.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)
+    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
@@ -72,7 +72,7 @@ add and link against the FSFW library in general.
 4. Link against the FSFW library
 
    ```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

@@ -1,8 +1,8 @@
 #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) {
@@ -14,13 +14,13 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   auto gpioMapIter = gpioMap.find(gpioId);
-    if(gpioMapIter == gpioMap.end()) {
+  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 <<
+      sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
-                    " to GPIO map" << std::endl;
+                   << std::endl;
 #else
       sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
 #endif
@@ -39,12 +39,10 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
   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
@@ -17,9 +17,8 @@
  *
  * @author 	J. Meier
  */
-class GpioCookie: public CookieIF {
+class GpioCookie : public CookieIF {
-public:
+ public:
-
   GpioCookie();
 
   virtual ~GpioCookie();
@@ -31,7 +30,7 @@ public:
    */
   GpioMap getGpioMap() const;
 
-private:
+ private:
   /**
    * Returns a copy of the internal GPIO map.
    */

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;
 
@@ -13,9 +14,8 @@ class GpioCookie;
  * @author	J. Meier
  */
 class GpioIF : public HasReturnvaluesIF {
-public:
+ public:
-
+  virtual ~GpioIF(){};
-	virtual ~GpioIF() {};
 
   /**
    * @brief   Called by the GPIO using object.

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

@@ -1,29 +1,19 @@
 #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,
@@ -35,10 +25,10 @@ enum class GpioTypes {
 
 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);
 
-}
+}  // namespace gpio
 
 /**
  * @brief   Struct containing information about the GPIO to use. This is
@@ -55,15 +45,14 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::L
  *                      pointer.
  */
 class GpioBase {
-public:
+ public:
-
   GpioBase() = default;
 
   GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            gpio::Levels initValue):
+           gpio::Levels initValue)
-            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
+      : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
 
-    virtual~ GpioBase() {};
+  virtual ~GpioBase(){};
 
   // Can be used to cast GpioBase to a concrete child implementation
   gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
@@ -72,59 +61,53 @@ public:
   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,
-            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
   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;
   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_,
-            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;
 };
 
-class GpiodRegularByLabel: public GpiodRegularBase {
+class GpiodRegularByLabel : public GpiodRegularBase {
-public:
+ public:
   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;
 };
@@ -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_,
-            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;
 };
 
-class GpioCallback: public GpioBase {
+class GpioCallback : public GpioBase {
-public:
+ public:
   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;
   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

@@ -1,39 +1,35 @@
 #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;
   }
 
-    if(internalState == InternalState::CONFIGURE) {
+  if (internalState == InternalState::CONFIGURE) {
-        if(commandExecuted) {
+    if (commandExecuted) {
       internalState = InternalState::CHECK_REGS;
       commandExecuted = false;
     }
   }
 
-    if(internalState == InternalState::CHECK_REGS) {
+  if (internalState == InternalState::CHECK_REGS) {
-        if(commandExecuted) {
+    if (commandExecuted) {
       internalState = InternalState::NORMAL;
-            if(goNormalModeImmediately) {
+      if (goNormalModeImmediately) {
         setMode(MODE_NORMAL);
-            }
+      } else {
-            else {
         setMode(_MODE_TO_ON);
       }
       commandExecuted = false;
@@ -41,19 +37,17 @@ void GyroHandlerL3GD20H::doStartUp() {
   }
 }
 
-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;
     }
-    case(InternalState::CONFIGURE): {
+    case (InternalState::CONFIGURE): {
       *id = L3GD20H::CONFIGURE_CTRL_REGS;
-        uint8_t command [5];
+      uint8_t command[5];
       command[0] = L3GD20H::CTRL_REG_1_VAL;
       command[1] = L3GD20H::CTRL_REG_2_VAL;
       command[2] = L3GD20H::CTRL_REG_3_VAL;
@@ -61,7 +55,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
       command[4] = L3GD20H::CTRL_REG_5_VAL;
       return buildCommandFromCommand(*id, command, 5);
     }
-    case(InternalState::CHECK_REGS): {
+    case (InternalState::CHECK_REGS): {
       *id = L3GD20H::READ_REGS;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
@@ -69,9 +63,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       /* Might be a configuration error. */
       sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state!" << std::endl;
+                      "Unknown internal state!"
+                   << std::endl;
 #else
-        sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
+      sif::printDebug(
+          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
           "Unknown internal state!\n");
 #endif
       return HasReturnvaluesIF::RETURN_OK;
@@ -84,20 +80,20 @@ ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id
   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) {
-    switch(deviceCommand) {
+  switch (deviceCommand) {
-    case(L3GD20H::READ_REGS): {
+    case (L3GD20H::READ_REGS): {
       commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
       std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
       rawPacket = commandBuffer;
       rawPacketLen = L3GD20H::READ_LEN + 1;
       break;
     }
-    case(L3GD20H::CONFIGURE_CTRL_REGS): {
+    case (L3GD20H::CONFIGURE_CTRL_REGS): {
       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;
       }
 
@@ -110,13 +106,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
       bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
       bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
 
-        if(not fsH and not fsL) {
+      if (not fsH and not fsL) {
         sensitivity = L3GD20H::SENSITIVITY_00;
-        }
+      } else if (not fsH and fsL) {
-        else if(not fsH and fsL) {
         sensitivity = L3GD20H::SENSITIVITY_01;
-        }
+      } else {
-        else {
         sensitivity = L3GD20H::SENSITIVITY_11;
       }
 
@@ -130,9 +124,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
       rawPacketLen = 6;
       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);
       rawPacket = commandBuffer;
@@ -157,32 +150,30 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
                                                        const uint8_t *packet) {
   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): {
+    case (L3GD20H::READ_CTRL_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[5] == ctrlReg5Value) {
         commandExecuted = true;
-        }
+      } else {
-        else {
         // Attempt reconfiguration
         internalState = InternalState::CONFIGURE;
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
       }
       break;
     }
-    case(L3GD20H::READ_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[5] != ctrlReg5Value) {
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
+      } else {
-        else {
+        if (internalState == InternalState::CHECK_REGS) {
-            if(internalState == InternalState::CHECK_REGS) {
           commandExecuted = true;
         }
       }
@@ -198,8 +189,8 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
       int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
       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. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
           sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
@@ -213,31 +204,28 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
           sif::printInfo("Z: %f\n", angVelocZ);
 #endif
         }
-#endif
+      }
 
       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.setValid(true);
-            }
+        } else {
-            else {
           dataset.angVelocX.setValid(false);
         }
 
-            if(std::abs(angVelocY) < this->absLimitY) {
+        if (std::abs(angVelocY) < this->absLimitY) {
           dataset.angVelocY = angVelocY;
           dataset.angVelocY.setValid(true);
-            }
+        } else {
-            else {
           dataset.angVelocY.setValid(false);
         }
 
-            if(std::abs(angVelocZ) < this->absLimitZ) {
+        if (std::abs(angVelocZ) < this->absLimitZ) {
           dataset.angVelocZ = angVelocZ;
           dataset.angVelocZ.setValid(true);
-            }
+        } else {
-            else {
           dataset.angVelocZ.setValid(false);
         }
 
@@ -252,17 +240,14 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
   return result;
 }
 
-
 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
   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_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
@@ -276,12 +261,15 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
   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->absLimitY = limitY;
   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)
@@ -16,12 +15,14 @@
  *
  * 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();
 
+  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
@@ -35,22 +36,18 @@ public:
    * @brief   Configure device handler to go to normal mode immediately
    */
   void setToGoToNormalMode(bool enable);
-protected:
 
+ protected:
   /* DeviceHandlerBase overrides */
-    ReturnValue_t buildTransitionDeviceCommand(
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
-            DeviceCommandId_t *id) override;
   void doStartUp() override;
   void doShutDown() override;
-    ReturnValue_t buildNormalDeviceCommand(
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-            DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-    ReturnValue_t buildCommandFromCommand(
-            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
                                         size_t commandDataLen) override;
-    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
-            DeviceCommandId_t *foundId, size_t *foundLen) override;
+                             size_t *foundLen) override;
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
-            const uint8_t *packet) override;
 
   void fillCommandAndReplyMap() override;
   void modeChanged() override;
@@ -58,7 +55,7 @@ protected:
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
 
-private:
+ private:
   uint32_t transitionDelayMs = 0;
   GyroPrimaryDataset dataset;
 
@@ -66,12 +63,7 @@ private:
   float absLimitY = L3GD20H::RANGE_DPS_00;
   float absLimitZ = L3GD20H::RANGE_DPS_00;
 
-    enum class InternalState {
+  enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
-        NONE,
-        CONFIGURE,
-        CHECK_REGS,
-        NORMAL
-    };
   InternalState internalState = InternalState::NONE;
   bool commandExecuted = false;
 
@@ -89,11 +81,8 @@ private:
   // Set default value
   float sensitivity = L3GD20H::SENSITIVITY_00;
 
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+  bool periodicPrintout = false;
-    PeriodicOperationDivider* debugDivider = nullptr;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
-#endif
 };
 
-
-
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -8,51 +8,45 @@
 #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);
-#endif
   // Set to default values right away
   registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
   registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
   registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
   registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
   registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-}
-
-MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
 }
 
+MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
 
 void MgmLIS3MDLHandler::doStartUp() {
   switch (internalState) {
-    case(InternalState::STATE_NONE): {
+    case (InternalState::STATE_NONE): {
       internalState = InternalState::STATE_FIRST_CONTACT;
       break;
     }
-    case(InternalState::STATE_FIRST_CONTACT): {
+    case (InternalState::STATE_FIRST_CONTACT): {
       /* Will be set by checking device ID (WHO AM I register) */
-        if(commandExecuted) {
+      if (commandExecuted) {
         commandExecuted = false;
         internalState = InternalState::STATE_SETUP;
       }
       break;
     }
-    case(InternalState::STATE_SETUP): {
+    case (InternalState::STATE_SETUP): {
       internalState = InternalState::STATE_CHECK_REGISTERS;
       break;
     }
-    case(InternalState::STATE_CHECK_REGISTERS): {
+    case (InternalState::STATE_CHECK_REGISTERS): {
       /* Set up cached registers which will be used to configure the MGM. */
-        if(commandExecuted) {
+      if (commandExecuted) {
         commandExecuted = false;
-            if(goToNormalMode) {
+        if (goToNormalMode) {
           setMode(MODE_NORMAL);
-            }
+        } else {
-            else {
           setMode(_MODE_TO_ON);
         }
       }
@@ -61,43 +55,38 @@ void MgmLIS3MDLHandler::doStartUp() {
     default:
       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) {
-    case(InternalState::STATE_NONE):
+    case (InternalState::STATE_NONE):
-    case(InternalState::STATE_NORMAL): {
+    case (InternalState::STATE_NORMAL): {
       return DeviceHandlerBase::NOTHING_TO_SEND;
     }
-    case(InternalState::STATE_FIRST_CONTACT): {
+    case (InternalState::STATE_FIRST_CONTACT): {
       *id = MGMLIS3MDL::IDENTIFY_DEVICE;
       break;
     }
-    case(InternalState::STATE_SETUP): {
+    case (InternalState::STATE_SETUP): {
       *id = MGMLIS3MDL::SETUP_MGM;
       break;
     }
-    case(InternalState::STATE_CHECK_REGISTERS): {
+    case (InternalState::STATE_CHECK_REGISTERS): {
       *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
       break;
     }
     default: {
       /* might be a configuration error. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+      sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
-                std::endl;
+                   << std::endl;
 #else
       sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
       return HasReturnvaluesIF::RETURN_OK;
     }
-
   }
   return buildCommandFromCommand(*id, NULL, 0);
 }
@@ -119,7 +108,6 @@ uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
 }
 
 void MgmLIS3MDLHandler::setupMgm() {
-
   registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
   registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
   registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@@ -129,27 +117,24 @@ void MgmLIS3MDLHandler::setupMgm() {
   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.
-    if(communicationStep == CommunicationStep::DATA) {
+  if (communicationStep == CommunicationStep::DATA) {
     *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
     communicationStep = CommunicationStep::TEMPERATURE;
     return buildCommandFromCommand(*id, NULL, 0);
-    }
+  } else {
-    else {
     *id = MGMLIS3MDL::READ_TEMPERATURE;
     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) {
-    switch(deviceCommand) {
+  switch (deviceCommand) {
-    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
+    case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
       std::memset(commandBuffer, 0, sizeof(commandBuffer));
       commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
 
@@ -157,7 +142,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
       rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
       return RETURN_OK;
     }
-    case(MGMLIS3MDL::READ_TEMPERATURE): {
+    case (MGMLIS3MDL::READ_TEMPERATURE): {
       std::memset(commandBuffer, 0, 3);
       commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
 
@@ -165,17 +150,17 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
       rawPacketLen = 3;
       return RETURN_OK;
     }
-    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
+    case (MGMLIS3MDL::IDENTIFY_DEVICE): {
       return identifyDevice();
     }
-    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
+    case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
       return enableTemperatureSensor(commandData, commandDataLen);
     }
-    case(MGMLIS3MDL::SETUP_MGM): {
+    case (MGMLIS3MDL::SETUP_MGM): {
       setupMgm();
       return HasReturnvaluesIF::RETURN_OK;
     }
-    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
+    case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
       return setOperatingMode(commandData, commandDataLen);
     }
     default:
@@ -195,16 +180,15 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
   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;
     *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
     // Check validity by checking config registers
-        if (start[1] != registers[0] or start[2] != registers[1] or
+    if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
-                start[3] != registers[2] or start[4] != registers[3] or
+        start[4] != registers[3] or start[5] != registers[4]) {
-                start[5] != registers[4]) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
@@ -214,57 +198,51 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
 #endif
       return DeviceHandlerIF::INVALID_DATA;
     }
-        if(mode == _MODE_START_UP) {
+    if (mode == _MODE_START_UP) {
       commandExecuted = true;
     }
 
-    }
+  } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
-    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
     *foundLen = len;
     *foundId = MGMLIS3MDL::READ_TEMPERATURE;
-    }
+  } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
-    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
     *foundLen = len;
     *foundId = MGMLIS3MDL::SETUP_MGM;
-    }
+  } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
-    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
     *foundLen = len;
     *foundId = getPendingCommand();
-        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
+    if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
-            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
+      if (start[1] != MGMLIS3MDL::DEVICE_ID) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!" << std::endl;
+                        "Device identification failed!"
+                     << std::endl;
 #else
-                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
+        sif::printWarning(
+            "MGMHandlerLIS3MDL::scanForReply: "
             "Device identification failed!\n");
 #endif
 #endif
         return DeviceHandlerIF::INVALID_DATA;
       }
 
-            if(mode == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
         commandExecuted = true;
       }
     }
-    }
+  } else {
-    else {
     return DeviceHandlerIF::INVALID_DATA;
   }
 
   /* Data with SPI Interface always has this answer */
   if (start[0] == 0b11111111) {
     return RETURN_OK;
-    }
+  } else {
-    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) {
     case MGMLIS3MDL::IDENTIFY_DEVICE: {
       break;
@@ -276,26 +254,27 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
       // TODO: Store configuration in new local datasets.
       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"
-                    " microtesla:" << std::endl;
+                       " microtesla:"
+                    << std::endl;
           sif::info << "X: " << mgmX << " uT" << std::endl;
           sif::info << "Y: " << mgmY << " uT" << std::endl;
           sif::info << "Z: " << mgmZ << " uT" << std::endl;
@@ -306,30 +285,28 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
           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 (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(mgmX) < absLimitX) {
+        if (std::abs(mgmX) < absLimitX) {
           dataset.fieldStrengthX = mgmX;
           dataset.fieldStrengthX.setValid(true);
-            }
+        } else {
-            else {
           dataset.fieldStrengthX.setValid(false);
         }
 
-            if(std::abs(mgmY) < absLimitY) {
+        if (std::abs(mgmY) < absLimitY) {
           dataset.fieldStrengthY = mgmY;
           dataset.fieldStrengthY.setValid(true);
-            }
+        } else {
-            else {
           dataset.fieldStrengthY.setValid(false);
         }
 
-            if(std::abs(mgmZ) < absLimitZ) {
+        if (std::abs(mgmZ) < absLimitZ) {
           dataset.fieldStrengthZ = mgmZ;
           dataset.fieldStrengthZ.setValid(true);
-            }
+        } else {
-            else {
           dataset.fieldStrengthZ.setValid(false);
         }
       }
@@ -339,18 +316,18 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
     case MGMLIS3MDL::READ_TEMPERATURE: {
       int16_t tempValueRaw = packet[2] << 8 | packet[1];
       float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-    #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+      if (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");
 #endif
         }
-#endif
+      }
+
       ReturnValue_t result = dataset.read();
-        if(result == HasReturnvaluesIF::RETURN_OK) {
+      if (result == HasReturnvaluesIF::RETURN_OK) {
         dataset.temperature = tempValue;
         dataset.commit();
       }
@@ -360,7 +337,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
     default: {
       return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
-
   }
   return RETURN_OK;
 }
@@ -380,17 +356,17 @@ MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2)
 }
 
 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;
     }
-    case(MGMLIS3MDL::GAUSS_8): {
+    case (MGMLIS3MDL::GAUSS_8): {
       return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
     }
-    case(MGMLIS3MDL::GAUSS_12): {
+    case (MGMLIS3MDL::GAUSS_12): {
       return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
     }
-    case(MGMLIS3MDL::GAUSS_16): {
+    case (MGMLIS3MDL::GAUSS_16): {
       return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
     }
     default: {
@@ -400,9 +376,8 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies 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);
   uint32_t size = 2;
   commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
@@ -471,9 +446,7 @@ void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
   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);
@@ -489,27 +462,19 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
 }
 
 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,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
-            new PoolEntry<float>({0.0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -518,3 +483,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
   this->absLimitY = yLimit;
   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;
 
@@ -18,22 +17,20 @@ 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 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);
 
-    MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
+  MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
                     uint32_t transitionDelay);
   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
@@ -44,22 +41,18 @@ public:
   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(
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
                                         size_t commandDataLen) override;
-    ReturnValue_t buildTransitionDeviceCommand(
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
-            DeviceCommandId_t *id) override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-    ReturnValue_t buildNormalDeviceCommand(
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
-            DeviceCommandId_t *id) override;
+                             size_t *foundLen) 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
@@ -67,16 +60,15 @@ protected:
    * @param packet
    * @return
    */
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+  virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
-            const uint8_t *packet) override;
   void fillCommandAndReplyMap() override;
   void modeChanged(void) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
 
-private:
+ private:
   MGMLIS3MDL::MgmPrimaryDataset dataset;
-    //Length a single command SPI answer
+  // Length a single command SPI answer
   static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
 
   uint32_t transitionDelay;
@@ -159,16 +151,14 @@ private:
    * @param commandData On or Off
    * @param length of the commandData: has to be 1
    */
-    virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
+  virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
-            size_t commandDataLen);
 
   /**
    * Sets the accuracy of the measurement of the axis. The noise is changing.
    * @param commandData LOW, MEDIUM, HIGH, ULTRA
    * @param length of the command, has to be 1
    */
-    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
+  virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
-            size_t commandDataLen);
 
   /**
    * We always update all registers together, so this method updates
@@ -178,9 +168,8 @@ private:
    */
   ReturnValue_t prepareCtrlRegisterWrite();
 
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+  bool periodicPrintout = false;
-    PeriodicOperationDivider* debugDivider;
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
-#endif
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -1,52 +1,47 @@
 #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;
       break;
     }
-    case(InternalState::CONFIGURE_CMM): {
+    case (InternalState::CONFIGURE_CMM): {
       internalState = InternalState::READ_CMM;
       break;
     }
-    case(InternalState::READ_CMM): {
+    case (InternalState::READ_CMM): {
-        if(commandExecuted) {
+      if (commandExecuted) {
         internalState = InternalState::STATE_CONFIGURE_TMRC;
       }
       break;
     }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
+    case (InternalState::STATE_CONFIGURE_TMRC): {
-        if(commandExecuted) {
+      if (commandExecuted) {
         internalState = InternalState::STATE_READ_TMRC;
       }
       break;
     }
-    case(InternalState::STATE_READ_TMRC): {
+    case (InternalState::STATE_READ_TMRC): {
-        if(commandExecuted) {
+      if (commandExecuted) {
         internalState = InternalState::NORMAL;
-            if(goToNormalModeAtStartup) {
+        if (goToNormalModeAtStartup) {
           setMode(MODE_NORMAL);
-            }
+        } else {
-            else {
           setMode(_MODE_TO_ON);
         }
       }
@@ -58,33 +53,30 @@ void MgmRM3100Handler::doStartUp() {
   }
 }
 
-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;
-    switch(internalState) {
+  switch (internalState) {
-    case(InternalState::NONE):
+    case (InternalState::NONE):
-    case(InternalState::NORMAL): {
+    case (InternalState::NORMAL): {
       return NOTHING_TO_SEND;
     }
-    case(InternalState::CONFIGURE_CMM): {
+    case (InternalState::CONFIGURE_CMM): {
       *id = RM3100::CONFIGURE_CMM;
       break;
     }
-    case(InternalState::READ_CMM): {
+    case (InternalState::READ_CMM): {
       *id = RM3100::READ_CMM;
       break;
     }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
+    case (InternalState::STATE_CONFIGURE_TMRC): {
       commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
       commandLen = 1;
       *id = RM3100::CONFIGURE_TMRC;
       break;
     }
-    case(InternalState::STATE_READ_TMRC): {
+    case (InternalState::STATE_READ_TMRC): {
       *id = RM3100::READ_TMRC;
       break;
     }
@@ -93,9 +85,11 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       // Might be a configuration error
       sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state" << std::endl;
+                      "Unknown internal state"
+                   << std::endl;
 #else
-        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
+      sif::printWarning(
+          "MgmRM3100Handler::buildTransitionDeviceCommand: "
           "Unknown internal state\n");
 #endif
 #endif
@@ -106,43 +100,44 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
 }
 
 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) {
+    case (RM3100::CONFIGURE_CMM): {
       commandBuffer[0] = RM3100::CMM_REGISTER;
       commandBuffer[1] = RM3100::CMM_VALUE;
       rawPacket = commandBuffer;
       rawPacketLen = 2;
       break;
     }
-    case(RM3100::READ_CMM): {
+    case (RM3100::READ_CMM): {
       commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
       commandBuffer[1] = 0;
       rawPacket = commandBuffer;
       rawPacketLen = 2;
       break;
     }
-    case(RM3100::CONFIGURE_TMRC): {
+    case (RM3100::CONFIGURE_TMRC): {
       return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
     }
-    case(RM3100::READ_TMRC): {
+    case (RM3100::READ_TMRC): {
       commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
       commandBuffer[1] = 0;
       rawPacket = commandBuffer;
       rawPacketLen = 2;
       break;
     }
-    case(RM3100::CONFIGURE_CYCLE_COUNT): {
+    case (RM3100::CONFIGURE_CYCLE_COUNT): {
       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;
       std::memset(commandBuffer + 1, 0, 6);
       rawPacket = commandBuffer;
       rawPacketLen = 7;
       break;
     }
-    case(RM3100::READ_DATA): {
+    case (RM3100::READ_DATA): {
       commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
       std::memset(commandBuffer + 1, 0, 9);
       rawPacketLen = 10;
@@ -154,16 +149,13 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
   return RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
+ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-        DeviceCommandId_t *id) {
   *id = RM3100::READ_DATA;
   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();
   *foundLen = len;
@@ -172,62 +164,60 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
 
 ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   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
-        if(mode == _MODE_START_UP) {
+      if (mode == _MODE_START_UP) {
         commandExecuted = true;
       }
       break;
     }
-    case(RM3100::READ_CMM): {
+    case (RM3100::READ_CMM): {
       uint8_t cmmValue = packet[1];
       // We clear the seventh bit in any case
       // because this one is zero sometimes for some reason
       bitutil::clear(&cmmValue, 6);
-        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
+      if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
         commandExecuted = true;
-        }
+      } else {
-        else {
         // Attempt reconfiguration
         internalState = InternalState::CONFIGURE_CMM;
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
       }
       break;
     }
-    case(RM3100::READ_TMRC): {
+    case (RM3100::READ_TMRC): {
-        if(packet[1] == tmrcRegValue) {
+      if (packet[1] == tmrcRegValue) {
         commandExecuted = true;
         // Reading TMRC was commanded. Trigger event to inform ground
-            if(mode != _MODE_START_UP) {
+        if (mode != _MODE_START_UP) {
           triggerEvent(tmrcSet, tmrcRegValue, 0);
         }
-        }
+      } else {
-        else {
         // Attempt reconfiguration
         internalState = InternalState::STATE_CONFIGURE_TMRC;
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
       }
       break;
     }
-    case(RM3100::READ_CYCLE_COUNT): {
+    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
+      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(cycleCountersSet, eventParam1, cycleCountZ);
       }
       break;
     }
-    case(RM3100::READ_DATA): {
+    case (RM3100::READ_DATA): {
       result = handleDataReadout(packet);
       break;
     }
@@ -239,19 +229,18 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
 }
 
 ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                              const uint8_t *commandData,
-    if(commandData == nullptr) {
+                                                              size_t commandDataLen) {
+  if (commandData == nullptr) {
     return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
   }
 
   // Set cycle count
-    if(commandDataLen == 2) {
+  if (commandDataLen == 2) {
     handleCycleCommand(true, commandData, commandDataLen);
-    }
+  } else if (commandDataLen == 6) {
-    else if(commandDataLen == 6) {
     handleCycleCommand(false, commandData, commandDataLen);
-    }
+  } else {
-    else {
     return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
   }
 
@@ -264,21 +253,21 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
   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);
-    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;
   }
 
   // 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;
   }
 
-    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;
   }
 
@@ -289,8 +278,9 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
 }
 
 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) {
+  if (commandData == nullptr or commandDataLen != 1) {
     return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
   }
 
@@ -315,12 +305,10 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
   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_Y, new PoolEntry<float>({0.0}));
   localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
@@ -331,9 +319,7 @@ uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
   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
@@ -347,11 +333,12 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   float fieldStrengthY = fieldStrengthRawY * 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"
-                " microtesla:" << std::endl;
+                   " microtesla:"
+                << std::endl;
       sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
       sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
       sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
@@ -362,11 +349,11 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
       sif::printInfo("Z: %f uT\n", fieldStrengthZ);
 #endif
     }
-#endif
+  }
 
   // TODO: Sanity check on values?
   PoolReadGuard readGuard(&primaryDataset);
-    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
     primaryDataset.fieldStrengthX = fieldStrengthX;
     primaryDataset.fieldStrengthY = fieldStrengthY;
     primaryDataset.fieldStrengthZ = fieldStrengthZ;
@@ -374,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   }
   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
@@ -16,42 +12,40 @@
  * 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;
 
   //! [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
   //! P1: Second two bytes new Cycle Count Y
   //! 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();
 
+  void enablePeriodicPrintouts(bool enable, uint8_t divider);
   /**
    * Configure device handler to go to normal mode after startup immediately
    * @param enable
    */
   void setToGoToNormalMode(bool enable);
 
-protected:
+ protected:
-
   /* DeviceHandlerBase overrides */
-	ReturnValue_t buildTransitionDeviceCommand(
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
-	        DeviceCommandId_t *id) override;
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-	        const uint8_t *commandData, size_t commandDataLen) override;
+                                        size_t commandDataLen) override;
-	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
-			DeviceCommandId_t *foundId, size_t *foundLen) override;
+                             size_t *foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
 
   void fillCommandAndReplyMap() override;
@@ -60,8 +54,7 @@ protected:
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
 
-private:
+ private:
-
   enum class InternalState {
     NONE,
     CONFIGURE_CMM,
@@ -94,17 +87,17 @@ private:
   uint32_t transitionDelay;
 
   ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-			const uint8_t *commandData,size_t commandDataLen);
-	ReturnValue_t handleCycleCommand(bool oneCycleValue,
                                               const uint8_t *commandData, size_t commandDataLen);
+  ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
+                                   size_t commandDataLen);
 
-	ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
+  ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-			const uint8_t *commandData,size_t commandDataLen);
+                                        size_t commandDataLen);
 
-	ReturnValue_t handleDataReadout(const uint8_t* packet);
+  ReturnValue_t handleDataReadout(const uint8_t *packet);
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+
-	PeriodicOperationDivider* debugDivider;
+  bool periodicPrintout = false;
-#endif
+  PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
 };
 
 #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,
-	ANG_VELOC_Z,
-	TEMPERATURE
-};
 
-}
+}  // namespace L3GD20H
-
-class GyroPrimaryDataset: public StaticLocalDataSet<5> {
-public:
 
+class GyroPrimaryDataset : public StaticLocalDataSet<5> {
+ public:
   /** Constructor  for data users like controllers */
-    GyroPrimaryDataset(object_id_t mgmId):
+  GyroPrimaryDataset(object_id_t mgmId)
-        StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
+      : 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,
+  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
-            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> angVelocY = lp_var_t<float>(sid.objectId,
+  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
-            L3GD20H::ANG_VELOC_Y, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, 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:
 
+ private:
   friend class GyroHandlerL3GD20H;
   /** Constructor  for the data creator */
-    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
-            StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
+      : 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;
@@ -114,65 +106,58 @@ static const uint8_t DO2 = 4;       // Output data rate bit 4
 static const uint8_t OM0 = 5;      // XY operating mode bit 5
 static const uint8_t OM1 = 6;      // XY operating mode bit 6
 static const uint8_t TEMP_EN = 7;  // Temperature sensor enable enabled = 1
-static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
+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_Y,
   FIELD_STRENGTH_Z,
   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;
 
 /*----------------------------------------------------------------------------*/
@@ -67,17 +67,16 @@ 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);
   }
 
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             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;
       cycleCountZ = cycleCountX;
     }
@@ -88,10 +87,10 @@ public:
   SerializeElement<uint16_t> cycleCountY;
   SerializeElement<uint16_t> cycleCountZ;
 
-private:
+ private:
   void setLinks(bool oneCycleCount) {
     setStart(&cycleCountX);
-		if(not oneCycleCount) {
+    if (not oneCycleCount) {
       cycleCountX.setNext(&cycleCountY);
       cycleCountY.setNext(&cycleCountZ);
     }
@@ -102,31 +101,24 @@ private:
 
 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
 
-enum MgmPoolIds: lp_id_t {
+enum MgmPoolIds : lp_id_t {
   FIELD_STRENGTH_X,
   FIELD_STRENGTH_Y,
   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.
-    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

@@ -1,25 +1,26 @@
-#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;
   }
   *fileDescriptor = open(device.c_str(), flags);
   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;
@@ -27,11 +28,9 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
 }
 
 UnixFileGuard::~UnixFileGuard() {
-    if(fileDescriptor != nullptr) {
+  if (fileDescriptor != nullptr) {
     close(*fileDescriptor);
   }
 }
 
-ReturnValue_t UnixFileGuard::getOpenResult() const {
+ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
-    return openStatus;
-}

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -1,16 +1,14 @@
 #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_ONLY_FLAG = O_RDONLY;
   static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
@@ -20,14 +18,13 @@ public:
   UnixFileGuard(std::string device, int* fileDescriptor, int flags,
                 std::string diagnosticPrefix = "");
 
-    virtual~ UnixFileGuard();
+  virtual ~UnixFileGuard();
 
   ReturnValue_t getOpenResult() const;
-private:
+
+ private:
   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)
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+if(${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()
+

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

@@ -1,26 +1,25 @@
 #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;
-    if(gpioCookie == nullptr) {
+  if (gpioCookie == nullptr) {
     sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
     return RETURN_FAILED;
   }
@@ -29,7 +28,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 
   /* Check whether this ID already exists in the map and remove duplicates */
   result = checkForConflicts(mapToAdd);
-    if (result != RETURN_OK){
+  if (result != RETURN_OK) {
     return result;
   }
 
@@ -45,39 +44,39 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-    for(auto& gpioConfig: mapToAdd) {
+  for (auto& gpioConfig : mapToAdd) {
     auto& gpioType = gpioConfig.second->gpioType;
-        switch(gpioType) {
+    switch (gpioType) {
-        case(gpio::GpioTypes::NONE): {
+      case (gpio::GpioTypes::NONE): {
         return GPIO_INVALID_INSTANCE;
       }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
         auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
-            if(regularGpio == nullptr) {
+        if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
         configureGpioByChip(gpioConfig.first, *regularGpio);
         break;
       }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
         auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
-            if(regularGpio == nullptr) {
+        if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
         configureGpioByLabel(gpioConfig.first, *regularGpio);
         break;
       }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
         auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
-            if(regularGpio == nullptr) {
+        if (regularGpio == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
         configureGpioByLineName(gpioConfig.first, *regularGpio);
         break;
       }
-        case(gpio::GpioTypes::CALLBACK): {
+      case (gpio::GpioTypes::CALLBACK): {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
-            if(gpioCallback->callback == nullptr) {
+        if (gpioCallback->callback == nullptr) {
           return GPIO_INVALID_INSTANCE;
         }
         gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
@@ -89,26 +88,24 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
-        GpiodRegularByLabel &gpioByLabel) {
+                                                   GpiodRegularByLabel& gpioByLabel) {
   std::string& label = gpioByLabel.label;
   struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
   if (chip == nullptr) {
     sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                  << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
     return RETURN_FAILED;
-
   }
   std::string failOutput = "label: " + label;
   return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
 }
 
-ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
+ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip) {
-        GpiodRegularByChip &gpioByChip) {
   std::string& chipname = gpioByChip.chipname;
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
   if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
+    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
-                << chipname << ". Gpio ID: " << gpioId << std::endl;
+                 << ". Gpio ID: " << gpioId << std::endl;
     return RETURN_FAILED;
   }
   std::string failOutput = "chipname: " + chipname;
@@ -116,13 +113,13 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
-        GpiodRegularByLineName &gpioByLineName) {
+                                                      GpiodRegularByLineName& gpioByLineName) {
   std::string& lineName = gpioByLineName.lineName;
   char chipname[MAX_CHIPNAME_LENGTH];
   unsigned int lineOffset;
 
-    int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
+  int result =
-            &lineOffset);
+      gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
   if (result != LINE_FOUND) {
     parseFindeLineResult(result, lineName);
     return RETURN_FAILED;
@@ -132,8 +129,8 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 
   struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
   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;
   }
   std::string failOutput = "line name: " + lineName;
@@ -141,19 +138,20 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
 }
 
 ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
-        GpiodRegularBase& regularGpio, std::string failOutput) {
+                                                   GpiodRegularBase& regularGpio,
+                                                   std::string failOutput) {
   unsigned int lineNum;
   gpio::Direction direction;
   std::string consumer;
-    struct gpiod_line *lineHandle;
+  struct gpiod_line* lineHandle;
   int result = 0;
 
   lineNum = regularGpio.lineNum;
   lineHandle = gpiod_chip_get_line(chip, lineNum);
   if (!lineHandle) {
     sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+    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;
     gpiod_chip_close(chip);
     return RETURN_FAILED;
@@ -163,33 +161,33 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   consumer = regularGpio.consumer;
   /* Configure direction and add a description to the GPIO */
   switch (direction) {
-    case(gpio::OUT): {
+    case (gpio::Direction::OUT): {
       result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                regularGpio.initValue);
+                                         static_cast<int>(regularGpio.initValue));
       break;
     }
-    case(gpio::IN): {
+    case (gpio::Direction::IN): {
       result = gpiod_line_request_input(lineHandle, consumer.c_str());
       break;
     }
     default: {
-        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
+      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
-                << std::endl;
       return GPIO_INVALID_INSTANCE;
     }
 
       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
@@ -207,22 +205,21 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
   }
 
   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);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::HIGH);
-    }
+  } else {
-    else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-        if(gpioCallback->callback == nullptr) {
+    if (gpioCallback->callback == nullptr) {
       return GPIO_INVALID_INSTANCE;
     }
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
-                gpio::Levels::HIGH, gpioCallback->callbackArgs);
+                           gpioCallback->callbackArgs);
     return RETURN_OK;
   }
   return GPIO_TYPE_FAILURE;
@@ -240,37 +237,38 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
   }
 
   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);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
-        return driveGpio(gpioId, *regularGpio, gpio::LOW);
+    return driveGpio(gpioId, *regularGpio, gpio::Levels::LOW);
-    }
+  } else {
-    else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-        if(gpioCallback->callback == nullptr) {
+    if (gpioCallback->callback == nullptr) {
       return GPIO_INVALID_INSTANCE;
     }
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
-                gpio::Levels::LOW, gpioCallback->callbackArgs);
+                           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 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;
   }
@@ -280,7 +278,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
 
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
   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;
 #else
@@ -290,63 +288,60 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
   }
 
   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);
-        if(regularGpio == nullptr) {
+    if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
     *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
-    }
+  } else {
-    else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
-        if(gpioCallback->callback == nullptr) {
+    if (gpioCallback->callback == nullptr) {
       return GPIO_INVALID_INSTANCE;
     }
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
-                gpio::Levels::NONE, gpioCallback->callbackArgs);
+                           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 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);
-            if(regularGpio == nullptr)  {
+        if (regularGpio == nullptr) {
           return GPIO_TYPE_FAILURE;
         }
         // Check for conflicts and remove duplicates if necessary
         result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-            if(result != HasReturnvaluesIF::RETURN_OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
           status = result;
         }
         break;
       }
-        case(gpio::GpioTypes::CALLBACK): {
+      case (gpio::GpioTypes::CALLBACK): {
         auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
-            if(callbackGpio == nullptr)  {
+        if (callbackGpio == nullptr) {
           return GPIO_TYPE_FAILURE;
         }
         // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsById(gpioConfig.first,
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-                    gpioConfig.second->gpioType, mapToAdd);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
-            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);
 #endif
@@ -358,38 +353,41 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
 }
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
-        gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
+                                                    gpio::GpioTypes expectedType,
+                                                    GpioMap& mapToAdd) {
   // Cross check with private map
   gpioMapIter = gpioMap.find(gpioIdToCheck);
-    if(gpioMapIter != gpioMap.end()) {
+  if (gpioMapIter != gpioMap.end()) {
     auto& gpioType = gpioMapIter->second->gpioType;
     bool eraseDuplicateDifferentType = false;
-        switch(expectedType) {
+    switch (expectedType) {
-        case(gpio::GpioTypes::NONE): {
+      case (gpio::GpioTypes::NONE): {
         break;
       }
-        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): {
-            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+        if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
           eraseDuplicateDifferentType = true;
         }
         break;
       }
-        case(gpio::GpioTypes::CALLBACK): {
+      case (gpio::GpioTypes::CALLBACK): {
-            if(gpioType != gpio::GpioTypes::CALLBACK) {
+        if (gpioType != gpio::GpioTypes::CALLBACK) {
           eraseDuplicateDifferentType = true;
         }
       }
     }
-        if(eraseDuplicateDifferentType) {
+    if (eraseDuplicateDifferentType) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
-                    "different GPIO type " << gpioIdToCheck <<
+                      "different GPIO type "
-                    ". Removing duplicate from map to add" << std::endl;
+                   << gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
 #else
-            sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
+      sif::printWarning(
-                    "different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
+          "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;
@@ -398,11 +396,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
     // 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. " <<
+                    "definition with ID "
-                "Duplicate will be removed from map to add" << std::endl;
+                 << gpioIdToCheck << " detected. "
+                 << "Duplicate will be removed from map to add" << std::endl;
 #else
-        sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+    sif::printWarning(
-                "with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
+        "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;
@@ -415,28 +416,32 @@ void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
 #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;
     }
     default: {
       sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
-                "with name " << lineName << std::endl;
+                      "with name "
+                   << 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 "
+          "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 "
+          "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;
@@ -16,8 +16,7 @@ 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 constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@@ -39,8 +38,7 @@ public:
   ReturnValue_t pullLow(gpioId_t gpioId) override;
   ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
-private:
+ private:
-
   static const size_t MAX_CHIPNAME_LENGTH = 11;
   static const int LINE_NOT_EXISTS = 0;
   static const int LINE_ERROR = -1;
@@ -56,13 +54,11 @@ private:
    * @param gpioId	The GPIO ID of the GPIO to drive.
    * @param logiclevel	The logic level to set. O or 1.
    */
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+  ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
-	        gpio::Levels logicLevel);
 
   ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
   ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
-    ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
+  ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
-            GpiodRegularByLineName &gpioByLineName);
   ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
                                      GpiodRegularBase& regularGpio, std::string failOutput);
 
@@ -77,8 +73,7 @@ private:
    */
   ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
+  ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
-	        GpioMap& mapToAdd);
 
   /**
    * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.

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

@@ -1,114 +1,132 @@
-#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;
 
-    if(cookie == nullptr) {
+  if (cookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
+  if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   i2cAddress = i2cCookie->getAddress();
 
   i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
-    if(i2cDeviceMapIter == i2cDeviceMap.end()) {
+  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 " <<
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                    i2cAddress << "to I2C device " << "map" << std::endl;
+      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;
   }
 
-    sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-            "already in use" << std::endl;
+  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
+             << "already in use" << std::endl;
+#endif
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
+ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
-        const uint8_t *sendData, size_t sendLen) {
-
   ReturnValue_t result;
   int fd;
   std::string deviceFile;
 
-    if(sendData == nullptr) {
+  if (sendData == nullptr) {
-        sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                << std::endl;
+    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-    if(sendLen == 0) {
+  if (sendLen == 0) {
     return HasReturnvaluesIF::RETURN_OK;
   }
 
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
+  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) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return fileHelper.getOpenResult();
   }
   result = openDevice(deviceFile, i2cAddress, &fd);
-    if (result != HasReturnvaluesIF::RETURN_OK){
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
+  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: "
+                  "device with error code "
-                << strerror(errno) << std::endl;
+               << 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::getSendSuccess(CookieIF *cookie) {
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
-    return HasReturnvaluesIF::RETURN_OK;
-}
 
-ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
-        size_t requestLen) {
   ReturnValue_t result;
   int fd;
   std::string deviceFile;
@@ -118,8 +136,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
   }
 
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
+  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;
   }
@@ -127,19 +147,21 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
   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) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return fileHelper.getOpenResult();
   }
   result = openDevice(deviceFile, i2cAddress, &fd);
-    if (result != HasReturnvaluesIF::RETURN_OK){
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     i2cDeviceMapIter->second.replyLen = 0;
     return result;
   }
@@ -150,33 +172,44 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
   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"
+               << "device failed with error code " << errno << ". Description"
                << " of error: " << strerror(errno) << std::endl;
-        sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
+    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
-                << requestLen << " bytes" << std::endl;
+               << " bytes" << std::endl;
 #endif
     i2cDeviceMapIter->second.replyLen = 0;
-        sif::debug << "I2cComIF::requestReceiveMessage: Read "  << readLen << " of " << requestLen << " bytes" << std::endl;
+#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,
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-        uint8_t **buffer, size_t* size) {
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
-    if(i2cCookie == nullptr) {
+  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();
@@ -185,9 +218,8 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
+ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
-        address_t i2cAddress, int* fileDescriptor) {
+                                   int* fileDescriptor) {
-
   if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1

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.
@@ -16,23 +17,19 @@
  *
  * @author 	J. Meier
  */
-class I2cComIF: public DeviceCommunicationIF, public SystemObject {
+class I2cComIF : public DeviceCommunicationIF, public SystemObject {
-public:
+ public:
   I2cComIF(object_id_t objectId);
 
   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 requestReceiveMessage(CookieIF *cookie,
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
-	        size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) 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;
@@ -54,8 +51,7 @@ private:
    * @param fileDescriptor	Pointer to device descriptor.
    * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
    */
-	ReturnValue_t openDevice(std::string deviceFile,
+  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
-			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>
 
 /**
@@ -9,9 +10,8 @@
  *
  * @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.
@@ -19,8 +19,7 @@ public:
    * 						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_,
+  I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
-			std::string deviceFile_);
 
   virtual ~I2cCookie();
 
@@ -28,8 +27,7 @@ public:
   size_t getMaxReplyLen() const;
   std::string getDeviceFile() const;
 
-private:
+ private:
-
   address_t i2cAddress = 0;
   size_t maxReplyLen = 0;
   std::string deviceFile;

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

@@ -1,14 +1,14 @@
-#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) {
+  if (cookie == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -22,7 +22,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
   config->initValue = initValue;
 
   /* 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;

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

@@ -1,23 +1,23 @@
-#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;
@@ -30,28 +30,30 @@ SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
   spiMutex = MutexFactory::instance()->createMutex();
 }
 
-ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
+ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
   int retval = 0;
   SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
     return NULLPOINTER;
   }
 
   address_t spiAddress = spiCookie->getSpiAddress();
 
   auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
     size_t bufferSize = spiCookie->getMaxBufferSize();
     SpiInstance spiInstance(bufferSize);
     auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
     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;
@@ -59,8 +61,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     /* 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 {
-    else {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
@@ -73,7 +74,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 
   /* Pull CS high in any case to be sure that device is inactive */
   gpioId_t gpioId = spiCookie->getChipSelectPin();
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
   }
 
@@ -86,91 +87,94 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
   int fileDescriptor = 0;
   UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
                            "SpiComIF::initializeInterface");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return fileHelper.getOpenResult();
   }
 
   /* These flags are rather uncommon */
-    if(params.threeWireSpi or params.noCs or params.csHigh) {
+  if (params.threeWireSpi or params.noCs or params.csHigh) {
     uint32_t currentMode = 0;
     retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
-        if(retval != 0) {
+    if (retval != 0) {
       utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
     }
 
-        if(params.threeWireSpi) {
+    if (params.threeWireSpi) {
       currentMode |= SPI_3WIRE;
     }
-        if(params.noCs) {
+    if (params.noCs) {
       /* Some drivers like the Raspberry Pi ignore this flag in any case */
       currentMode |= SPI_NO_CS;
     }
-        if(params.csHigh) {
+    if (params.csHigh) {
       currentMode |= SPI_CS_HIGH;
     }
     /* Write adapted mode */
     retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
-        if(retval != 0) {
+    if (retval != 0) {
       utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
     }
   }
-    if(params.lsbFirst) {
+  if (params.lsbFirst) {
     retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
-        if(retval != 0) {
+    if (retval != 0) {
       utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
     }
   }
-    if(params.bitsPerWord != 8) {
+  if (params.bitsPerWord != 8) {
     retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
-        if(retval != 0) {
+    if (retval != 0) {
-            utility::handleIoctlError("SpiComIF::initializeInterface: "
+      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);
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
     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 "
+        "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;
   }
 
-    if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
+  if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
     result = performRegularSendOperation(spiCookie, sendData, sendLen);
-    }
+  } else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
-    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
     spi::send_callback_function_t sendFunc = nullptr;
     void* funcArgs = nullptr;
     spiCookie->getCallback(&sendFunc, &funcArgs);
-        if(sendFunc != nullptr) {
+    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) {
   address_t spiAddress = spiCookie->getSpiAddress();
   auto iter = spiDeviceMap.find(spiAddress);
-    if(iter != spiDeviceMap.end()) {
+  if (iter != spiDeviceMap.end()) {
     spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
   }
 
@@ -180,7 +184,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
   int fileDescriptor = 0;
   std::string device = spiCookie->getSpiDevice();
   UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
-    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return OPENING_FILE_FAILED;
   }
   spi::SpiModes spiMode = spi::SpiModes::MODE_0;
@@ -194,7 +198,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
   gpioId_t gpioId = spiCookie->getChipSelectPin();
 
   /* 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);
     if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -207,7 +211,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
       return result;
     }
     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;
@@ -220,24 +224,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
   }
 
   /* Execute transfer */
-    if(fullDuplex) {
+  if (fullDuplex) {
     /* Initiate a full duplex SPI transfer. */
     retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
-        if(retval < 0) {
+    if (retval < 0) {
       utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
       result = FULL_DUPLEX_TRANSFER_FAILED;
     }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
     performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
-    }
+  } else {
-    else {
     /* We write with a blocking half-duplex transfer here */
     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");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
@@ -246,7 +248,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
     }
   }
 
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
@@ -259,43 +261,39 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
   return result;
 }
 
-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) {
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
     return NULLPOINTER;
   }
 
-    if(spiCookie->isFullDuplex()) {
+  if (spiCookie->isFullDuplex()) {
     return HasReturnvaluesIF::RETURN_OK;
   }
 
   return performHalfDuplexReception(spiCookie);
 }
 
-
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   std::string device = spiCookie->getSpiDevice();
   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;
   }
 
   uint8_t* rxBuf = nullptr;
   size_t readSize = spiCookie->getCurrentTransferSize();
   result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
   gpioId_t gpioId = spiCookie->getChipSelectPin();
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
     result = spiMutex->lockMutex(timeoutType, timeoutMs);
     if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -306,7 +304,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     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;
@@ -317,7 +315,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
     result = HALF_DUPLEX_TRANSFER_FAILED;
   }
 
-    if(gpioId != gpio::NO_GPIO) {
+  if (gpioId != gpio::NO_GPIO) {
     gpioComIF->pullHigh(gpioId);
     result = spiMutex->unlockMutex();
     if (result != RETURN_OK) {
@@ -331,14 +329,14 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
   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);
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   uint8_t* rxBuf = nullptr;
   ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
@@ -349,17 +347,17 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 }
 
 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
-    if(timeoutType != nullptr) {
+  if (timeoutType != nullptr) {
     *timeoutType = this->timeoutType;
   }
-    if(timeoutMs != nullptr) {
+  if (timeoutMs != nullptr) {
     *timeoutMs = this->timeoutMs;
   }
   return spiMutex;
 }
 
 void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
-    if(spiCookie == nullptr) {
+  if (spiCookie == nullptr) {
     return;
   }
   size_t dataLen = spiCookie->getTransferStructHandle()->len;
@@ -378,12 +376,12 @@ void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
 }
 
 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
-    if(buffer == nullptr) {
+  if (buffer == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -391,18 +389,24 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
   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));
-    if(retval != 0) {
+  if (retval != 0) {
     utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
   }
 
   retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
-    if(retval != 0) {
+  if (retval != 0) {
     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;
 
@@ -21,8 +20,8 @@ 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 ReturnValue_t OPENING_FILE_FAILED =
       HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
@@ -35,14 +34,11 @@ public:
 
   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
@@ -58,7 +54,7 @@ public:
    * @param sendLen
    * @return
    */
-    ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
+  ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
                                             size_t sendLen);
 
   GpioIF* getGpioInterface();
@@ -67,10 +63,9 @@ public:
 
   ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
 
-private:
+ private:
-
   struct SpiInstance {
-        SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
+    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
     std::vector<uint8_t> replyBuffer;
   };
 
@@ -79,6 +74,7 @@ private:
   MutexIF* spiMutex = nullptr;
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  spi_ioc_transfer clockUpdateTransfer = {};
 
   using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
   using SpiDeviceMapIter = SpiDeviceMap::iterator;

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

@@ -1,42 +1,41 @@
 #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,
-        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 {
   spiMode = this->spiMode;
   spiSpeed = this->spiSpeed;
 
-    if(parameters != nullptr) {
+  if (parameters != nullptr) {
     parameters->threeWireSpi = uncommonParameters.threeWireSpi;
     parameters->lsbFirst = uncommonParameters.lsbFirst;
     parameters->noCs = uncommonParameters.noCs;
@@ -45,41 +44,25 @@ void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
   }
 }
 
-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;
 }
 
-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;
@@ -87,58 +70,40 @@ void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
 }
 
 void SpiCookie::assignReadBuffer(uint8_t* rx) {
-    if(rx != nullptr) {
+  if (rx != nullptr) {
     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);
   }
 }
 
-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->sendCallback = callback;
   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;
   *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
@@ -19,8 +18,8 @@
  * 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
    * interface and contains device specific information like the largest expected size to be
@@ -30,8 +29,8 @@ public:
    * @param spiDev
    * @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);
+            spi::SpiModes spiMode, uint32_t spiSpeed);
 
   /**
    * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@@ -46,7 +45,7 @@ public:
    */
   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
@@ -141,8 +140,8 @@ public:
   void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
 
   spi_ioc_transfer* getTransferStructHandle();
-private:
 
+ private:
   /**
    * Internal constructor which initializes every field
    * @param spiAddress
@@ -178,6 +177,4 @@ private:
   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.cpp

@@ -1,39 +1,40 @@
 #include "UartComIF.h"
-#include "OBSWConfig.h"
 
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-#include <cstring>
-#include <fcntl.h>
 #include <errno.h>
+#include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
 
-UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
+#include <cstring>
-}
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/utility.h"
+
+UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 UartComIF::~UartComIF() {}
 
 ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
-
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
 
-    if(cookie == nullptr) {
+  if (cookie == nullptr) {
     return NULLPOINTER;
   }
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
 
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter == uartDeviceMap.end()) {
+  if (uartDeviceMapIter == uartDeviceMap.end()) {
     int fileDescriptor = configureUartPort(uartCookie);
     if (fileDescriptor < 0) {
       return RETURN_FAILED;
@@ -42,14 +43,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
     UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
     auto status = uartDeviceMap.emplace(deviceFile, uartElements);
     if (status.second == false) {
-            sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                    deviceFile << "to UART device map" << std::endl;
+      sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
+                   << "to UART device map" << std::endl;
+#endif
       return RETURN_FAILED;
     }
-    }
+  } else {
-    else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
+    sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
-                " already in use" << std::endl;
+                 << " already in use" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -57,12 +61,11 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 }
 
 int UartComIF::configureUartPort(UartCookie* uartCookie) {
-
   struct termios options = {};
 
   std::string deviceFile = uartCookie->getDeviceFile();
   int flags = O_RDWR;
-    if(uartCookie->getUartMode() == UartModes::CANONICAL) {
+  if (uartCookie->getUartMode() == UartModes::CANONICAL) {
     // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
     // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
     flags |= O_NONBLOCK;
@@ -70,15 +73,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
   int fd = open(deviceFile.c_str(), flags);
 
   if (fd < 0) {
-        sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                "with error code " << errno << strerror(errno) << std::endl;
+    sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
+                 << "with error code " << errno << strerror(errno) << std::endl;
+#endif
     return fd;
   }
 
   /* Read in existing settings */
-    if(tcgetattr(fd, &options) != 0) {
+  if (tcgetattr(fd, &options) != 0) {
-        sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                << strerror(errno) << std::endl;
+    sif::warning << "UartComIF::configureUartPort: Error " << errno
+                 << "from tcgetattr: " << strerror(errno) << std::endl;
+#endif
     return fd;
   }
 
@@ -87,7 +94,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
   setDatasizeOptions(&options, uartCookie);
   setFixedOptions(&options);
   setUartMode(&options, *uartCookie);
-    if(uartCookie->getInputShouldBeFlushed()) {
+  if (uartCookie->getInputShouldBeFlushed()) {
     tcflush(fd, TCIFLUSH);
   }
 
@@ -99,8 +106,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
 
   /* Save option settings */
   if (tcsetattr(fd, TCSANOW, &options) != 0) {
-        sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                errno << ": " << strerror(errno);
+    sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
+                 << ": " << strerror(errno);
+#endif
     return fd;
   }
   return fd;
@@ -152,7 +161,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
       options->c_cflag |= CS8;
       break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+#endif
       break;
   }
 }
@@ -173,7 +184,7 @@ void UartComIF::setFixedOptions(struct termios* options) {
   /* Turn off s/w flow ctrl */
   options->c_iflag &= ~(IXON | IXOFF | IXANY);
   /* Disable any special handling of received bytes */
-    options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
+  options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
   /* Prevent special interpretation of output bytes (e.g. newline chars) */
   options->c_oflag &= ~OPOST;
   /* Prevent conversion of newline to carriage return/line feed */
@@ -258,63 +269,116 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
       cfsetispeed(options, B460800);
       cfsetospeed(options, B460800);
       break;
+    case 500000:
+      cfsetispeed(options, B500000);
+      cfsetospeed(options, B500000);
+      break;
+    case 576000:
+      cfsetispeed(options, B576000);
+      cfsetospeed(options, B576000);
+      break;
+    case 921600:
+      cfsetispeed(options, B921600);
+      cfsetospeed(options, B921600);
+      break;
+    case 1000000:
+      cfsetispeed(options, B1000000);
+      cfsetospeed(options, B1000000);
+      break;
+    case 1152000:
+      cfsetispeed(options, B1152000);
+      cfsetospeed(options, B1152000);
+      break;
+    case 1500000:
+      cfsetispeed(options, B1500000);
+      cfsetospeed(options, B1500000);
+      break;
+    case 2000000:
+      cfsetispeed(options, B2000000);
+      cfsetospeed(options, B2000000);
+      break;
+    case 2500000:
+      cfsetispeed(options, B2500000);
+      cfsetospeed(options, B2500000);
+      break;
+    case 3000000:
+      cfsetispeed(options, B3000000);
+      cfsetospeed(options, B3000000);
+      break;
+    case 3500000:
+      cfsetispeed(options, B3500000);
+      cfsetospeed(options, B3500000);
+      break;
+    case 4000000:
+      cfsetispeed(options, B4000000);
+      cfsetospeed(options, B4000000);
+      break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#endif
       break;
   }
 }
 
-ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
+ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
-        const uint8_t *sendData, size_t sendLen) {
   int fd = 0;
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
 
-    if(sendLen == 0) {
+  if (sendLen == 0) {
     return RETURN_OK;
   }
 
-    if(sendData == nullptr) {
+  if (sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
-        sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                "not in UART map" << std::endl;
+    sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
+               << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   fd = uartDeviceMapIter->second.fileDescriptor;
 
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
-        sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                errno << ": Error description: " << strerror(errno) << std::endl;
+    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
+               << ": Error description: " << strerror(errno) << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   return RETURN_OK;
 }
 
-ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
+ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
-    return RETURN_OK;
-}
 
-ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
@@ -322,23 +386,23 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
 
-    if(uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
+  if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
     return RETURN_OK;
   }
 
   if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
                << " not in uart map" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   if (uartMode == UartModes::CANONICAL) {
     return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-    }
+  } else if (uartMode == UartModes::NON_CANONICAL) {
-    else if (uartMode == UartModes::NON_CANONICAL) {
     return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-    }
+  } else {
-    else {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
@@ -356,7 +420,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
   iter->second.replyLen = 0;
   do {
     size_t allowedReadSize = 0;
-        if(currentBytesRead >= maxReplySize) {
+    if (currentBytesRead >= maxReplySize) {
       // Overflow risk. Emit warning, trigger event and break. If this happens,
       // the reception buffer is not large enough or data is not polled often enough.
 #if FSFW_VERBOSE_LEVEL >= 1
@@ -364,56 +428,56 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
       sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                    << std::endl;
 #else
-            sif::printWarning("UartComIF::requestReceiveMessage: "
+      sif::printWarning(
+          "UartComIF::requestReceiveMessage: "
           "Next read would cause overflow!");
 #endif
 #endif
       result = UART_RX_BUFFER_TOO_SMALL;
       break;
-        }
+    } else {
-        else {
       allowedReadSize = maxReplySize - currentBytesRead;
     }
 
     bytesRead = read(fd, bufferPtr, allowedReadSize);
     if (bytesRead < 0) {
       // EAGAIN: No data available in non-blocking mode
-            if(errno != EAGAIN) {
+      if (errno != EAGAIN) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
+        sif::warning << "UartComIF::handleCanonicalRead: read failed with code" << errno << ": "
-                        errno << ": " << strerror(errno) << std::endl;
+                     << strerror(errno) << std::endl;
 #else
-                sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
+        sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
-                        errno, strerror(errno));
+                          strerror(errno));
 #endif
 #endif
         return RETURN_FAILED;
       }
 
-        }
+    } else if (bytesRead > 0) {
-        else if(bytesRead > 0) {
       iter->second.replyLen += bytesRead;
       bufferPtr += bytesRead;
       currentBytesRead += bytesRead;
     }
     currentReadCycles++;
-    } while(bytesRead > 0 and currentReadCycles < maxReadCycles);
+  } while (bytesRead > 0 and currentReadCycles < maxReadCycles);
   return result;
 }
 
-ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDeviceMapIter &iter,
+ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
                                                 size_t requestLen) {
   int fd = iter->second.fileDescriptor;
   auto bufferPtr = iter->second.replyBuffer.data();
   // Size check to prevent buffer overflow
-    if(requestLen > uartCookie.getMaxReplyLen()) {
+  if (requestLen > uartCookie.getMaxReplyLen()) {
-#if OBSW_VERBOSE_LEVEL >= 1
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                  << std::endl;
 #else
-        sif::printWarning("UartComIF::requestReceiveMessage: "
+    sif::printWarning(
+        "UartComIF::requestReceiveMessage: "
         "Next read would cause overflow!");
 #endif
 #endif
@@ -422,11 +486,12 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
   int bytesRead = read(fd, bufferPtr, requestLen);
   if (bytesRead < 0) {
     return RETURN_FAILED;
-    }
+  } else if (bytesRead != static_cast<int>(requestLen)) {
-    else if (bytesRead != static_cast<int>(requestLen)) {
+    if (uartCookie.isReplySizeFixed()) {
-        if(uartCookie.isReplySizeFixed()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
+      sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
-                    " of " << requestLen << " bytes" << std::endl;
+                   << requestLen << " bytes" << std::endl;
+#endif
       return RETURN_FAILED;
     }
   }
@@ -434,23 +499,25 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-        uint8_t **buffer, size_t* size) {
-
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
-        sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-                " not in uart map" << std::endl;
+    sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
+               << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -463,17 +530,19 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
   return RETURN_OK;
 }
 
-ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
+ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCIFLUSH);
     return RETURN_OK;
@@ -481,17 +550,19 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
   return RETURN_FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
+ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCOFLUSH);
     return RETURN_OK;
@@ -499,17 +570,19 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
   return RETURN_FAILED;
 }
 
-ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
+ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
+  if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
+  if (uartDeviceMapIter != uartDeviceMap.end()) {
     int fd = uartDeviceMapIter->second.fileDescriptor;
     tcflush(fd, TCIOFLUSH);
     return RETURN_OK;
@@ -517,13 +590,12 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
   return RETURN_FAILED;
 }
 
-void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
+void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
   UartModes uartMode = uartCookie.getUartMode();
-    if(uartMode == UartModes::NON_CANONICAL) {
+  if (uartMode == UartModes::NON_CANONICAL) {
     /* Disable canonical mode */
     options->c_lflag &= ~ICANON;
-    }
+  } else if (uartMode == UartModes::CANONICAL) {
-    else if(uartMode == UartModes::CANONICAL) {
     options->c_lflag |= ICANON;
   }
 }

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.
@@ -17,8 +18,8 @@
  *
  * @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 ReturnValue_t UART_READ_FAILURE =
@@ -32,32 +33,28 @@ public:
 
   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.
    */
-    ReturnValue_t flushUartRxBuffer(CookieIF *cookie);
+  ReturnValue_t flushUartRxBuffer(CookieIF* cookie);
 
   /**
    * @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.
    */
-    ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie);
+  ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
-
-private:
 
+ private:
   using UartDeviceFile_t = std::string;
 
   struct UartElements {
@@ -119,7 +116,6 @@ private:
                                     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;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+#endif
       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.
@@ -29,9 +19,8 @@ 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"
@@ -47,8 +36,8 @@ public:
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-    UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
-            uint32_t baudrate, size_t maxReplyLen);
+             size_t maxReplyLen);
 
   virtual ~UartCookie();
 
@@ -103,8 +92,7 @@ public:
 
   bool isReplySizeFixed();
 
-private:
+ private:
-
   const object_id_t handlerId;
   std::string deviceFile;
   const UartModes uartMode;

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 << "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("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;
   uint16_t pin;
   uint8_t altFnc;
 };
 
-}
+}  // namespace stm32h7
 
 #endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

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

@@ -1,51 +1,47 @@
 #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;
 
-
+GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
-GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
+    : spiHandle(spiHandle) {
-        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) {
+  if (transferMode == spi::TransferModes::DMA) {
     mspCfg = new spi::MspDmaConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
+    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
     spi::setDmaHandles(txDmaHandle, rxDmaHandle);
     stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
-                IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
+                                    IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS);
     spi::setSpiDmaMspFunctions(typedCfg);
-    }
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
-    else if(transferMode == spi::TransferModes::INTERRUPT) {
     mspCfg = new spi::MspIrqConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
+    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
     stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
     spi::setSpiIrqMspFunctions(typedCfg);
-    }
+  } else if (transferMode == spi::TransferModes::POLLING) {
-    else if(transferMode == spi::TransferModes::POLLING) {
     mspCfg = new spi::MspPollingConfigStruct();
-        auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
+    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
     stm32h7::h743zi::standardPollingCfg(*typedCfg);
     spi::setSpiPollingMspFunctions(typedCfg);
   }
@@ -64,7 +60,7 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
 GyroL3GD20H::~GyroL3GD20H() {
   delete txDmaHandle;
   delete rxDmaHandle;
-    if(mspCfg != nullptr) {
+  if (mspCfg != nullptr) {
     delete mspCfg;
   }
 }
@@ -86,7 +82,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
   // Recommended setting to avoid glitches
   spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
   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");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -99,14 +95,14 @@ ReturnValue_t GyroL3GD20H::initialize() {
   txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
   txBuffer[1] = 0;
 
-    switch(transferMode)  {
+  switch (transferMode) {
-    case(spi::TransferModes::DMA): {
+    case (spi::TransferModes::DMA): {
       return handleDmaTransferInit();
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::INTERRUPT): {
       return handleInterruptTransferInit();
     }
-    case(spi::TransferModes::POLLING): {
+    case (spi::TransferModes::POLLING): {
       return handlePollingTransferInit();
     }
     default: {
@@ -118,14 +114,14 @@ ReturnValue_t GyroL3GD20H::initialize() {
 }
 
 ReturnValue_t GyroL3GD20H::performOperation() {
-    switch(transferMode)  {
+  switch (transferMode) {
-    case(spi::TransferModes::DMA): {
+    case (spi::TransferModes::DMA): {
       return handleDmaSensorRead();
     }
-    case(spi::TransferModes::POLLING): {
+    case (spi::TransferModes::POLLING): {
       return handlePollingSensorRead();
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::INTERRUPT): {
       return handleInterruptSensorRead();
     }
     default: {
@@ -141,7 +137,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
   in case it overlaps cacheline */
   // See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
   HAL_StatusTypeDef result = performDmaTransfer(2);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
     // Transfer error in transmission process
     sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
   }
@@ -151,17 +147,19 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     TaskFactory::delayTask(1);
   }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
       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",
+            whoAmIVal);
       }
       transferState = TransferStates::IDLE;
       break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
       sif::printWarning("Transfer failure\n");
       transferState = TransferStates::FAILURE;
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -177,7 +175,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
   prepareConfigRegs(configRegs);
 
   result = performDmaTransfer(6);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
     // Transfer error in transmission process
     sif::printWarning("Error transmitting SPI with DMA\n");
   }
@@ -187,13 +185,13 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     TaskFactory::delayTask(1);
   }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
       sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
       transferState = TransferStates::IDLE;
       break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
       sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
       transferState = TransferStates::FAILURE;
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -203,11 +201,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     }
   }
 
-
   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);
   result = performDmaTransfer(6);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
     // Transfer error in transmission process
     sif::printWarning("Error transmitting SPI with DMA\n");
   }
@@ -216,20 +213,19 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     TaskFactory::delayTask(1);
   }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
-        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[5] != configRegs[4]) {
         sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
+      } else {
-        else {
         sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
       }
       transferState = TransferStates::IDLE;
       break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
       sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
       transferState = TransferStates::FAILURE;
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -243,10 +239,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
 
 ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
   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);
-    if(result != HAL_OK) {
+  if (result != HAL_OK) {
     // Transfer error in transmission process
     sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
   }
@@ -255,12 +251,12 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
     TaskFactory::delayTask(1);
   }
 
-    switch(transferState) {
+  switch (transferState) {
-    case(TransferStates::SUCCESS): {
+    case (TransferStates::SUCCESS): {
       handleSensorReadout();
       break;
     }
-    case(TransferStates::FAILURE): {
+    case (TransferStates::FAILURE): {
       sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
       transferState = TransferStates::FAILURE;
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -275,8 +271,8 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
 HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
   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
@@ -288,21 +284,23 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
   auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
   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");
       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",
+            whoAmIVal);
       }
       break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -319,15 +317,15 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
   result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
       break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -337,28 +335,27 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
   }
 
   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);
   result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
   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[5] != configRegs[4]) {
         sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
+      } else {
-        else {
         sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
       }
       break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -371,21 +368,21 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
 
 ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
   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);
   auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
 
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
       handleSensorReadout();
       break;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
       sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -398,8 +395,8 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
 
 ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
   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");
       // Wait for the transfer to complete
       while (transferState == TransferStates::WAIT) {
@@ -407,15 +404,17 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
       }
 
       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",
+            whoAmIVal);
       }
       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");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -427,45 +426,44 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
   uint8_t configRegs[5];
   prepareConfigRegs(configRegs);
   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
       while (transferState == TransferStates::WAIT) {
         TaskFactory::delayTask(1);
       }
       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");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
 
   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;
   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
       while (transferState == TransferStates::WAIT) {
         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[5] != configRegs[4]) {
         sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
+      } else {
-        else {
         sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
       }
       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");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -476,10 +474,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
 ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
   transferState = TransferStates::WAIT;
   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);
-    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
       while (transferState == TransferStates::WAIT) {
         TaskFactory::delayTask(1);
@@ -487,9 +485,9 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
       handleSensorReadout();
       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");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -497,7 +495,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) {
+void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
   // Enable sensor
   configRegs[0] = 0b00001111;
   configRegs[1] = 0b00000000;
@@ -516,7 +514,8 @@ uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
   txBuf[0] = reg | STM_READ_MASK;
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
   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];
 }
@@ -535,13 +534,12 @@ void GyroL3GD20H::handleSensorReadout() {
   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;
   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
-        SCB_InvalidateDCache_by_Addr ((uint32_t *)GyroL3GD20H::rxBuffer.data(),
+    SCB_InvalidateDCache_by_Addr((uint32_t *)GyroL3GD20H::rxBuffer.data(),
                                  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;
 }

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

@@ -1,33 +1,26 @@
 #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();
 
   ReturnValue_t initialize();
   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;
@@ -54,14 +47,12 @@ private:
 
   uint8_t readRegPolling(uint8_t reg);
 
-    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-    static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
+  static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
-
 
   void prepareConfigRegs(uint8_t* configRegs);
   void handleSensorReadout();
 
-
   DMA_HandleTypeDef* txDmaHandle = {};
   DMA_HandleTypeDef* rxDmaHandle = {};
   spi::MