->unlockMutex();
+    result = spiMutex->unlockMutex();
-        if (result != RETURN_OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
+      sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
 #endif
-            return result;
+      return result;
-        }
     }
+  }
 
-    return result;
+  return result;
 }
 
-ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    uint8_t* rxBuf = nullptr;
+  uint8_t* rxBuf = nullptr;
-    ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+  ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
+    return result;
-    }
+  }
 
-    *buffer = rxBuf;
+  *buffer = rxBuf;
-    *size = spiCookie->getCurrentTransferSize();
+  *size = spiCookie->getCurrentTransferSize();
-    spiCookie->setTransferSize(0);
+  spiCookie->setTransferSize(0);
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
-    if(timeoutType != nullptr) {
+  if (timeoutType != nullptr) {
-        *timeoutType = this->timeoutType;
+    *timeoutType = this->timeoutType;
-    }
+  }
-    if(timeoutMs != nullptr) {
+  if (timeoutMs != nullptr) {
-        *timeoutMs = this->timeoutMs;
+    *timeoutMs = this->timeoutMs;
-    }
+  }
-    return spiMutex;
+  return spiMutex;
 }
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return;
+    return;
-    }
+  }
-    size_t dataLen = spiCookie->getTransferStructHandle()->len;
+  size_t dataLen = spiCookie->getTransferStructHandle()->len;
-    uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
+  uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::info << "Sent SPI data: " << std::endl;
+  sif::info << "Sent SPI data: " << std::endl;
-    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
-    sif::info << "Received SPI data: " << std::endl;
+  sif::info << "Received SPI data: " << std::endl;
 #else
-    sif::printInfo("Sent SPI data: \n");
+  sif::printInfo("Sent SPI data: \n");
-    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
-    sif::printInfo("Received SPI data: \n");
+  sif::printInfo("Received SPI data: \n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-    dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
+  dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
-    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
+  arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
 }
 
 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
-    if(buffer == nullptr) {
+  if (buffer == nullptr) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
 
-    auto iter = spiDeviceMap.find(spiAddress);
+  auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
 
-    *buffer = iter->second.replyBuffer.data();
+  *buffer = iter->second.replyBuffer.data();
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-GpioIF* SpiComIF::getGpioInterface() {
+GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
-    return gpioComIF;
-}
 
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
-    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+  int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
-    if(retval != 0) {
+  if (retval != 0) {
-        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
-    }
+  }
 
-    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+  retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
-    if(retval != 0) {
+  if (retval != 0) {
-        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
-    }
+  }
+  // This updates the SPI clock default polarity. Only setting the mode does not update
+  // the line state, which can be an issue on mode switches because the clock line will
+  // switch the state after the chip select is pulled low
+  clockUpdateTransfer.len = 0;
+  retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
+  if (retval != 0) {
+    utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
+  }
 }

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

@@ -1,16 +1,15 @@
 #ifndef LINUX_SPI_SPICOMIF_H_
 #define LINUX_SPI_SPICOMIF_H_
 
-#include "fsfw/FSFW.h"
+#include <unordered_map>
-#include "spiDefinitions.h"
+#include <vector>
-#include "returnvalues/classIds.h"
-#include "fsfw_hal/common/gpio/GpioIF.h"
 
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-
+#include "fsfw_hal/common/gpio/GpioIF.h"
-#include <vector>
+#include "returnvalues/classIds.h"
-#include <unordered_map>
+#include "spiDefinitions.h"
 
 class SpiCookie;
 
@@ -21,71 +20,68 @@ class SpiCookie;
  * are contained in the SPI cookie.
  * @author  R. Mueller
  */
-class SpiComIF: public DeviceCommunicationIF, public SystemObject {
+class SpiComIF : public DeviceCommunicationIF, public SystemObject {
-public:
+ public:
-    static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
+  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
-    static constexpr ReturnValue_t OPENING_FILE_FAILED =
+  static constexpr ReturnValue_t OPENING_FILE_FAILED =
-            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
-    /* Full duplex (ioctl) transfer failure */
+  /* Full duplex (ioctl) transfer failure */
-    static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
+  static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
-    /* Half duplex (read/write) transfer failure */
+  /* Half duplex (read/write) transfer failure */
-    static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
+  static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
 
-    SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
+  SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
-    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
-            size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
-            size_t requestLen) override;
-    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-            size_t *size) override;
 
-    /**
+  /**
-     * @brief   This function returns the mutex which can be used to protect the spi bus when
+   * @brief   This function returns the mutex which can be used to protect the spi bus when
-     *          the chip select must be driven from outside of the com if.
+   *          the chip select must be driven from outside of the com if.
-     */
+   */
-    MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
+  MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
 
-    /**
+  /**
-     * Perform a regular send operation using Linux iotcl. This is public so it can be used
+   * Perform a regular send operation using Linux iotcl. This is public so it can be used
-     * in functions like a user callback if special handling is only necessary for certain commands.
+   * in functions like a user callback if special handling is only necessary for certain commands.
-     * @param spiCookie
+   * @param spiCookie
-     * @param sendData
+   * @param sendData
-     * @param sendLen
+   * @param sendLen
-     * @return
+   * @return
-     */
+   */
-    ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
+  ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
-            size_t sendLen);
+                                            size_t sendLen);
 
-    GpioIF* getGpioInterface();
+  GpioIF* getGpioInterface();
-    void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
+  void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
-    void performSpiWiretapping(SpiCookie* spiCookie);
+  void performSpiWiretapping(SpiCookie* spiCookie);
 
-    ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
+  ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
 
-private:
+ private:
+  struct SpiInstance {
+    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    std::vector<uint8_t> replyBuffer;
+  };
 
-    struct SpiInstance {
+  GpioIF* gpioComIF = nullptr;
-        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
-        std::vector<uint8_t> replyBuffer;
-    };
 
-    GpioIF* gpioComIF = nullptr;
+  MutexIF* spiMutex = nullptr;
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 20;
+  spi_ioc_transfer clockUpdateTransfer = {};
 
-    MutexIF* spiMutex = nullptr;
+  using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
-    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  using SpiDeviceMapIter = SpiDeviceMap::iterator;
-    uint32_t timeoutMs = 20;
 
-    using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
+  SpiDeviceMap spiDeviceMap;
-    using SpiDeviceMapIter = SpiDeviceMap::iterator;
 
-    SpiDeviceMap spiDeviceMap;
+  ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
-
-    ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
 };
 
 #endif /* LINUX_SPI_SPICOMIF_H_ */

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

@@ -1,144 +1,109 @@
 #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):
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
-        SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
-                spiSpeed, nullptr, nullptr) {
+                spiSpeed, nullptr, nullptr) {}
-
-}
 
 SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
-        spi::SpiModes spiMode, uint32_t spiSpeed):
+                     spi::SpiModes spiMode, uint32_t spiSpeed)
-                SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
-}
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
-        spi::send_callback_function_t callback, void *args):
+                     spi::send_callback_function_t callback, void* args)
-		        SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
-		                spiMode, spiSpeed, callback, args) {
+                spiSpeed, callback, args) {}
-}
 
 SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-        std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
+                     std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
-        spi::send_callback_function_t callback, void* args):
+                     uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
-                spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
+    : spiAddress(spiAddress),
-                comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
+      chipSelectPin(chipSelect),
-                sendCallback(callback), callbackArgs(args) {
+      spiDevice(spiDev),
-}
+      comIfMode(comIfMode),
+      maxSize(maxSize),
+      spiMode(spiMode),
+      spiSpeed(spiSpeed),
+      sendCallback(callback),
+      callbackArgs(args) {}
 
-spi::SpiComIfModes SpiCookie::getComIfMode() const {
+spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
-    return this->comIfMode;
-}
 
 void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
-        UncommonParameters* parameters) const {
+                                 UncommonParameters* parameters) const {
-    spiMode = this->spiMode;
+  spiMode = this->spiMode;
-    spiSpeed = this->spiSpeed;
+  spiSpeed = this->spiSpeed;
 
-    if(parameters != nullptr) {
+  if (parameters != nullptr) {
-        parameters->threeWireSpi = uncommonParameters.threeWireSpi;
+    parameters->threeWireSpi = uncommonParameters.threeWireSpi;
-        parameters->lsbFirst = uncommonParameters.lsbFirst;
+    parameters->lsbFirst = uncommonParameters.lsbFirst;
-        parameters->noCs = uncommonParameters.noCs;
+    parameters->noCs = uncommonParameters.noCs;
-        parameters->bitsPerWord = uncommonParameters.bitsPerWord;
+    parameters->bitsPerWord = uncommonParameters.bitsPerWord;
-        parameters->csHigh = uncommonParameters.csHigh;
+    parameters->csHigh = uncommonParameters.csHigh;
-    }
+  }
 }
 
-gpioId_t SpiCookie::getChipSelectPin() const {
+gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
-    return chipSelectPin;
-}
 
-size_t SpiCookie::getMaxBufferSize() const {
+size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
-    return maxSize;
-}
 
-address_t SpiCookie::getSpiAddress() const {
+address_t SpiCookie::getSpiAddress() const { return spiAddress; }
-    return spiAddress;
-}
 
-std::string SpiCookie::getSpiDevice() const {
+std::string SpiCookie::getSpiDevice() const { return spiDevice; }
-    return spiDevice;
-}
 
-void SpiCookie::setThreeWireSpi(bool enable) {
+void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
-    uncommonParameters.threeWireSpi = enable;
-}
 
-void SpiCookie::setLsbFirst(bool enable) {
+void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
-    uncommonParameters.lsbFirst = enable;
-}
 
-void SpiCookie::setNoCs(bool enable) {
+void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
-    uncommonParameters.noCs = enable;
-}
 
 void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
-    uncommonParameters.bitsPerWord = bitsPerWord;
+  uncommonParameters.bitsPerWord = bitsPerWord;
 }
 
-void SpiCookie::setCsHigh(bool enable) {
+void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
-    uncommonParameters.csHigh = enable;
-}
 
 void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
-    spiTransferStruct.cs_change = deselectCs;
+  spiTransferStruct.cs_change = deselectCs;
-    spiTransferStruct.delay_usecs = delayUsecs;
+  spiTransferStruct.delay_usecs = delayUsecs;
 }
 
 void SpiCookie::assignReadBuffer(uint8_t* rx) {
-    if(rx != nullptr) {
+  if (rx != nullptr) {
-        spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
+    spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
-    }
+  }
 }
 
 void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
-    if(tx != nullptr) {
+  if (tx != nullptr) {
-        spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
+    spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
-    }
+  }
 }
 
-void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
+void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
-        void *args) {
+  this->comIfMode = spi::SpiComIfModes::CALLBACK;
-    this->comIfMode = spi::SpiComIfModes::CALLBACK;
+  this->sendCallback = callback;
-    this->sendCallback = callback;
+  this->callbackArgs = args;
-    this->callbackArgs = args;
 }
 
-void SpiCookie::setCallbackArgs(void *args) {
+void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
-    this->callbackArgs = args;
-}
 
-spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
+spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
-    return &spiTransferStruct;
-}
 
-void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
+void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
-    this->halfDuplex = halfDuplex;
-}
 
-bool SpiCookie::isFullDuplex() const {
+bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
-    return not this->halfDuplex;
-}
 
-void SpiCookie::setTransferSize(size_t transferSize) {
+void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
-    spiTransferStruct.len = transferSize;
-}
 
-size_t SpiCookie::getCurrentTransferSize() const {
+size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
-    return spiTransferStruct.len;
-}
 
-void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
+void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
-    this->spiSpeed = newSpeed;
-}
 
-void SpiCookie::setSpiMode(spi::SpiModes newMode) {
+void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
-    this->spiMode = newMode;
-}
 
-void SpiCookie::getCallback(spi::send_callback_function_t *callback,
+void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
-        void **args) {
+  *callback = this->sendCallback;
-    *callback = this->sendCallback;
+  *args = this->callbackArgs;
-    *args = this->callbackArgs;
 }

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

@@ -1,13 +1,12 @@
 #ifndef LINUX_SPI_SPICOOKIE_H_
 #define LINUX_SPI_SPICOOKIE_H_
 
-#include "spiDefinitions.h"
-#include "../../common/gpio/gpioDefinitions.h"
-
 #include <fsfw/devicehandlers/CookieIF.h>
-
 #include <linux/spi/spidev.h>
 
+#include "../../common/gpio/gpioDefinitions.h"
+#include "spiDefinitions.h"
+
 /**
  * @brief   This cookie class is passed to the SPI communication interface
  * @details
@@ -19,165 +18,163 @@
  * special requirements like expander slave select switching (e.g. GPIO or I2C expander)
  * or special timing related requirements.
  */
-class SpiCookie: public CookieIF {
+class SpiCookie : public CookieIF {
-public:
+ public:
-    /**
+  /**
-     * Each SPI device will have a corresponding cookie. The cookie is used by the communication
+   * Each SPI device will have a corresponding cookie. The cookie is used by the communication
-     * interface and contains device specific information like the largest expected size to be
+   * interface and contains device specific information like the largest expected size to be
-     * sent and received and the GPIO pin used to toggle the SPI slave select pin.
+   * sent and received and the GPIO pin used to toggle the SPI slave select pin.
-     * @param spiAddress
+   * @param spiAddress
-     * @param chipSelect    Chip select. gpio::NO_GPIO can be used for hardware slave selects.
+   * @param chipSelect    Chip select. gpio::NO_GPIO can be used for hardware slave selects.
-     * @param spiDev
+   * @param spiDev
-     * @param maxSize
+   * @param maxSize
-     */
+   */
-    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
-
-    /**
-     * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
-     * slave select or if CS logic is performed with decoders.
-     */
-    SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
             spi::SpiModes spiMode, uint32_t spiSpeed);
 
-    /**
+  /**
-     * Use the callback mode of the SPI communication interface. The user can pass the callback
+   * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
-     * function here or by using the setter function #setCallbackMode
+   * slave select or if CS logic is performed with decoders.
-     */
+   */
-    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+  SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);
+
+  /**
+   * Use the callback mode of the SPI communication interface. The user can pass the callback
+   * function here or by using the setter function #setCallbackMode
+   */
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
             spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
-            void *args);
+            void* args);
 
-    /**
+  /**
-     * Get the callback function
+   * Get the callback function
-     * @param callback
+   * @param callback
-     * @param args
+   * @param args
-     */
+   */
-    void getCallback(spi::send_callback_function_t* callback, void** args);
+  void getCallback(spi::send_callback_function_t* callback, void** args);
 
-    address_t getSpiAddress() const;
+  address_t getSpiAddress() const;
-    std::string getSpiDevice() const;
+  std::string getSpiDevice() const;
-    gpioId_t getChipSelectPin() const;
+  gpioId_t getChipSelectPin() const;
-    size_t getMaxBufferSize() const;
+  size_t getMaxBufferSize() const;
 
-    spi::SpiComIfModes getComIfMode() const;
+  spi::SpiComIfModes getComIfMode() const;
 
-    /** Enables changing SPI speed at run-time */
+  /** Enables changing SPI speed at run-time */
-    void setSpiSpeed(uint32_t newSpeed);
+  void setSpiSpeed(uint32_t newSpeed);
-    /** Enables changing the SPI mode at run-time */
+  /** Enables changing the SPI mode at run-time */
-    void setSpiMode(spi::SpiModes newMode);
+  void setSpiMode(spi::SpiModes newMode);
 
-    /**
+  /**
-     * Set the SPI to callback mode and assigns the user supplied callback and an argument
+   * Set the SPI to callback mode and assigns the user supplied callback and an argument
-     * passed to the callback.
+   * passed to the callback.
-     * @param callback
+   * @param callback
-     * @param args
+   * @param args
-     */
+   */
-    void setCallbackMode(spi::send_callback_function_t callback, void* args);
+  void setCallbackMode(spi::send_callback_function_t callback, void* args);
 
-    /**
+  /**
-	 * Can be used to set the callback arguments and a later point than initialization.
+   * Can be used to set the callback arguments and a later point than initialization.
-	 * @param args
+   * @param args
-	 */
+   */
-	void setCallbackArgs(void* args);
+  void setCallbackArgs(void* args);
 
-    /**
+  /**
-     * True if SPI transfers should be performed in full duplex mode
+   * True if SPI transfers should be performed in full duplex mode
-     * @return
+   * @return
-     */
+   */
-    bool isFullDuplex() const;
+  bool isFullDuplex() const;
 
-    /**
+  /**
-     * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
+   * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
-     * ressembling common SPI hardware implementation with shift registers, where read and writes
+   * ressembling common SPI hardware implementation with shift registers, where read and writes
-     * happen simultaneosly.
+   * happen simultaneosly.
-     * @param fullDuplex
+   * @param fullDuplex
-     */
+   */
-    void setFullOrHalfDuplex(bool halfDuplex);
+  void setFullOrHalfDuplex(bool halfDuplex);
 
-    /**
+  /**
-     * This needs to be called to specify where the SPI driver writes to or reads from.
+   * This needs to be called to specify where the SPI driver writes to or reads from.
-     * @param readLocation
+   * @param readLocation
-     * @param writeLocation
+   * @param writeLocation
-     */
+   */
-    void assignReadBuffer(uint8_t* rx);
+  void assignReadBuffer(uint8_t* rx);
-    void assignWriteBuffer(const uint8_t* tx);
+  void assignWriteBuffer(const uint8_t* tx);
-    /**
+  /**
-     * Set size for the next transfer. Set to 0 for no transfer
+   * Set size for the next transfer. Set to 0 for no transfer
-     * @param transferSize
+   * @param transferSize
-     */
+   */
-    void setTransferSize(size_t transferSize);
+  void setTransferSize(size_t transferSize);
-    size_t getCurrentTransferSize() const;
+  size_t getCurrentTransferSize() const;
 
-    struct UncommonParameters {
+  struct UncommonParameters {
-        uint8_t bitsPerWord = 8;
+    uint8_t bitsPerWord = 8;
-        bool noCs = false;
+    bool noCs = false;
-        bool csHigh = false;
+    bool csHigh = false;
-        bool threeWireSpi = false;
+    bool threeWireSpi = false;
-        /* MSB first is more common */
+    /* MSB first is more common */
-        bool lsbFirst = false;
+    bool lsbFirst = false;
-    };
+  };
 
-    /**
+  /**
-     * Can be used to explicitely disable hardware chip select.
+   * Can be used to explicitely disable hardware chip select.
-     * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
+   * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
-     * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
+   * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
-     * @param enable
+   * @param enable
-     */
+   */
-    void setNoCs(bool enable);
+  void setNoCs(bool enable);
-    void setThreeWireSpi(bool enable);
+  void setThreeWireSpi(bool enable);
-    void setLsbFirst(bool enable);
+  void setLsbFirst(bool enable);
-    void setCsHigh(bool enable);
+  void setCsHigh(bool enable);
-    void setBitsPerWord(uint8_t bitsPerWord);
+  void setBitsPerWord(uint8_t bitsPerWord);
 
-    void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
+  void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
-            UncommonParameters* parameters = nullptr) const;
+                        UncommonParameters* parameters = nullptr) const;
 
-    /**
+  /**
-     * See spidev.h cs_change and delay_usecs
+   * See spidev.h cs_change and delay_usecs
-     * @param deselectCs
+   * @param deselectCs
-     * @param delayUsecs
+   * @param delayUsecs
-     */
+   */
-    void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
+  void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
 
-    spi_ioc_transfer* getTransferStructHandle();
+  spi_ioc_transfer* getTransferStructHandle();
-private:
 
-    /**
+ private:
-     * Internal constructor which initializes every field
+  /**
-     * @param spiAddress
+   * Internal constructor which initializes every field
-     * @param chipSelect
+   * @param spiAddress
-     * @param spiDev
+   * @param chipSelect
-     * @param maxSize
+   * @param spiDev
-     * @param spiMode
+   * @param maxSize
-     * @param spiSpeed
+   * @param spiMode
-     * @param callback
+   * @param spiSpeed
-     * @param args
+   * @param callback
-     */
+   * @param args
-    SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
+   */
+  SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
             std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
             spi::send_callback_function_t callback, void* args);
 
-    address_t spiAddress;
+  address_t spiAddress;
-    gpioId_t chipSelectPin;
+  gpioId_t chipSelectPin;
-    std::string spiDevice;
+  std::string spiDevice;
 
-    spi::SpiComIfModes comIfMode;
+  spi::SpiComIfModes comIfMode;
 
-    // Required for regular mode
+  // Required for regular mode
-    const size_t maxSize;
+  const size_t maxSize;
-    spi::SpiModes spiMode;
+  spi::SpiModes spiMode;
-    uint32_t spiSpeed;
+  uint32_t spiSpeed;
-    bool halfDuplex = false;
+  bool halfDuplex = false;
 
-    // Required for callback mode
+  // Required for callback mode
-    spi::send_callback_function_t sendCallback = nullptr;
+  spi::send_callback_function_t sendCallback = nullptr;
-    void* callbackArgs = nullptr;
+  void* callbackArgs = nullptr;
 
-    struct spi_ioc_transfer spiTransferStruct = {};
+  struct spi_ioc_transfer spiTransferStruct = {};
-    UncommonParameters uncommonParameters;
+  UncommonParameters uncommonParameters;
 };
 
-
-
 #endif /* LINUX_SPI_SPICOOKIE_H_ */

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

@@ -1,28 +1,25 @@
 #ifndef LINUX_SPI_SPIDEFINITONS_H_
 #define LINUX_SPI_SPIDEFINITONS_H_
 
-#include "../../common/gpio/gpioDefinitions.h"
-#include "../../common/spi/spiCommon.h"
-
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include <linux/spi/spidev.h>
 
 #include <cstdint>
 
+#include "../../common/gpio/gpioDefinitions.h"
+#include "../../common/spi/spiCommon.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
 class SpiCookie;
 class SpiComIF;
 
 namespace spi {
 
-enum SpiComIfModes {
+enum SpiComIfModes { REGULAR, CALLBACK };
-	REGULAR,
-	CALLBACK
-};
 
+using send_callback_function_t = ReturnValue_t (*)(SpiComIF* comIf, SpiCookie* cookie,
+                                                   const uint8_t* sendData, size_t sendLen,
+                                                   void* args);
 
-using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie,
+}  // namespace spi
-        const uint8_t *sendData, size_t sendLen, void* args);
-
-}
 
 #endif /* LINUX_SPI_SPIDEFINITONS_H_ */

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

@@ -1,13 +1,14 @@
 #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
 #define BSP_Q7S_COMIF_UARTCOMIF_H_
 
-#include "UartCookie.h"
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 #include <unordered_map>
 #include <vector>
 
+#include "UartCookie.h"
+
 /**
  * @brief 	This is the communication interface to access serial ports on linux based operating
  *          systems.
@@ -17,109 +18,104 @@
  *
  * @author 	J. Meier
  */
-class UartComIF: public DeviceCommunicationIF, public SystemObject {
+class UartComIF : public DeviceCommunicationIF, public SystemObject {
-public:
+ public:
-    static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
+  static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;
 
-    static constexpr ReturnValue_t UART_READ_FAILURE =
+  static constexpr ReturnValue_t UART_READ_FAILURE =
-            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
-    static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
+  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
-            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
-    static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
+  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
-            HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);
 
-    UartComIF(object_id_t objectId);
+  UartComIF(object_id_t objectId);
 
-    virtual ~UartComIF();
+  virtual ~UartComIF();
 
-    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
-            size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
-            size_t requestLen) override;
-    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.
+   * @brief   This function discards all data received but not read in the UART buffer.
-     */
+   */
-    ReturnValue_t flushUartRxBuffer(CookieIF *cookie);
+  ReturnValue_t flushUartRxBuffer(CookieIF* cookie);
 
-    /**
+  /**
-     * @brief   This function discards all data in the transmit buffer of the UART driver.
+   * @brief   This function discards all data in the transmit buffer of the UART driver.
-     */
+   */
-    ReturnValue_t flushUartTxBuffer(CookieIF *cookie);
+  ReturnValue_t flushUartTxBuffer(CookieIF* cookie);
 
-    /**
+  /**
-     * @brief   This function discards both data in the transmit and receive buffer of the UART.
+   * @brief   This function discards both data in the transmit and receive buffer of the UART.
-     */
+   */
-    ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie);
+  ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
 
-private:
+ private:
+  using UartDeviceFile_t = std::string;
 
-    using UartDeviceFile_t = std::string;
+  struct UartElements {
+    int fileDescriptor;
+    std::vector<uint8_t> replyBuffer;
+    /** Number of bytes read will be written to this variable */
+    size_t replyLen;
+  };
 
-    struct UartElements {
+  using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
-        int fileDescriptor;
+  using UartDeviceMapIter = UartDeviceMap::iterator;
-        std::vector<uint8_t> replyBuffer;
-        /** Number of bytes read will be written to this variable */
-        size_t replyLen;
-    };
 
-    using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements>;
+  /**
-    using UartDeviceMapIter = UartDeviceMap::iterator;
+   * The uart devie map stores informations of initialized uart ports.
+   */
+  UartDeviceMap uartDeviceMap;
 
-    /**
+  /**
-     * The uart devie map stores informations of initialized uart ports.
+   * @brief	This function opens and configures a uart device by using the information stored
-     */
+   *          in the uart cookie.
-    UartDeviceMap uartDeviceMap;
+   * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
+   *                      uart device file, baudrate, parity, stopbits etc.
+   * @return  The file descriptor of the configured uart.
+   */
+  int configureUartPort(UartCookie* uartCookie);
 
-    /**
+  /**
-     * @brief	This function opens and configures a uart device by using the information stored
+   * @brief   This function adds the parity settings to the termios options struct.
-     *          in the uart cookie.
+   *
-     * @param uartCookie    Pointer to uart cookie with information about the uart. Contains the
+   * @param options   Pointer to termios options struct which will be modified to enable or disable
-     *                      uart device file, baudrate, parity, stopbits etc.
+   *                  parity checking.
-     * @return  The file descriptor of the configured uart.
+   * @param uartCookie    Pointer to uart cookie containing the information about the desired
-     */
+   *                      parity settings.
-    int configureUartPort(UartCookie* uartCookie);
+   *
+   */
+  void setParityOptions(struct termios* options, UartCookie* uartCookie);
 
-    /**
+  void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
-     * @brief   This function adds the parity settings to the termios options struct.
-     *
-     * @param options   Pointer to termios options struct which will be modified to enable or disable
-     *                  parity checking.
-     * @param uartCookie    Pointer to uart cookie containing the information about the desired
-     *                      parity settings.
-     *
-     */
-    void setParityOptions(struct termios* options, UartCookie* uartCookie);
 
-    void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
+  /**
+   * @brief   This function sets options which are not configurable by the uartCookie.
+   */
+  void setFixedOptions(struct termios* options);
 
-    /**
+  /**
-     * @brief   This function sets options which are not configurable by the uartCookie.
+   * @brief   With this function the datasize settings are added to the termios options struct.
-     */
+   */
-    void setFixedOptions(struct termios* options);
+  void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
 
-    /**
+  /**
-     * @brief   With this function the datasize settings are added to the termios options struct.
+   * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
-     */
+   *          struct.
-    void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
+   */
+  void configureBaudrate(struct termios* options, UartCookie* uartCookie);
 
-    /**
+  void setUartMode(struct termios* options, UartCookie& uartCookie);
-     * @brief   This functions adds the  baudrate specified in the uartCookie to the termios options
-     *          struct.
-     */
-    void configureBaudrate(struct termios* options, UartCookie* uartCookie);
-
-    void setUartMode(struct termios* options, UartCookie& uartCookie);
-
-    ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
-            size_t requestLen);
-    ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
-            size_t requestLen);
 
+  ReturnValue_t handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                    size_t requestLen);
+  ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
+                                       size_t requestLen);
 };
 
 #endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

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

@@ -1,97 +1,65 @@
-#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "UartCookie.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-        uint32_t baudrate, size_t maxReplyLen):
+                       uint32_t baudrate, size_t maxReplyLen)
-        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
+    : handlerId(handlerId),
-        baudrate(baudrate), maxReplyLen(maxReplyLen) {
+      deviceFile(deviceFile),
-}
+      uartMode(uartMode),
+      baudrate(baudrate),
+      maxReplyLen(maxReplyLen) {}
 
 UartCookie::~UartCookie() {}
 
-uint32_t UartCookie::getBaudrate() const {
+uint32_t UartCookie::getBaudrate() const { return baudrate; }
-    return baudrate;
-}
 
-size_t UartCookie::getMaxReplyLen() const {
+size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
-    return maxReplyLen;
-}
 
-std::string UartCookie::getDeviceFile() const {
+std::string UartCookie::getDeviceFile() const { return deviceFile; }
-    return deviceFile;
-}
 
-void UartCookie::setParityOdd() {
+void UartCookie::setParityOdd() { parity = Parity::ODD; }
-    parity = Parity::ODD;
-}
 
-void UartCookie::setParityEven() {
+void UartCookie::setParityEven() { parity = Parity::EVEN; }
-    parity = Parity::EVEN;
-}
 
-Parity UartCookie::getParity() const {
+Parity UartCookie::getParity() const { return parity; }
-    return parity;
-}
 
 void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
-    switch(bitsPerWord_) {
+  switch (bitsPerWord_) {
     case 5:
     case 6:
     case 7:
     case 8:
-        break;
+      break;
     default:
-        sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        return;
+      sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
-    }
+#endif
-    bitsPerWord = bitsPerWord_;
+      return;
+  }
+  bitsPerWord = bitsPerWord_;
 }
 
-uint8_t UartCookie::getBitsPerWord() const {
+uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
-    return bitsPerWord;
-}
 
-StopBits UartCookie::getStopBits() const {
+StopBits UartCookie::getStopBits() const { return stopBits; }
-    return stopBits;
-}
 
-void UartCookie::setTwoStopBits() {
+void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
-    stopBits = StopBits::TWO_STOP_BITS;
-}
 
-void UartCookie::setOneStopBit() {
+void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
-    stopBits = StopBits::ONE_STOP_BIT;
-}
 
-UartModes UartCookie::getUartMode() const {
+UartModes UartCookie::getUartMode() const { return uartMode; }
-    return uartMode;
-}
 
-void UartCookie::setReadCycles(uint8_t readCycles) {
+void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
-    this->readCycles = readCycles;
-}
 
-void UartCookie::setToFlushInput(bool enable) {
+void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
-    this->flushInput = enable;
-}
 
-uint8_t UartCookie::getReadCycles() const {
+uint8_t UartCookie::getReadCycles() const { return readCycles; }
-    return readCycles;
-}
 
-bool UartCookie::getInputShouldBeFlushed() {
+bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
-    return this->flushInput;
-}
 
-object_id_t UartCookie::getHandlerId() const {
+object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
-    return this->handlerId;
-}
 
-void UartCookie::setNoFixedSizeReply() {
+void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
-    replySizeFixed = false;
-}
 
-bool UartCookie::isReplySizeFixed() {
+bool UartCookie::isReplySizeFixed() { return replySizeFixed; }
-    return replySizeFixed;
-}

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

@@ -6,21 +6,11 @@
 
 #include <string>
 
-enum class Parity {
+enum class Parity { NONE, EVEN, ODD };
-    NONE,
-    EVEN,
-    ODD
-};
 
-enum class StopBits {
+enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
-    ONE_STOP_BIT,
-    TWO_STOP_BITS
-};
 
-enum class UartModes {
+enum class UartModes { CANONICAL, NON_CANONICAL };
-    CANONICAL,
-    NON_CANONICAL
-};
 
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
@@ -29,93 +19,91 @@ enum class UartModes {
  *
  * @author 	J. Meier
  */
-class UartCookie: public CookieIF {
+class UartCookie : public CookieIF {
-public:
+ public:
+  /**
+   * @brief	Constructor for the uart cookie.
+   * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
+   * @param uartMode      Specify the UART mode. The canonical mode should be used if the
+   *                      messages are separated by a delimited character like '\n'. See the
+   *                      termios documentation for more information
+   * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
+   *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
+   *                      38400, 57600, 115200, 230400, 460800
+   * @param maxReplyLen   The maximum size an object using this cookie expects
+   * @details
+   * Default configuration: No parity
+   *                        8 databits (number of bits transfered with one uart frame)
+   *                        One stop bit
+   */
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
+             size_t maxReplyLen);
 
-    /**
+  virtual ~UartCookie();
-     * @brief	Constructor for the uart cookie.
-     * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
-     * @param uartMode      Specify the UART mode. The canonical mode should be used if the
-     *                      messages are separated by a delimited character like '\n'. See the
-     *                      termios documentation for more information
-     * @param baudrate      The baudrate to use for input and output. Possible Baudrates are: 50,
-     *                      75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
-     *                      38400, 57600, 115200, 230400, 460800
-     * @param maxReplyLen   The maximum size an object using this cookie expects
-     * @details
-     * Default configuration: No parity
-     *                        8 databits (number of bits transfered with one uart frame)
-     *                        One stop bit
-     */
-    UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-            uint32_t baudrate, size_t maxReplyLen);
 
-    virtual ~UartCookie();
+  uint32_t getBaudrate() const;
+  size_t getMaxReplyLen() const;
+  std::string getDeviceFile() const;
+  Parity getParity() const;
+  uint8_t getBitsPerWord() const;
+  StopBits getStopBits() const;
+  UartModes getUartMode() const;
+  object_id_t getHandlerId() const;
 
-    uint32_t getBaudrate() const;
+  /**
-    size_t getMaxReplyLen() const;
+   * The UART ComIF will only perform a specified number of read cycles for the canonical mode.
-    std::string getDeviceFile() const;
+   * The user can specify how many of those read cycles are performed for one device handler
-    Parity getParity() const;
+   * communication cycle. An example use-case would be to read all available GPS NMEA strings
-    uint8_t getBitsPerWord() const;
+   * at once.
-    StopBits getStopBits() const;
+   * @param readCycles
-    UartModes getUartMode() const;
+   */
-    object_id_t getHandlerId() const;
+  void setReadCycles(uint8_t readCycles);
+  uint8_t getReadCycles() const;
 
-    /**
+  /**
-     * The UART ComIF will only perform a specified number of read cycles for the canonical mode.
+   * Allows to flush the data which was received but has not been read yet. This is useful
-     * The user can specify how many of those read cycles are performed for one device handler
+   * to discard obsolete data at software startup.
-     * communication cycle. An example use-case would be to read all available GPS NMEA strings
+   */
-     * at once.
+  void setToFlushInput(bool enable);
-     * @param readCycles
+  bool getInputShouldBeFlushed();
-     */
-    void setReadCycles(uint8_t readCycles);
-    uint8_t getReadCycles() const;
 
-    /**
+  /**
-     * Allows to flush the data which was received but has not been read yet. This is useful
+   * Functions two enable parity checking.
-     * to discard obsolete data at software startup.
+   */
-     */
+  void setParityOdd();
-    void setToFlushInput(bool enable);
+  void setParityEven();
-    bool getInputShouldBeFlushed();
 
-    /**
+  /**
-     * Functions two enable parity checking.
+   * Function two set number of bits per UART frame.
-     */
+   */
-    void setParityOdd();
+  void setBitsPerWord(uint8_t bitsPerWord_);
-    void setParityEven();
 
-    /**
+  /**
-     * Function two set number of bits per UART frame.
+   * Function to specify the number of stopbits.
-     */
+   */
-    void setBitsPerWord(uint8_t bitsPerWord_);
+  void setTwoStopBits();
+  void setOneStopBit();
 
-    /**
+  /**
-     * Function to specify the number of stopbits.
+   * Calling this function prevents the UartComIF to return failed if not all requested bytes
-     */
+   * could be read. This is required by a device handler when the size of a reply is not known.
-    void setTwoStopBits();
+   */
-    void setOneStopBit();
+  void setNoFixedSizeReply();
 
-    /**
+  bool isReplySizeFixed();
-     * Calling this function prevents the UartComIF to return failed if not all requested bytes
-     * could be read. This is required by a device handler when the size of a reply is not known.
-     */
-    void setNoFixedSizeReply();
 
-    bool isReplySizeFixed();
+ private:
-
+  const object_id_t handlerId;
-private:
+  std::string deviceFile;
-
+  const UartModes uartMode;
-    const object_id_t handlerId;
+  bool flushInput = false;
-    std::string deviceFile;
+  uint32_t baudrate;
-    const UartModes uartMode;
+  size_t maxReplyLen = 0;
-    bool flushInput = false;
+  Parity parity = Parity::NONE;
-    uint32_t baudrate;
+  uint8_t bitsPerWord = 8;
-    size_t maxReplyLen = 0;
+  uint8_t readCycles = 1;
-    Parity parity = Parity::NONE;
+  StopBits stopBits = StopBits::ONE_STOP_BIT;
-    uint8_t bitsPerWord = 8;
+  bool replySizeFixed = true;
-    uint8_t readCycles = 1;
-    StopBits stopBits = StopBits::ONE_STOP_BIT;
-    bool replySizeFixed = true;
 };
 
 #endif

hal/src/fsfw_hal/linux/uio/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)

hal/src/fsfw_hal/linux/uio/UioMapper.cpp

@@ -0,0 +1,86 @@
+#include "UioMapper.h"
+
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <filesystem>
+#include <fstream>
+#include <sstream>
+
+#include "fsfw/serviceinterface.h"
+
+const char UioMapper::UIO_PATH_PREFIX[] = "/sys/class/uio/";
+const char UioMapper::MAP_SUBSTR[] = "/maps/map";
+const char UioMapper::SIZE_FILE_PATH[] = "/size";
+
+UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum(mapNum) {}
+
+UioMapper::~UioMapper() {}
+
+ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int fd = open(uioFile.c_str(), O_RDWR);
+  if (fd < 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  size_t size = 0;
+  result = getMapSize(&size);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  *address = static_cast<uint32_t*>(
+      mmap(NULL, size, static_cast<int>(permissions), MAP_SHARED, fd, mapNum * getpagesize()));
+
+  if (*address == MAP_FAILED) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
+               << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UioMapper::getMapSize(size_t* size) {
+  std::stringstream namestream;
+  namestream << UIO_PATH_PREFIX << uioFile.substr(5, std::string::npos) << MAP_SUBSTR << mapNum
+             << SIZE_FILE_PATH;
+  FILE* fp;
+  fp = fopen(namestream.str().c_str(), "r");
+  if (fp == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  char hexstring[SIZE_HEX_STRING] = "";
+  int items = fscanf(fp, "%s", hexstring);
+  if (items != 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UioMapper::getMapSize: Failed with error code " << errno
+               << " to read size "
+                  "string from file "
+               << namestream.str() << std::endl;
+#endif
+    fclose(fp);
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  uint32_t sizeTmp = 0;
+  items = sscanf(hexstring, "%x", &sizeTmp);
+  if (size != nullptr) {
+    *size = sizeTmp;
+  }
+  if (items != 1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UioMapper::getMapSize: Failed with error code " << errno << "to convert "
+               << "size of map" << mapNum << " to integer" << std::endl;
+#endif
+    fclose(fp);
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  fclose(fp);
+  return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/uio/UioMapper.h

@@ -0,0 +1,58 @@
+#ifndef FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
+#define FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_
+
+#include <sys/mman.h>
+
+#include <string>
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+/**
+ * @brief   Class to help opening uio device files and mapping the physical addresses into the user
+ *          address space.
+ *
+ * @author  J. Meier
+ */
+class UioMapper {
+ public:
+  enum class Permissions : int {
+    READ_ONLY = PROT_READ,
+    WRITE_ONLY = PROT_WRITE,
+    READ_WRITE = PROT_READ | PROT_WRITE
+  };
+
+  /**
+   * @brief   Constructor
+   *
+   * @param uioFile   The device file of the uiO to open
+   * @param uioMap    Number of memory map. Most UIO drivers have only one map which has than 0.
+   */
+  UioMapper(std::string uioFile, int mapNum = 0);
+  virtual ~UioMapper();
+
+  /**
+   * @brief   Maps the physical address into user address space and returns the mapped address
+   *
+   * @address The mapped user space address
+   * @permissions Specifies the read/write permissions of the address region
+   */
+  ReturnValue_t getMappedAdress(uint32_t** address, Permissions permissions);
+
+ private:
+  static const char UIO_PATH_PREFIX[];
+  static const char MAP_SUBSTR[];
+  static const char SIZE_FILE_PATH[];
+  static constexpr int SIZE_HEX_STRING = 10;
+
+  std::string uioFile;
+  int mapNum = 0;
+
+  /**
+   * @brief   Reads the map size from the associated sysfs size file
+   *
+   * @param size  The read map size
+   */
+  ReturnValue_t getMapSize(size_t* size);
+};
+
+#endif /* FSFW_HAL_SRC_FSFW_HAL_LINUX_UIO_UIOMAPPER_H_ */

hal/src/fsfw_hal/linux/utility.cpp

@@ -1,26 +1,23 @@
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/utility.h"
 
 #include <cerrno>
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
 void utility::handleIoctlError(const char* const customPrintout) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    if(customPrintout != nullptr) {
+  if (customPrintout != nullptr) {
-        sif::warning << customPrintout << std::endl;
+    sif::warning << customPrintout << std::endl;
-    }
+  }
-    sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
+  sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
-            std::endl;
 #else
-    if(customPrintout != nullptr) {
+  if (customPrintout != nullptr) {
-        sif::printWarning("%s\n", customPrintout);
+    sif::printWarning("%s\n", customPrintout);
-    }
+  }
-    sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
+  sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-
 }
-
-

hal/src/fsfw_hal/stm32h7/definitions.h

@@ -2,6 +2,7 @@
 #define FSFW_HAL_STM32H7_DEFINITIONS_H_
 
 #include <utility>
+
 #include "stm32h7xx.h"
 
 namespace stm32h7 {
@@ -11,15 +12,15 @@ namespace stm32h7 {
  * and the second entry is the pin number
  */
 struct GpioCfg {
-    GpioCfg(): port(nullptr), pin(0), altFnc(0) {};
+  GpioCfg() : port(nullptr), pin(0), altFnc(0){};
 
-    GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0):
+  GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
-        port(port), pin(pin), altFnc(altFnc) {};
+      : port(port), pin(pin), altFnc(altFnc){};
-    GPIO_TypeDef* port;
+  GPIO_TypeDef* port;
-    uint16_t pin;
+  uint16_t pin;
-    uint8_t altFnc;
+  uint8_t altFnc;
 };
 
-}
+}  // namespace stm32h7
 
 #endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

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

@@ -1,549 +1,547 @@
 #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/stm32h743zi.h"
-
-#include "fsfw/tasks/TaskFactory.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-#include "stm32h7xx_hal_spi.h"
-#include "stm32h7xx_hal_rcc.h"
-
 #include <cstring>
 
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
+#include "stm32h7xx_hal_rcc.h"
+#include "stm32h7xx_hal_spi.h"
+
 alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
-alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
+alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> GyroL3GD20H::txBuffer
-GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
+    __attribute__((section(".dma_buffer")));
 
 TransferStates transferState = TransferStates::IDLE;
-spi::TransferModes  GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
+spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
 
+GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
+    : spiHandle(spiHandle) {
+  txDmaHandle = new DMA_HandleTypeDef();
+  rxDmaHandle = new DMA_HandleTypeDef();
+  spi::setSpiHandle(spiHandle);
+  spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
+  transferMode = transferMode_;
+  if (transferMode == spi::TransferModes::DMA) {
+    mspCfg = new spi::MspDmaConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
+    spi::setDmaHandles(txDmaHandle, rxDmaHandle);
+    stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS);
+    spi::setSpiDmaMspFunctions(typedCfg);
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
+    mspCfg = new spi::MspIrqConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
+    stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
+    spi::setSpiIrqMspFunctions(typedCfg);
+  } else if (transferMode == spi::TransferModes::POLLING) {
+    mspCfg = new spi::MspPollingConfigStruct();
+    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
+    stm32h7::h743zi::standardPollingCfg(*typedCfg);
+    spi::setSpiPollingMspFunctions(typedCfg);
+  }
 
-GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
+  spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, nullptr);
-        spiHandle(spiHandle) {
+  spi::assignTransferErrorCallback(&spiTransferErrorCallback, nullptr);
-    txDmaHandle = new DMA_HandleTypeDef();
-    rxDmaHandle = new DMA_HandleTypeDef();
-    spi::setSpiHandle(spiHandle);
-    spi::assignSpiUserArgs(spi::SpiBus::SPI_1, spiHandle);
-    transferMode = transferMode_;
-    if(transferMode == spi::TransferModes::DMA) {
-        mspCfg = new spi::MspDmaConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
-        spi::setDmaHandles(txDmaHandle, rxDmaHandle);
-        stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
-                IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
-        spi::setSpiDmaMspFunctions(typedCfg);
-    }
-    else if(transferMode == spi::TransferModes::INTERRUPT) {
-        mspCfg = new spi::MspIrqConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
-        stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
-        spi::setSpiIrqMspFunctions(typedCfg);
-    }
-    else if(transferMode == spi::TransferModes::POLLING) {
-        mspCfg = new spi::MspPollingConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
-        stm32h7::h743zi::standardPollingCfg(*typedCfg);
-        spi::setSpiPollingMspFunctions(typedCfg);
-    }
 
-    spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, nullptr);
+  GPIO_InitTypeDef chipSelect = {};
-    spi::assignTransferErrorCallback(&spiTransferErrorCallback, nullptr);
+  __HAL_RCC_GPIOD_CLK_ENABLE();
-
+  chipSelect.Pin = GPIO_PIN_14;
-    GPIO_InitTypeDef chipSelect = {};
+  chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
-    __HAL_RCC_GPIOD_CLK_ENABLE();
+  HAL_GPIO_Init(GPIOD, &chipSelect);
-    chipSelect.Pin = GPIO_PIN_14;
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
-    HAL_GPIO_Init(GPIOD, &chipSelect);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
 }
 
 GyroL3GD20H::~GyroL3GD20H() {
-    delete txDmaHandle;
+  delete txDmaHandle;
-    delete rxDmaHandle;
+  delete rxDmaHandle;
-    if(mspCfg != nullptr) {
+  if (mspCfg != nullptr) {
-        delete mspCfg;
+    delete mspCfg;
-    }
+  }
 }
 
 ReturnValue_t GyroL3GD20H::initialize() {
-    // Configure the SPI peripheral
+  // Configure the SPI peripheral
-    spiHandle->Instance               = SPI1;
+  spiHandle->Instance = SPI1;
-    spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
+  spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
-    spiHandle->Init.Direction         = SPI_DIRECTION_2LINES;
+  spiHandle->Init.Direction = SPI_DIRECTION_2LINES;
-    spi::assignSpiMode(spi::SpiModes::MODE_3, *spiHandle);
+  spi::assignSpiMode(spi::SpiModes::MODE_3, *spiHandle);
-    spiHandle->Init.DataSize          = SPI_DATASIZE_8BIT;
+  spiHandle->Init.DataSize = SPI_DATASIZE_8BIT;
-    spiHandle->Init.FirstBit          = SPI_FIRSTBIT_MSB;
+  spiHandle->Init.FirstBit = SPI_FIRSTBIT_MSB;
-    spiHandle->Init.TIMode            = SPI_TIMODE_DISABLE;
+  spiHandle->Init.TIMode = SPI_TIMODE_DISABLE;
-    spiHandle->Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+  spiHandle->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-    spiHandle->Init.CRCPolynomial     = 7;
+  spiHandle->Init.CRCPolynomial = 7;
-    spiHandle->Init.CRCLength         = SPI_CRC_LENGTH_8BIT;
+  spiHandle->Init.CRCLength = SPI_CRC_LENGTH_8BIT;
-    spiHandle->Init.NSS               = SPI_NSS_SOFT;
+  spiHandle->Init.NSS = SPI_NSS_SOFT;
-    spiHandle->Init.NSSPMode          = SPI_NSS_PULSE_DISABLE;
+  spiHandle->Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
-    // Recommended setting to avoid glitches
+  // Recommended setting to avoid glitches
-    spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+  spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
-    spiHandle->Init.Mode = SPI_MODE_MASTER;
+  spiHandle->Init.Mode = SPI_MODE_MASTER;
-    if(HAL_SPI_Init(spiHandle) != HAL_OK) {
+  if (HAL_SPI_Init(spiHandle) != HAL_OK) {
-        sif::printWarning("Error initializing SPI\n");
+    sif::printWarning("Error initializing SPI\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  delete mspCfg;
+  transferState = TransferStates::WAIT;
+
+  sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
+
+  txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
+  txBuffer[1] = 0;
+
+  switch (transferMode) {
+    case (spi::TransferModes::DMA): {
+      return handleDmaTransferInit();
     }
-
+    case (spi::TransferModes::INTERRUPT): {
-    delete mspCfg;
+      return handleInterruptTransferInit();
-    transferState = TransferStates::WAIT;
-
-    sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
-
-    txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
-    txBuffer[1] = 0;
-
-    switch(transferMode)  {
-    case(spi::TransferModes::DMA): {
-        return handleDmaTransferInit();
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::POLLING): {
-        return handleInterruptTransferInit();
+      return handlePollingTransferInit();
-    }
-    case(spi::TransferModes::POLLING): {
-        return handlePollingTransferInit();
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::performOperation() {
-    switch(transferMode)  {
+  switch (transferMode) {
-    case(spi::TransferModes::DMA): {
+    case (spi::TransferModes::DMA): {
-        return handleDmaSensorRead();
+      return handleDmaSensorRead();
     }
-    case(spi::TransferModes::POLLING): {
+    case (spi::TransferModes::POLLING): {
-        return handlePollingSensorRead();
+      return handlePollingSensorRead();
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::INTERRUPT): {
-        return handleInterruptSensorRead();
+      return handleInterruptSensorRead();
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
-    /* Clean D-cache */
+  /* Clean D-cache */
-    /* Make sure the address is 32-byte aligned and add 32-bytes to length,
+  /* Make sure the address is 32-byte aligned and add 32-bytes to length,
-    in case it overlaps cacheline */
+  in case it overlaps cacheline */
-    // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
+  // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
-    HAL_StatusTypeDef result = performDmaTransfer(2);
+  HAL_StatusTypeDef result = performDmaTransfer(2);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
-        // Transfer error in transmission process
+    // Transfer error in transmission process
-        sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
+    sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
-    }
+  }
 
-    // Wait for the transfer to complete
+  // Wait for the transfer to complete
-    while (transferState == TransferStates::WAIT) {
+  while (transferState == TransferStates::WAIT) {
-        TaskFactory::delayTask(1);
+    TaskFactory::delayTask(1);
-    }
+  }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
-        uint8_t whoAmIVal = rxBuffer[1];
+      uint8_t whoAmIVal = rxBuffer[1];
-        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::initialize: "
+        sif::printDebug(
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+            "GyroL3GD20H::initialize: "
-        }
+            "Read WHO AM I value %d not equal to expected value!\n",
-        transferState = TransferStates::IDLE;
+            whoAmIVal);
-        break;
+      }
+      transferState = TransferStates::IDLE;
+      break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
-        sif::printWarning("Transfer failure\n");
+      sif::printWarning("Transfer failure\n");
-        transferState = TransferStates::FAILURE;
+      transferState = TransferStates::FAILURE;
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
-    // Configure the 5 configuration registers
+  // Configure the 5 configuration registers
-    uint8_t configRegs[5];
+  uint8_t configRegs[5];
-    prepareConfigRegs(configRegs);
+  prepareConfigRegs(configRegs);
 
-    result = performDmaTransfer(6);
+  result = performDmaTransfer(6);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
-        // Transfer error in transmission process
+    // Transfer error in transmission process
-        sif::printWarning("Error transmitting SPI with DMA\n");
+    sif::printWarning("Error transmitting SPI with DMA\n");
-    }
+  }
 
-    // Wait for the transfer to complete
+  // Wait for the transfer to complete
-    while (transferState == TransferStates::WAIT) {
+  while (transferState == TransferStates::WAIT) {
-        TaskFactory::delayTask(1);
+    TaskFactory::delayTask(1);
-    }
+  }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
-        sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
+      sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
-        transferState = TransferStates::IDLE;
+      transferState = TransferStates::IDLE;
-        break;
+      break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
-        sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
+      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
-        transferState = TransferStates::FAILURE;
+      transferState = TransferStates::FAILURE;
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  std::memset(txBuffer.data() + 1, 0, 5);
+  result = performDmaTransfer(6);
+  if (result != HAL_OK) {
+    // Transfer error in transmission process
+    sif::printWarning("Error transmitting SPI with DMA\n");
+  }
+  // Wait for the transfer to complete
+  while (transferState == TransferStates::WAIT) {
+    TaskFactory::delayTask(1);
+  }
 
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  switch (transferState) {
-    std::memset(txBuffer.data() + 1, 0 , 5);
+    case (TransferStates::SUCCESS): {
-    result = performDmaTransfer(6);
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
-    if(result != HAL_OK) {
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
-        // Transfer error in transmission process
+          rxBuffer[5] != configRegs[4]) {
-        sif::printWarning("Error transmitting SPI with DMA\n");
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+      } else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
+      transferState = TransferStates::IDLE;
+      break;
     }
-    // Wait for the transfer to complete
+    case (TransferStates::FAILURE): {
-    while (transferState == TransferStates::WAIT) {
+      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
-        TaskFactory::delayTask(1);
+      transferState = TransferStates::FAILURE;
-    }
+      return HasReturnvaluesIF::RETURN_FAILED;
-
-    switch(transferState) {
-    case(TransferStates::SUCCESS): {
-        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
-                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
-                rxBuffer[5] != configRegs[4]) {
-            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
-        else {
-            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
-        }
-        transferState = TransferStates::IDLE;
-        break;
-    }
-    case(TransferStates::FAILURE): {
-        sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
-        transferState = TransferStates::FAILURE;
-        return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 14);
+  std::memset(txBuffer.data() + 1, 0, 14);
 
-    HAL_StatusTypeDef result = performDmaTransfer(15);
+  HAL_StatusTypeDef result = performDmaTransfer(15);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
-        // Transfer error in transmission process
+    // Transfer error in transmission process
-        sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
+    sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
-    }
+  }
-    // Wait for the transfer to complete
+  // Wait for the transfer to complete
-    while (transferState == TransferStates::WAIT) {
+  while (transferState == TransferStates::WAIT) {
-        TaskFactory::delayTask(1);
+    TaskFactory::delayTask(1);
-    }
+  }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
-        handleSensorReadout();
+      handleSensorReadout();
-        break;
+      break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
-        sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
+      sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
-        transferState = TransferStates::FAILURE;
+      transferState = TransferStates::FAILURE;
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
-    transferState = TransferStates::WAIT;
+  transferState = TransferStates::WAIT;
 #if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
-    SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
+  SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
-            txBuffer.size()+32);
+                          txBuffer.size() + 32);
 #endif
 
-    // Start SPI transfer via DMA
+  // Start SPI transfer via DMA
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
+  return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
 }
 
 ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
+      sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
-        uint8_t whoAmIVal = rxBuffer[1];
+      uint8_t whoAmIVal = rxBuffer[1];
-        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::performOperation: "
+        sif::printDebug(
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+            "GyroL3GD20H::performOperation: "
-        }
+            "Read WHO AM I value %d not equal to expected value!\n",
-        break;
+            whoAmIVal);
+      }
+      break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
-    // Configure the 5 configuration registers
+  // Configure the 5 configuration registers
-    uint8_t configRegs[5];
+  uint8_t configRegs[5];
-    prepareConfigRegs(configRegs);
+  prepareConfigRegs(configRegs);
 
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
+  result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        break;
+      break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 5);
+  std::memset(txBuffer.data() + 1, 0, 5);
 
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
+  result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
-                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
-                rxBuffer[5] != configRegs[4]) {
+          rxBuffer[5] != configRegs[4]) {
-            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
+      } else {
-        else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
-            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
-        }
+      break;
-        break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 14);
+  std::memset(txBuffer.data() + 1, 0, 14);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
 
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        handleSensorReadout();
+      handleSensorReadout();
-        break;
+      break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
-        sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
+      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
+      sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
-        // Wait for the transfer to complete
+      // Wait for the transfer to complete
-        while (transferState == TransferStates::WAIT) {
+      while (transferState == TransferStates::WAIT) {
-            TaskFactory::delayTask(1);
+        TaskFactory::delayTask(1);
-        }
+      }
 
-        uint8_t whoAmIVal = rxBuffer[1];
+      uint8_t whoAmIVal = rxBuffer[1];
-        if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
+      if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::initialize: "
+        sif::printDebug(
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+            "GyroL3GD20H::initialize: "
-        }
+            "Read WHO AM I value %d not equal to expected value!\n",
-        break;
+            whoAmIVal);
-    }
+      }
-    case(HAL_BUSY):
+      break;
-    case(HAL_ERROR):
-    case(HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
     }
+    case (HAL_BUSY):
+    case (HAL_ERROR):
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
+  }
 
-    sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
+  sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
-    transferState = TransferStates::WAIT;
+  transferState = TransferStates::WAIT;
-    // Configure the 5 configuration registers
+  // Configure the 5 configuration registers
-    uint8_t configRegs[5];
+  uint8_t configRegs[5];
-    prepareConfigRegs(configRegs);
+  prepareConfigRegs(configRegs);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        // Wait for the transfer to complete
+      // Wait for the transfer to complete
-        while (transferState == TransferStates::WAIT) {
+      while (transferState == TransferStates::WAIT) {
-            TaskFactory::delayTask(1);
+        TaskFactory::delayTask(1);
-        }
+      }
-        break;
+      break;
-    }
-    case(HAL_BUSY):
-    case(HAL_ERROR):
-    case(HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
     }
+    case (HAL_BUSY):
+    case (HAL_ERROR):
+    case (HAL_TIMEOUT): {
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
+  }
 
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 5);
+  std::memset(txBuffer.data() + 1, 0, 5);
-    transferState = TransferStates::WAIT;
+  transferState = TransferStates::WAIT;
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        // Wait for the transfer to complete
+      // Wait for the transfer to complete
-        while (transferState == TransferStates::WAIT) {
+      while (transferState == TransferStates::WAIT) {
-            TaskFactory::delayTask(1);
+        TaskFactory::delayTask(1);
-        }
+      }
-        if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
+      if (rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
-                rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
+          rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
-                rxBuffer[5] != configRegs[4]) {
+          rxBuffer[5] != configRegs[4]) {
-            sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
+        sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
+      } else {
-        else {
+        sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
-            sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
+      }
-        }
+      break;
-        break;
     }
-    case(HAL_BUSY):
+    case (HAL_BUSY):
-    case(HAL_ERROR):
+    case (HAL_ERROR):
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
+      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
-    transferState = TransferStates::WAIT;
+  transferState = TransferStates::WAIT;
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
-    std::memset(txBuffer.data() + 1, 0 , 14);
+  std::memset(txBuffer.data() + 1, 0, 14);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
+  switch (HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
-    case(HAL_OK): {
+    case (HAL_OK): {
-        // Wait for the transfer to complete
+      // Wait for the transfer to complete
-        while (transferState == TransferStates::WAIT) {
+      while (transferState == TransferStates::WAIT) {
-            TaskFactory::delayTask(1);
+        TaskFactory::delayTask(1);
-        }
+      }
-        handleSensorReadout();
+      handleSensorReadout();
-        break;
+      break;
     }
-    case(HAL_BUSY):
+    case (HAL_BUSY):
-    case(HAL_ERROR):
+    case (HAL_ERROR):
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
-        sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
+      sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) {
+void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
-    // Enable sensor
+  // Enable sensor
-    configRegs[0] = 0b00001111;
+  configRegs[0] = 0b00001111;
-    configRegs[1] = 0b00000000;
+  configRegs[1] = 0b00000000;
-    configRegs[2] = 0b00000000;
+  configRegs[2] = 0b00000000;
-    // Big endian select
+  // Big endian select
-    configRegs[3] = 0b01000000;
+  configRegs[3] = 0b01000000;
-    configRegs[4] = 0b00000000;
+  configRegs[4] = 0b00000000;
 
-    txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
+  txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
-    std::memcpy(txBuffer.data() + 1, configRegs, 5);
+  std::memcpy(txBuffer.data() + 1, configRegs, 5);
 }
 
 uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
-    uint8_t rxBuf[2] = {};
+  uint8_t rxBuf[2] = {};
-    uint8_t txBuf[2] = {};
+  uint8_t txBuf[2] = {};
-    txBuf[0] = reg | STM_READ_MASK;
+  txBuf[0] = reg | STM_READ_MASK;
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
-    auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
+  auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
-    if(result) {};
+  if (result) {
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  };
-    return rxBuf[1];
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  return rxBuf[1];
 }
 
 void GyroL3GD20H::handleSensorReadout() {
-    uint8_t statusReg = rxBuffer[8];
+  uint8_t statusReg = rxBuffer[8];
-    int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
+  int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
-    float gyroX = static_cast<float>(gyroXRaw) * 0.00875;
+  float gyroX = static_cast<float>(gyroXRaw) * 0.00875;
-    int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
+  int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
-    float gyroY =  static_cast<float>(gyroYRaw) * 0.00875;
+  float gyroY = static_cast<float>(gyroYRaw) * 0.00875;
-    int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
+  int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
-    float gyroZ =  static_cast<float>(gyroZRaw) * 0.00875;
+  float gyroZ = static_cast<float>(gyroZRaw) * 0.00875;
-    sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
+  sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
-    sif::printInfo("Gyro X: %f\n", gyroX);
+  sif::printInfo("Gyro X: %f\n", gyroX);
-    sif::printInfo("Gyro Y: %f\n", gyroY);
+  sif::printInfo("Gyro Y: %f\n", gyroY);
-    sif::printInfo("Gyro Z: %f\n", gyroZ);
+  sif::printInfo("Gyro Z: %f\n", gyroZ);
 }
 
-
+void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
-void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args) {
+  transferState = TransferStates::SUCCESS;
-    transferState = TransferStates::SUCCESS;
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
+  if (GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
-    if(GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
+    // Invalidate cache prior to access by CPU
-        // Invalidate cache prior to access by CPU
+    SCB_InvalidateDCache_by_Addr((uint32_t *)GyroL3GD20H::rxBuffer.data(),
-        SCB_InvalidateDCache_by_Addr ((uint32_t *)GyroL3GD20H::rxBuffer.data(),
+                                 GyroL3GD20H::recvBufferSize);
-                GyroL3GD20H::recvBufferSize);
+  }
-    }
 }
 
 /**
@@ -553,6 +551,6 @@ void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* arg
  *         add your own implementation.
  * @retval None
  */
-void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args) {
+void GyroL3GD20H::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
-    transferState = TransferStates::FAILURE;
+  transferState = TransferStates::FAILURE;
 }

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

@@ -1,70 +1,61 @@
 #ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
 #define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
 
-#include "stm32h7xx_hal.h"
+#include <array>
-#include "stm32h7xx_hal_spi.h"
+#include <cstdint>
+
 #include "../spi/mspInit.h"
 #include "../spi/spiDefinitions.h"
-
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_spi.h"
 
-#include <cstdint>
+enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
-#include <array>
-
-enum class TransferStates {
-    IDLE,
-    WAIT,
-    SUCCESS,
-    FAILURE
-};
 
 class GyroL3GD20H {
-public:
+ public:
-    GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
+  GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
-    ~GyroL3GD20H();
+  ~GyroL3GD20H();
 
-    ReturnValue_t initialize();
+  ReturnValue_t initialize();
-    ReturnValue_t performOperation();
+  ReturnValue_t performOperation();
 
-private:
+ private:
+  const uint8_t WHO_AM_I_REG = 0b00001111;
+  const uint8_t STM_READ_MASK = 0b10000000;
+  const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
+  const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
+  const uint8_t CTRL_REG_1 = 0b00100000;
+  const uint32_t L3G_RANGE = 245;
 
-    const uint8_t WHO_AM_I_REG = 0b00001111;
+  SPI_HandleTypeDef* spiHandle;
-    const uint8_t STM_READ_MASK = 0b10000000;
-    const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
-    const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
-    const uint8_t CTRL_REG_1 = 0b00100000;
-    const uint32_t L3G_RANGE = 245;
 
-    SPI_HandleTypeDef* spiHandle;
+  static spi::TransferModes transferMode;
+  static constexpr size_t recvBufferSize = 32 * 10;
+  static std::array<uint8_t, recvBufferSize> rxBuffer;
+  static constexpr size_t txBufferSize = 32;
+  static std::array<uint8_t, txBufferSize> txBuffer;
 
-    static spi::TransferModes transferMode;
+  ReturnValue_t handleDmaTransferInit();
-    static constexpr size_t recvBufferSize = 32 * 10;
+  ReturnValue_t handlePollingTransferInit();
-    static std::array<uint8_t, recvBufferSize> rxBuffer;
+  ReturnValue_t handleInterruptTransferInit();
-    static constexpr size_t txBufferSize = 32;
-    static std::array<uint8_t, txBufferSize> txBuffer;
 
-    ReturnValue_t handleDmaTransferInit();
+  ReturnValue_t handleDmaSensorRead();
-    ReturnValue_t handlePollingTransferInit();
+  HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
-    ReturnValue_t handleInterruptTransferInit();
+  ReturnValue_t handlePollingSensorRead();
+  ReturnValue_t handleInterruptSensorRead();
 
-    ReturnValue_t handleDmaSensorRead();
+  uint8_t readRegPolling(uint8_t reg);
-    HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
-    ReturnValue_t handlePollingSensorRead();
-    ReturnValue_t handleInterruptSensorRead();
 
-    uint8_t readRegPolling(uint8_t reg);
+  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
+  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
 
-    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+  void prepareConfigRegs(uint8_t* configRegs);
-    static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
+  void handleSensorReadout();
 
-
+  DMA_HandleTypeDef* txDmaHandle = {};
-    void prepareConfigRegs(uint8_t* configRegs);
+  DMA_HandleTypeDef* rxDmaHandle = {};
-    void handleSensorReadout();
+  spi::MspCfgBase* mspCfg = {};
-
-
-    DMA_HandleTypeDef* txDmaHandle = {};
-    DMA_HandleTypeDef* rxDmaHandle = {};
-    spi::MspCfgBase* mspCfg = {};
 };
 
 #endif /*  FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */

hal/src/fsfw_hal/stm32h7/dma.cpp

@@ -1,7 +1,7 @@
 #include <fsfw_hal/stm32h7/dma.h>
 
-#include <cstdint>
 #include <cstddef>
+#include <cstdint>
 
 user_handler_t DMA_1_USER_HANDLERS[8];
 user_args_t DMA_1_USER_ARGS[8];
@@ -10,15 +10,14 @@ user_handler_t DMA_2_USER_HANDLERS[8];
 user_args_t DMA_2_USER_ARGS[8];
 
 void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
-        user_handler_t user_handler, user_args_t user_args) {
+                               user_handler_t user_handler, user_args_t user_args) {
-    if(dma_idx == DMA_1) {
+  if (dma_idx == DMA_1) {
-        DMA_1_USER_HANDLERS[stream_idx] = user_handler;
+    DMA_1_USER_HANDLERS[stream_idx] = user_handler;
-        DMA_1_USER_ARGS[stream_idx] = user_args;
+    DMA_1_USER_ARGS[stream_idx] = user_args;
-    }
+  } else if (dma_idx == DMA_2) {
-    else if(dma_idx == DMA_2) {
+    DMA_2_USER_HANDLERS[stream_idx] = user_handler;
-        DMA_2_USER_HANDLERS[stream_idx] = user_handler;
+    DMA_2_USER_ARGS[stream_idx] = user_args;
-        DMA_2_USER_ARGS[stream_idx] = user_args;
+  }
-    }
 }
 
 // The interrupt handlers in the format required for the IRQ vector table
@@ -26,59 +25,27 @@ void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
 /* Do not change these function names! They need to be exactly equal to the name of the functions
 defined in the startup_stm32h743xx.s files! */
 
-#define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX) \
+#define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX)                                  \
-    if(DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) { \
+  if (DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) {                            \
-        DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
+    DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
-        return; \
+    return;                                                                           \
-    } \
+  }                                                                                   \
-    Default_Handler() \
+  Default_Handler()
 
-extern"C" void DMA1_Stream0_IRQHandler() {
+extern "C" void DMA1_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 0); }
-    GENERIC_DMA_IRQ_HANDLER(1, 0);
+extern "C" void DMA1_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 1); }
-}
+extern "C" void DMA1_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 2); }
-extern"C" void DMA1_Stream1_IRQHandler() {
+extern "C" void DMA1_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 3); }
-    GENERIC_DMA_IRQ_HANDLER(1, 1);
+extern "C" void DMA1_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 4); }
-}
+extern "C" void DMA1_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 5); }
-extern"C" void DMA1_Stream2_IRQHandler() {
+extern "C" void DMA1_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 6); }
-    GENERIC_DMA_IRQ_HANDLER(1, 2);
+extern "C" void DMA1_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 7); }
-}
-extern"C" void DMA1_Stream3_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 3);
-}
-extern"C" void DMA1_Stream4_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 4);
-}
-extern"C" void DMA1_Stream5_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 5);
-}
-extern"C" void DMA1_Stream6_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 6);
-}
-extern"C" void DMA1_Stream7_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 7);
-}
 
-extern"C" void DMA2_Stream0_IRQHandler() {
+extern "C" void DMA2_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 0); }
-    GENERIC_DMA_IRQ_HANDLER(2, 0);
+extern "C" void DMA2_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 1); }
-}
+extern "C" void DMA2_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 2); }
-extern"C" void DMA2_Stream1_IRQHandler() {
+extern "C" void DMA2_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 3); }
-    GENERIC_DMA_IRQ_HANDLER(2, 1);
+extern "C" void DMA2_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 4); }
-}
+extern "C" void DMA2_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 5); }
-extern"C" void DMA2_Stream2_IRQHandler() {
+extern "C" void DMA2_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 6); }
-    GENERIC_DMA_IRQ_HANDLER(2, 2);
+extern "C" void DMA2_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 7); }
-}
-extern"C" void DMA2_Stream3_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 3);
-}
-extern"C" void DMA2_Stream4_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 4);
-}
-extern"C" void DMA2_Stream5_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 5);
-}
-extern"C" void DMA2_Stream6_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 6);
-}
-extern"C" void DMA2_Stream7_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 7);
-}

hal/src/fsfw_hal/stm32h7/dma.h

@@ -5,31 +5,26 @@
 extern "C" {
 #endif
 
-#include "interrupts.h"
 #include <cstdint>
 
+#include "interrupts.h"
+
 namespace dma {
 
-enum DMAType {
+enum DMAType { TX = 0, RX = 1 };
-    TX = 0,
-    RX = 1
-};
 
-enum DMAIndexes: uint8_t {
+enum DMAIndexes : uint8_t { DMA_1 = 1, DMA_2 = 2 };
-    DMA_1 = 1,
-    DMA_2 = 2
-};
 
 enum DMAStreams {
-    STREAM_0 = 0,
+  STREAM_0 = 0,
-    STREAM_1 = 1,
+  STREAM_1 = 1,
-    STREAM_2 = 2,
+  STREAM_2 = 2,
-    STREAM_3 = 3,
+  STREAM_3 = 3,
-    STREAM_4 = 4,
+  STREAM_4 = 4,
-    STREAM_5 = 5,
+  STREAM_5 = 5,
-    STREAM_6 = 6,
+  STREAM_6 = 6,
-    STREAM_7 = 7,
+  STREAM_7 = 7,
-} ;
+};
 
 /**
  * Assign user interrupt handlers for DMA streams, allowing to pass an
@@ -37,10 +32,10 @@ enum DMAStreams {
  * @param user_handler
  * @param user_args
  */
-void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
+void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, user_handler_t user_handler,
-        user_handler_t user_handler, user_args_t user_args);
+                          user_args_t user_args);
 
-}
+}  // namespace dma
 
 #ifdef __cplusplus
 }

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

@@ -4,68 +4,68 @@
 
 void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
 #ifdef GPIOA
-    if(gpioPort == GPIOA) {
+  if (gpioPort == GPIOA) {
-        __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOA_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOB
-    if(gpioPort == GPIOB) {
+  if (gpioPort == GPIOB) {
-        __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOC
-    if(gpioPort == GPIOC) {
+  if (gpioPort == GPIOC) {
-        __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOD
-    if(gpioPort == GPIOD) {
+  if (gpioPort == GPIOD) {
-        __HAL_RCC_GPIOD_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOE
-    if(gpioPort == GPIOE) {
+  if (gpioPort == GPIOE) {
-        __HAL_RCC_GPIOE_CLK_ENABLE();
+    __HAL_RCC_GPIOE_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOF
-    if(gpioPort == GPIOF) {
+  if (gpioPort == GPIOF) {
-        __HAL_RCC_GPIOF_CLK_ENABLE();
+    __HAL_RCC_GPIOF_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOG
-    if(gpioPort == GPIOG) {
+  if (gpioPort == GPIOG) {
-        __HAL_RCC_GPIOG_CLK_ENABLE();
+    __HAL_RCC_GPIOG_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOH
-    if(gpioPort == GPIOH) {
+  if (gpioPort == GPIOH) {
-        __HAL_RCC_GPIOH_CLK_ENABLE();
+    __HAL_RCC_GPIOH_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOI
-    if(gpioPort == GPIOI) {
+  if (gpioPort == GPIOI) {
-        __HAL_RCC_GPIOI_CLK_ENABLE();
+    __HAL_RCC_GPIOI_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOJ
-    if(gpioPort == GPIOJ) {
+  if (gpioPort == GPIOJ) {
-        __HAL_RCC_GPIOJ_CLK_ENABLE();
+    __HAL_RCC_GPIOJ_CLK_ENABLE();
-    }
+  }
 #endif
 
 #ifdef GPIOK
-    if(gpioPort == GPIOK) {
+  if (gpioPort == GPIOK) {
-        __HAL_RCC_GPIOK_CLK_ENABLE();
+    __HAL_RCC_GPIOK_CLK_ENABLE();
-    }
+  }
 #endif
 }

hal/src/fsfw_hal/stm32h7/interrupts.h

@@ -12,14 +12,10 @@ extern "C" {
  */
 extern void Default_Handler();
 
-typedef void (*user_handler_t) (void*);
+typedef void (*user_handler_t)(void*);
 typedef void* user_args_t;
 
-enum IrqPriorities: uint8_t {
+enum IrqPriorities : uint8_t { HIGHEST = 0, HIGHEST_FREERTOS = 6, LOWEST = 15 };
-    HIGHEST = 0,
-    HIGHEST_FREERTOS = 6,
-    LOWEST = 15
-};
 
 #ifdef __cplusplus
 }

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/tasks/SemaphoreFactory.h"
+#include "fsfw_hal/stm32h7/gpio/gpio.h"
+#include "fsfw_hal/stm32h7/spi/SpiCookie.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/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
@@ -13,468 +13,462 @@
 #if defined FSFW_OSAL_RTEMS
 #include "fsfw/osal/rtems/BinarySemaphore.h"
 #elif defined FSFW_OSAL_FREERTOS
-#include "fsfw/osal/freertos/TaskManagement.h"
 #include "fsfw/osal/freertos/BinarySemaphore.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
 #endif
 
 #include "stm32h7xx_hal_gpio.h"
 
-SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) {
+SpiComIF::SpiComIF(object_id_t objectId) : SystemObject(objectId) {
-    void* irqArgsVoided = reinterpret_cast<void*>(&irqArgs);
+  void *irqArgsVoided = reinterpret_cast<void *>(&irqArgs);
-    spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
+  spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
-    spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
+  spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
-    spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
+  spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
-    spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
+  spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
 }
 
 void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) {
-    this->cacheMaintenanceOnTxBuffer = enable;
+  this->cacheMaintenanceOnTxBuffer = enable;
 }
 
 void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxHandle) {
-    spi::setDmaHandles(txHandle, rxHandle);
+  spi::setDmaHandles(txHandle, rxHandle);
 }
 
-ReturnValue_t SpiComIF::initialize() {
+ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
-    return HasReturnvaluesIF::RETURN_OK;
-}
 
 ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
+    sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
 #else
-        sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
+    sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
 #endif
-        return NULLPOINTER;
+    return NULLPOINTER;
-    }
+  }
-    auto transferMode = spiCookie->getTransferMode();
+  auto transferMode = spiCookie->getTransferMode();
 
-    if(transferMode == spi::TransferModes::DMA) {
+  if (transferMode == spi::TransferModes::DMA) {
-        DMA_HandleTypeDef *txHandle = nullptr;
+    DMA_HandleTypeDef *txHandle = nullptr;
-        DMA_HandleTypeDef *rxHandle = nullptr;
+    DMA_HandleTypeDef *rxHandle = nullptr;
-        spi::getDmaHandles(&txHandle, &rxHandle);
+    spi::getDmaHandles(&txHandle, &rxHandle);
-        if(txHandle == nullptr or rxHandle == nullptr) {
+    if (txHandle == nullptr or rxHandle == nullptr) {
-            sif::printError("SpiComIF::initialize: DMA handles not set!\n");
+      sif::printError("SpiComIF::initialize: DMA handles not set!\n");
-            return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-        }
     }
-    // This semaphore ensures thread-safety for a given bus
+  }
-    spiSemaphore = dynamic_cast<BinarySemaphore*>(
+  // This semaphore ensures thread-safety for a given bus
-            SemaphoreFactory::instance()->createBinarySemaphore());
+  spiSemaphore =
-    address_t spiAddress = spiCookie->getDeviceAddress();
+      dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
+  address_t spiAddress = spiCookie->getDeviceAddress();
 
-    auto iter = spiDeviceMap.find(spiAddress);
+  auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
-        size_t bufferSize = spiCookie->getMaxRecvSize();
+    size_t bufferSize = spiCookie->getMaxRecvSize();
-        auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
+    auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
-        if (not statusPair.second) {
+    if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
-                    spiAddress << "to SPI device map" << std::endl;
+                 << spiAddress << "to SPI device map" << std::endl;
 #else
-            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+      sif::printError(
-                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+          "SpiComIF::initializeInterface: Failed to insert device with address "
+          "%lu to SPI device map\n",
+          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-        }
     }
-    auto gpioPin = spiCookie->getChipSelectGpioPin();
+  }
-    auto gpioPort = spiCookie->getChipSelectGpioPort();
+  auto gpioPin = spiCookie->getChipSelectGpioPin();
+  auto gpioPort = spiCookie->getChipSelectGpioPort();
 
-    SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
+  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
 
-    auto spiIdx = spiCookie->getSpiIdx();
+  auto spiIdx = spiCookie->getSpiIdx();
-    if(spiIdx == spi::SpiBus::SPI_1) {
+  if (spiIdx == spi::SpiBus::SPI_1) {
 #ifdef SPI1
-        spiHandle.Instance = SPI1;
+    spiHandle.Instance = SPI1;
 #endif
-    }
+  } else if (spiIdx == spi::SpiBus::SPI_2) {
-    else if(spiIdx == spi::SpiBus::SPI_2) {
 #ifdef SPI2
-        spiHandle.Instance = SPI2;
+    spiHandle.Instance = SPI2;
 #endif
-    }
+  } else {
-    else {
+    printCfgError("SPI Bus Index");
-        printCfgError("SPI Bus Index");
+    return HasReturnvaluesIF::RETURN_FAILED;
-        return HasReturnvaluesIF::RETURN_FAILED;
+  }
-    }
 
-    auto mspCfg = spiCookie->getMspCfg();
+  auto mspCfg = spiCookie->getMspCfg();
 
-    if(transferMode == spi::TransferModes::POLLING) {
+  if (transferMode == spi::TransferModes::POLLING) {
-        auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
+    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
-        if(typedCfg == nullptr) {
+    if (typedCfg == nullptr) {
-            printCfgError("Polling MSP");
+      printCfgError("Polling MSP");
-            return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        spi::setSpiPollingMspFunctions(typedCfg);
     }
-    else if(transferMode == spi::TransferModes::INTERRUPT) {
+    spi::setSpiPollingMspFunctions(typedCfg);
-        auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
-        if(typedCfg == nullptr) {
+    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
-            printCfgError("IRQ MSP");
+    if (typedCfg == nullptr) {
-            return HasReturnvaluesIF::RETURN_FAILED;
+      printCfgError("IRQ MSP");
-        }
+      return HasReturnvaluesIF::RETURN_FAILED;
-        spi::setSpiIrqMspFunctions(typedCfg);
     }
-    else if(transferMode == spi::TransferModes::DMA) {
+    spi::setSpiIrqMspFunctions(typedCfg);
-        auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
+  } else if (transferMode == spi::TransferModes::DMA) {
-        if(typedCfg == nullptr) {
+    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
-            printCfgError("DMA MSP");
+    if (typedCfg == nullptr) {
-            return HasReturnvaluesIF::RETURN_FAILED;
+      printCfgError("DMA MSP");
-        }
+      return HasReturnvaluesIF::RETURN_FAILED;
-        // Check DMA handles
-        DMA_HandleTypeDef* txHandle = nullptr;
-        DMA_HandleTypeDef* rxHandle = nullptr;
-        spi::getDmaHandles(&txHandle, &rxHandle);
-        if(txHandle == nullptr or rxHandle == nullptr) {
-            printCfgError("DMA Handle");
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        spi::setSpiDmaMspFunctions(typedCfg);
     }
+    // Check DMA handles
+    DMA_HandleTypeDef *txHandle = nullptr;
+    DMA_HandleTypeDef *rxHandle = nullptr;
+    spi::getDmaHandles(&txHandle, &rxHandle);
+    if (txHandle == nullptr or rxHandle == nullptr) {
+      printCfgError("DMA Handle");
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    spi::setSpiDmaMspFunctions(typedCfg);
+  }
 
-    if(gpioPort != nullptr) {
+  if (gpioPort != nullptr) {
-        gpio::initializeGpioClock(gpioPort);
+    gpio::initializeGpioClock(gpioPort);
-        GPIO_InitTypeDef chipSelect = {};
+    GPIO_InitTypeDef chipSelect = {};
-        chipSelect.Pin = gpioPin;
+    chipSelect.Pin = gpioPin;
-        chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
+    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
-        HAL_GPIO_Init(gpioPort, &chipSelect);
+    HAL_GPIO_Init(gpioPort, &chipSelect);
-        HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
-    }
+  }
 
-    if(HAL_SPI_Init(&spiHandle) != HAL_OK) {
+  if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
-        sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
+    sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    // The MSP configuration struct is not required anymore
+  // The MSP configuration struct is not required anymore
-    spiCookie->deleteMspCfg();
+  spiCookie->deleteMspCfg();
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return NULLPOINTER;
+    return NULLPOINTER;
-    }
+  }
 
-    SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
+  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
 
-    auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
+  auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
-        return HasReturnvaluesIF::RETURN_FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
-    }
+  }
-    iter->second.currentTransferLen = sendLen;
+  iter->second.currentTransferLen = sendLen;
 
-    auto transferMode = spiCookie->getTransferMode();
+  auto transferMode = spiCookie->getTransferMode();
-    switch(spiCookie->getTransferState()) {
+  switch (spiCookie->getTransferState()) {
-    case(spi::TransferStates::IDLE): {
+    case (spi::TransferStates::IDLE): {
-        break;
+      break;
     }
-    case(spi::TransferStates::WAIT):
+    case (spi::TransferStates::WAIT):
-    case(spi::TransferStates::FAILURE):
+    case (spi::TransferStates::FAILURE):
-    case(spi::TransferStates::SUCCESS):
+    case (spi::TransferStates::SUCCESS):
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    switch(transferMode) {
+  switch (transferMode) {
-    case(spi::TransferModes::POLLING): {
+    case (spi::TransferModes::POLLING): {
-        return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+      return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
-                sendData, sendLen);
+                                        sendData, sendLen);
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::INTERRUPT): {
-        return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+      return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
-                sendData, sendLen);
+                                          sendData, sendLen);
     }
-    case(spi::TransferModes::DMA): {
+    case (spi::TransferModes::DMA): {
-        return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
+      return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
-                sendData, sendLen);
+                                    sendData, sendLen);
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
-    return HasReturnvaluesIF::RETURN_OK;
-}
 
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
-    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
-        return NULLPOINTER;
+    return NULLPOINTER;
+  }
+  switch (spiCookie->getTransferState()) {
+    case (spi::TransferStates::SUCCESS): {
+      auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
+      if (iter == spiDeviceMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+      }
+      *buffer = iter->second.replyBuffer.data();
+      *size = iter->second.currentTransferLen;
+      spiCookie->setTransferState(spi::TransferStates::IDLE);
+      break;
     }
-    switch(spiCookie->getTransferState()) {
+    case (spi::TransferStates::FAILURE): {
-    case(spi::TransferStates::SUCCESS): {
-        auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
-        if(iter == spiDeviceMap.end()) {
-            return HasReturnvaluesIF::RETURN_FAILED;
-        }
-        *buffer = iter->second.replyBuffer.data();
-        *size = iter->second.currentTransferLen;
-        spiCookie->setTransferState(spi::TransferStates::IDLE);
-        break;
-    }
-    case(spi::TransferStates::FAILURE): {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
+      sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
 #else
-        sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
+      sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
 #endif
 #endif
-        spiCookie->setTransferState(spi::TransferStates::IDLE);
+      spiCookie->setTransferState(spi::TransferStates::IDLE);
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(spi::TransferStates::WAIT):
+    case (spi::TransferStates::WAIT):
-    case(spi::TransferStates::IDLE): {
+    case (spi::TransferStates::IDLE): {
-        break;
+      break;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
 void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
-    this->defaultPollingTimeout = timeout;
+  this->defaultPollingTimeout = timeout;
 }
 
-ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+                                                   SpiCookie &spiCookie, const uint8_t *sendData,
-    auto gpioPort = spiCookie.getChipSelectGpioPort();
+                                                   size_t sendLen) {
-    auto gpioPin = spiCookie.getChipSelectGpioPin();
+  auto gpioPort = spiCookie.getChipSelectGpioPort();
-    auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
+  auto gpioPin = spiCookie.getChipSelectGpioPin();
-    if(returnval != HasReturnvaluesIF::RETURN_OK) {
+  auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
-        return returnval;
+  if (returnval != HasReturnvaluesIF::RETURN_OK) {
-    }
+    return returnval;
-    spiCookie.setTransferState(spi::TransferStates::WAIT);
+  }
-    if(gpioPort != nullptr) {
+  spiCookie.setTransferState(spi::TransferStates::WAIT);
-        HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
+  if (gpioPort != nullptr) {
-    }
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
+  }
 
-    auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
+  auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
-            recvPtr, sendLen, defaultPollingTimeout);
+                                        sendLen, defaultPollingTimeout);
-    if(gpioPort != nullptr) {
+  if (gpioPort != nullptr) {
-        HAL_GPIO_WritePin(gpioPort, gpioPin,  GPIO_PIN_SET);
+    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+  }
+  spiSemaphore->release();
+  switch (result) {
+    case (HAL_OK): {
+      spiCookie.setTransferState(spi::TransferStates::SUCCESS);
+      break;
     }
-    spiSemaphore->release();
+    case (HAL_TIMEOUT): {
-    switch(result) {
-    case(HAL_OK): {
-        spiCookie.setTransferState(spi::TransferStates::SUCCESS);
-        break;
-    }
-    case(HAL_TIMEOUT): {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device" <<
+      sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
-                spiCookie->getDeviceAddress() << std::endl;
+                   << spiCookie->getDeviceAddress() << std::endl;
 #else
-        sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
+      sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
-                spiCookie.getDeviceAddress());
+                        spiCookie.getDeviceAddress());
 #endif
 #endif
-        spiCookie.setTransferState(spi::TransferStates::FAILURE);
+      spiCookie.setTransferState(spi::TransferStates::FAILURE);
-        return spi::HAL_TIMEOUT_RETVAL;
+      return spi::HAL_TIMEOUT_RETVAL;
     }
-    case(HAL_ERROR):
+    case (HAL_ERROR):
     default: {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device" <<
+      sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
-                spiCookie->getDeviceAddress() << std::endl;
+                   << spiCookie->getDeviceAddress() << std::endl;
 #else
-        sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
+      sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
-                spiCookie.getDeviceAddress());
+                        spiCookie.getDeviceAddress());
 #endif
 #endif
-        spiCookie.setTransferState(spi::TransferStates::FAILURE);
+      spiCookie.setTransferState(spi::TransferStates::FAILURE);
-        return spi::HAL_ERROR_RETVAL;
+      return spi::HAL_ERROR_RETVAL;
     }
-    }
+  }
-    return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
+                                                     SpiCookie &spiCookie, const uint8_t *sendData,
-    return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+                                                     size_t sendLen) {
+  return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
 }
 
-ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
+                                               SpiCookie &spiCookie, const uint8_t *sendData,
-    return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+                                               size_t sendLen) {
+  return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
 }
 
-ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
+ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+                                               SpiCookie &spiCookie, const uint8_t *sendData,
-    ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
+                                               size_t sendLen) {
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
-        return result;
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    }
-    // yet another HAL driver which is not const-correct..
-    HAL_StatusTypeDef status = HAL_OK;
-    auto transferMode = spiCookie.getTransferMode();
-    if(transferMode == spi::TransferModes::DMA) {
-        if(cacheMaintenanceOnTxBuffer) {
-            /* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
-            in case it overlaps cacheline */
-            SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t) sendData ) & ~(uint32_t)0x1F),
-                    sendLen + 32);
-        }
-        status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t*>(sendData),
-                currentRecvPtr, sendLen);
-    }
-    else {
-        status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData),
-                currentRecvPtr, sendLen);
-    }
-    switch(status) {
-    case(HAL_OK): {
-        break;
-    }
-    default: {
-        return halErrorHandler(status, transferMode);
-    }
-    }
     return result;
+  }
+  // yet another HAL driver which is not const-correct..
+  HAL_StatusTypeDef status = HAL_OK;
+  auto transferMode = spiCookie.getTransferMode();
+  if (transferMode == spi::TransferModes::DMA) {
+    if (cacheMaintenanceOnTxBuffer) {
+      /* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
+      in case it overlaps cacheline */
+      SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
+    }
+    status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
+                                         currentRecvPtr, sendLen);
+  } else {
+    status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
+                                        sendLen);
+  }
+  switch (status) {
+    case (HAL_OK): {
+      break;
+    }
+    default: {
+      return halErrorHandler(status, transferMode);
+    }
+  }
+  return result;
 }
 
 ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
-    char modeString[10];
+  char modeString[10];
-    if(transferMode == spi::TransferModes::DMA) {
+  if (transferMode == spi::TransferModes::DMA) {
-        std::snprintf(modeString, sizeof(modeString), "Dma");
+    std::snprintf(modeString, sizeof(modeString), "Dma");
+  } else {
+    std::snprintf(modeString, sizeof(modeString), "Interrupt");
+  }
+  sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
+  switch (status) {
+    case (HAL_BUSY): {
+      return spi::HAL_BUSY_RETVAL;
     }
-    else {
+    case (HAL_ERROR): {
-        std::snprintf(modeString, sizeof(modeString), "Interrupt");
+      return spi::HAL_ERROR_RETVAL;
     }
-    sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString,
+    case (HAL_TIMEOUT): {
-            status);
+      return spi::HAL_TIMEOUT_RETVAL;
-    switch(status) {
-    case(HAL_BUSY): {
-        return spi::HAL_BUSY_RETVAL;
-    }
-    case(HAL_ERROR): {
-        return spi::HAL_ERROR_RETVAL;
-    }
-    case(HAL_TIMEOUT): {
-        return spi::HAL_TIMEOUT_RETVAL;
     }
     default: {
-        return HasReturnvaluesIF::RETURN_FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
-    }
     }
+  }
 }
 
+ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
+                                            SpiCookie &spiCookie, const uint8_t *sendData,
+                                            size_t sendLen) {
+  currentRecvPtr = recvPtr;
+  currentRecvBuffSize = sendLen;
 
-ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
+  // Take the semaphore which will be released by a callback when the transfer is complete
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+  ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
-    currentRecvPtr = recvPtr;
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-    currentRecvBuffSize = sendLen;
+    // Configuration error
-
+    sif::printWarning(
-    // Take the semaphore which will be released by a callback when the transfer is complete
+        "SpiComIF::handleInterruptSendOperation: Semaphore "
-    ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
+        "could not be acquired after %d ms\n",
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+        timeoutMs);
-        // Configuration error
+    return result;
-        sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore "
+  }
-                "could not be acquired after %d ms\n", timeoutMs);
+  // Cache the current SPI handle in any case
-        return result;
+  spi::setSpiHandle(&spiHandle);
-    }
+  // Assign the IRQ arguments for the user callbacks
-    // Cache the current SPI handle in any case
+  irqArgs.comIF = this;
-    spi::setSpiHandle(&spiHandle);
+  irqArgs.spiCookie = &spiCookie;
-    // Assign the IRQ arguments for the user callbacks
+  // The SPI handle is passed to the default SPI callback as a void argument. This callback
-    irqArgs.comIF = this;
+  // is different from the user callbacks specified above!
-    irqArgs.spiCookie = &spiCookie;
+  spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
-    // The SPI handle is passed to the default SPI callback as a void argument. This callback
+  if (spiCookie.getChipSelectGpioPort() != nullptr) {
-    // is different from the user callbacks specified above!
+    HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
-    spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle));
+                      GPIO_PIN_RESET);
-    if(spiCookie.getChipSelectGpioPort() != nullptr) {
+  }
-        HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
+  return HasReturnvaluesIF::RETURN_OK;
-                GPIO_PIN_RESET);
-    }
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
-    genericIrqHandler(args, spi::TransferStates::SUCCESS);
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
 }
 
 void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
-    genericIrqHandler(args, spi::TransferStates::SUCCESS);
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
 }
 
 void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
-    genericIrqHandler(args, spi::TransferStates::SUCCESS);
+  genericIrqHandler(args, spi::TransferStates::SUCCESS);
 }
 
 void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
-    genericIrqHandler(args, spi::TransferStates::FAILURE);
+  genericIrqHandler(args, spi::TransferStates::FAILURE);
 }
 
 void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
-    IrqArgs* irqArgs = reinterpret_cast<IrqArgs*>(irqArgsVoid);
+  IrqArgs *irqArgs = reinterpret_cast<IrqArgs *>(irqArgsVoid);
-    if(irqArgs == nullptr) {
+  if (irqArgs == nullptr) {
-        return;
+    return;
-    }
+  }
-    SpiCookie* spiCookie = irqArgs->spiCookie;
+  SpiCookie *spiCookie = irqArgs->spiCookie;
-    SpiComIF* comIF = irqArgs->comIF;
+  SpiComIF *comIF = irqArgs->comIF;
-    if(spiCookie == nullptr or comIF == nullptr) {
+  if (spiCookie == nullptr or comIF == nullptr) {
-        return;
+    return;
-    }
+  }
 
-    spiCookie->setTransferState(targetState);
+  spiCookie->setTransferState(targetState);
-
-    if(spiCookie->getChipSelectGpioPort() != nullptr) {
-        // Pull CS pin high again
-        HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
-                GPIO_PIN_SET);
-    }
 
+  if (spiCookie->getChipSelectGpioPort() != nullptr) {
+    // Pull CS pin high again
+    HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
+                      GPIO_PIN_SET);
+  }
 
 #if defined FSFW_OSAL_FREERTOS
-    // Release the task semaphore
+  // Release the task semaphore
-    BaseType_t taskWoken = pdFALSE;
+  BaseType_t taskWoken = pdFALSE;
-    ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
+  ReturnValue_t result =
-            &taskWoken);
+      BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
 #elif defined FSFW_OSAL_RTEMS
-    ReturnValue_t result = comIF->spiSemaphore->release();
+  ReturnValue_t result = comIF->spiSemaphore->release();
 #endif
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
-        // Configuration error
+    // Configuration error
-        printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
+    printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
-    }
+  }
 
-    // Perform cache maintenance operation for DMA transfers
+  // Perform cache maintenance operation for DMA transfers
-    if(spiCookie->getTransferMode() == spi::TransferModes::DMA) {
+  if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
-        // Invalidate cache prior to access by CPU
+    // Invalidate cache prior to access by CPU
-        SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
+    SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
-                comIF->currentRecvBuffSize);
+  }
-    }
 #if defined FSFW_OSAL_FREERTOS
-    /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
+  /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
-    than the currently running task */
+  than the currently running task */
-    if(taskWoken == pdTRUE) {
+  if (taskWoken == pdTRUE) {
-        TaskManagement::requestContextSwitch(CallContext::ISR);
+    TaskManagement::requestContextSwitch(CallContext::ISR);
-    }
+  }
 #endif
 }
 
 void SpiComIF::printCfgError(const char *const type) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration"
+  sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration"
-            << std::endl;
+               << std::endl;
 #else
-    sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type);
+  sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type);
 #endif
 }

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

@@ -1,16 +1,15 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
 #define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
 
-#include "fsfw/tasks/SemaphoreIF.h"
+#include <map>
+#include <vector>
+
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-
+#include "fsfw/tasks/SemaphoreIF.h"
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-#include "stm32h7xx_hal_spi.h"
 #include "stm32h743xx.h"
-
+#include "stm32h7xx_hal_spi.h"
-#include <vector>
-#include <map>
 
 class SpiCookie;
 class BinarySemaphore;
@@ -28,102 +27,100 @@ class BinarySemaphore;
  * implementation limits the transfer mode for a given SPI bus.
  * @author  R. Mueller
  */
-class SpiComIF:
+class SpiComIF : public SystemObject, public DeviceCommunicationIF {
-        public SystemObject,
+ public:
-        public DeviceCommunicationIF {
+  /**
-public:
+   * Create a SPI communication interface for the given SPI peripheral (spiInstance)
-    /**
+   * @param objectId
-     * Create a SPI communication interface for the given SPI peripheral (spiInstance)
+   * @param spiInstance
-     * @param objectId
+   * @param spiHandle
-     * @param spiInstance
+   * @param transferMode
-     * @param spiHandle
+   */
-     * @param transferMode
+  SpiComIF(object_id_t objectId);
-     */
-    SpiComIF(object_id_t objectId);
 
-    /**
+  /**
-     * Allows the user to disable cache maintenance on the TX buffer. This can be done if the
+   * Allows the user to disable cache maintenance on the TX buffer. This can be done if the
-     * TX buffers are places and MPU protected properly like specified in this link:
+   * TX buffers are places and MPU protected properly like specified in this link:
-     * https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
+   * https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
-     * The cache maintenace is enabled by default.
+   * The cache maintenace is enabled by default.
-     * @param enable
+   * @param enable
-     */
+   */
-    void configureCacheMaintenanceOnTxBuffer(bool enable);
+  void configureCacheMaintenanceOnTxBuffer(bool enable);
 
-    void setDefaultPollingTimeout(dur_millis_t timeout);
+  void setDefaultPollingTimeout(dur_millis_t timeout);
 
-    /**
+  /**
-     * Add the DMA handles. These need to be set in the DMA transfer mode is used.
+   * Add the DMA handles. These need to be set in the DMA transfer mode is used.
-     * @param txHandle
+   * @param txHandle
-     * @param rxHandle
+   * @param rxHandle
-     */
+   */
-    void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
+  void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
 
-    ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-    // DeviceCommunicationIF overrides
+  // DeviceCommunicationIF overrides
-    virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
+  virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    virtual ReturnValue_t sendMessage(CookieIF *cookie,
+  virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
-            const uint8_t * sendData, size_t sendLen) override;
+                                    size_t sendLen) override;
-    virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+  virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
-            size_t requestLen) override;
+  virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
-    virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
+                                            size_t* size) override;
-            uint8_t **buffer, size_t *size) override;
 
-protected:
+ protected:
+  struct SpiInstance {
+    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    std::vector<uint8_t> replyBuffer;
+    size_t currentTransferLen = 0;
+  };
 
-    struct SpiInstance {
+  struct IrqArgs {
-        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    SpiComIF* comIF = nullptr;
-        std::vector<uint8_t> replyBuffer;
+    SpiCookie* spiCookie = nullptr;
-        size_t currentTransferLen = 0;
+  };
-    };
 
-    struct IrqArgs {
+  IrqArgs irqArgs;
-        SpiComIF* comIF = nullptr;
-        SpiCookie* spiCookie = nullptr;
-    };
 
-    IrqArgs irqArgs;
+  uint32_t defaultPollingTimeout = 50;
 
-    uint32_t defaultPollingTimeout = 50;
+  SemaphoreIF::TimeoutType timeoutType = SemaphoreIF::TimeoutType::WAITING;
+  dur_millis_t timeoutMs = 20;
 
-    SemaphoreIF::TimeoutType timeoutType = SemaphoreIF::TimeoutType::WAITING;
+  BinarySemaphore* spiSemaphore = nullptr;
-    dur_millis_t timeoutMs = 20;
+  bool cacheMaintenanceOnTxBuffer = true;
 
-    BinarySemaphore* spiSemaphore = nullptr;
+  using SpiDeviceMap = std::map<address_t, SpiInstance>;
-    bool cacheMaintenanceOnTxBuffer = true;
+  using SpiDeviceMapIter = SpiDeviceMap::iterator;
 
-    using SpiDeviceMap = std::map<address_t, SpiInstance>;
+  uint8_t* currentRecvPtr = nullptr;
-    using SpiDeviceMapIter = SpiDeviceMap::iterator;
+  size_t currentRecvBuffSize = 0;
 
-    uint8_t* currentRecvPtr = nullptr;
+  SpiDeviceMap spiDeviceMap;
-    size_t currentRecvBuffSize = 0;
 
-    SpiDeviceMap spiDeviceMap;
+  ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                           SpiCookie& spiCookie, const uint8_t* sendData,
+                                           size_t sendLen);
+  ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                             SpiCookie& spiCookie, const uint8_t* sendData,
+                                             size_t sendLen);
+  ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                       SpiCookie& spiCookie, const uint8_t* sendData,
+                                       size_t sendLen);
+  ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                       SpiCookie& spiCookie, const uint8_t* sendData,
+                                       size_t sendLen);
+  ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+                                    SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
+  ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
 
-    ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+  static void spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+  static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-    ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
+  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
-    ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
-    ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
-    ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
-    ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
 
-    static void spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+  static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
-    static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
-    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
-    static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
 
-    static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
+  void printCfgError(const char* const type);
-
-    void printCfgError(const char* const type);
 };
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

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

@@ -1,78 +1,60 @@
 #include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
-
 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
-        spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
+                     spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
-        size_t maxRecvSize, stm32h7::GpioCfg csGpio):
+                     size_t maxRecvSize, stm32h7::GpioCfg csGpio)
-        deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
+    : deviceAddress(deviceAddress),
-        transferMode(transferMode), csGpio(csGpio),
+      spiIdx(spiIdx),
-        mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
+      spiSpeed(spiSpeed),
-    spiHandle.Init.DataSize          = SPI_DATASIZE_8BIT;
+      spiMode(spiMode),
-    spiHandle.Init.FirstBit          = SPI_FIRSTBIT_MSB;
+      transferMode(transferMode),
-    spiHandle.Init.TIMode            = SPI_TIMODE_DISABLE;
+      csGpio(csGpio),
-    spiHandle.Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
+      mspCfg(mspCfg),
-    spiHandle.Init.CRCPolynomial     = 7;
+      maxRecvSize(maxRecvSize) {
-    spiHandle.Init.CRCLength         = SPI_CRC_LENGTH_8BIT;
+  spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
-    spiHandle.Init.NSS               = SPI_NSS_SOFT;
+  spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
-    spiHandle.Init.NSSPMode          = SPI_NSS_PULSE_DISABLE;
+  spiHandle.Init.TIMode = SPI_TIMODE_DISABLE;
-    spiHandle.Init.Direction         = SPI_DIRECTION_2LINES;
+  spiHandle.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
-    // Recommended setting to avoid glitches
+  spiHandle.Init.CRCPolynomial = 7;
-    spiHandle.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+  spiHandle.Init.CRCLength = SPI_CRC_LENGTH_8BIT;
-    spiHandle.Init.Mode = SPI_MODE_MASTER;
+  spiHandle.Init.NSS = SPI_NSS_SOFT;
-    spi::assignSpiMode(spiMode, spiHandle);
+  spiHandle.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
-    spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
+  spiHandle.Init.Direction = SPI_DIRECTION_2LINES;
+  // Recommended setting to avoid glitches
+  spiHandle.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
+  spiHandle.Init.Mode = SPI_MODE_MASTER;
+  spi::assignSpiMode(spiMode, spiHandle);
+  spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
 }
 
-uint16_t SpiCookie::getChipSelectGpioPin() const {
+uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
-    return csGpio.pin;
-}
 
-GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() {
+GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
-    return csGpio.port;
-}
 
-address_t SpiCookie::getDeviceAddress() const {
+address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
-    return deviceAddress;
-}
 
-spi::SpiBus SpiCookie::getSpiIdx() const {
+spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
-    return spiIdx;
-}
 
-spi::SpiModes SpiCookie::getSpiMode() const {
+spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
-    return spiMode;
-}
 
-uint32_t SpiCookie::getSpiSpeed() const {
+uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
-    return spiSpeed;
-}
 
-size_t SpiCookie::getMaxRecvSize() const {
+size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
-    return maxRecvSize;
-}
 
-SPI_HandleTypeDef& SpiCookie::getSpiHandle() {
+SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
-    return spiHandle;
-}
 
-spi::MspCfgBase* SpiCookie::getMspCfg() {
+spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
-    return mspCfg;
-}
 
 void SpiCookie::deleteMspCfg() {
-    if(mspCfg != nullptr) {
+  if (mspCfg != nullptr) {
-        delete mspCfg;
+    delete mspCfg;
-    }
+  }
 }
 
-spi::TransferModes SpiCookie::getTransferMode() const {
+spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
-    return transferMode;
-}
 
 void SpiCookie::setTransferState(spi::TransferStates transferState) {
-    this->transferState = transferState;
+  this->transferState = transferState;
 }
 
-spi::TransferStates SpiCookie::getTransferState() const {
+spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }
-    return this->transferState;
-}

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

@@ -1,16 +1,14 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
 #define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
 
-#include "spiDefinitions.h"
-#include "mspInit.h"
-#include "../definitions.h"
-
-#include "fsfw/devicehandlers/CookieIF.h"
-
-#include "stm32h743xx.h"
-
 #include <utility>
 
+#include "../definitions.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "mspInit.h"
+#include "spiDefinitions.h"
+#include "stm32h743xx.h"
+
 /**
  * @brief   SPI cookie implementation for the STM32H7 device family
  * @details
@@ -18,63 +16,61 @@
  * SPI communication interface
  * @author  R. Mueller
  */
-class SpiCookie: public CookieIF {
+class SpiCookie : public CookieIF {
-    friend class SpiComIF;
+  friend class SpiComIF;
-public:
 
-    /**
+ public:
-     * Allows construction of a SPI cookie for a connected SPI device
+  /**
-     * @param deviceAddress
+   * Allows construction of a SPI cookie for a connected SPI device
-     * @param spiIdx                SPI bus, e.g. SPI1 or SPI2
+   * @param deviceAddress
-     * @param transferMode
+   * @param spiIdx                SPI bus, e.g. SPI1 or SPI2
-     * @param mspCfg                This is the MSP configuration. The user is expected to supply
+   * @param transferMode
-     *                              a valid MSP configuration. See mspInit.h for functions
+   * @param mspCfg                This is the MSP configuration. The user is expected to supply
-     *                              to create one.
+   *                              a valid MSP configuration. See mspInit.h for functions
-     * @param spiSpeed
+   *                              to create one.
-     * @param spiMode
+   * @param spiSpeed
-     * @param chipSelectGpioPin     GPIO port. Don't use a number here, use the 16 bit type
+   * @param spiMode
-     *                              definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
+   * @param chipSelectGpioPin     GPIO port. Don't use a number here, use the 16 bit type
-     * @param chipSelectGpioPort    GPIO port (e.g. GPIOA)
+   *                              definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
-     * @param maxRecvSize           Maximum expected receive size. Chose as small as possible.
+   * @param chipSelectGpioPort    GPIO port (e.g. GPIOA)
-     * @param csGpio                Optional CS GPIO definition.
+   * @param maxRecvSize           Maximum expected receive size. Chose as small as possible.
-     */
+   * @param csGpio                Optional CS GPIO definition.
-    SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
+   */
-            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
+  SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
-            size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
+            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
+            stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
 
-    uint16_t getChipSelectGpioPin() const;
+  uint16_t getChipSelectGpioPin() const;
-    GPIO_TypeDef* getChipSelectGpioPort();
+  GPIO_TypeDef* getChipSelectGpioPort();
-    address_t getDeviceAddress() const;
+  address_t getDeviceAddress() const;
-    spi::SpiBus getSpiIdx() const;
+  spi::SpiBus getSpiIdx() const;
-    spi::SpiModes getSpiMode() const;
+  spi::SpiModes getSpiMode() const;
-    spi::TransferModes getTransferMode() const;
+  spi::TransferModes getTransferMode() const;
-    uint32_t getSpiSpeed() const;
+  uint32_t getSpiSpeed() const;
-    size_t getMaxRecvSize() const;
+  size_t getMaxRecvSize() const;
-    SPI_HandleTypeDef& getSpiHandle();
+  SPI_HandleTypeDef& getSpiHandle();
 
-private:
+ private:
-    address_t deviceAddress;
+  address_t deviceAddress;
-    SPI_HandleTypeDef spiHandle = {};
+  SPI_HandleTypeDef spiHandle = {};
-    spi::SpiBus spiIdx;
+  spi::SpiBus spiIdx;
-    uint32_t spiSpeed;
+  uint32_t spiSpeed;
-    spi::SpiModes spiMode;
+  spi::SpiModes spiMode;
-    spi::TransferModes transferMode;
+  spi::TransferModes transferMode;
-    volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
+  volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
-    stm32h7::GpioCfg csGpio;
+  stm32h7::GpioCfg csGpio;
 
-    // The MSP configuration is cached here. Be careful when using this, it is automatically
+  // The MSP configuration is cached here. Be careful when using this, it is automatically
-    // deleted by the SPI  communication interface if it is not required anymore!
+  // deleted by the SPI  communication interface if it is not required anymore!
-    spi::MspCfgBase* mspCfg = nullptr;
+  spi::MspCfgBase* mspCfg = nullptr;
-    const size_t maxRecvSize;
+  const size_t maxRecvSize;
 
-    // Only the SpiComIF is allowed to use this to prevent dangling pointers issues
+  // Only the SpiComIF is allowed to use this to prevent dangling pointers issues
-    spi::MspCfgBase* getMspCfg();
+  spi::MspCfgBase* getMspCfg();
-    void deleteMspCfg();
+  void deleteMspCfg();
 
-    void setTransferState(spi::TransferStates transferState);
+  void setTransferState(spi::TransferStates transferState);
-    spi::TransferStates getTransferState() const;
+  spi::TransferStates getTransferState() const;
 };
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */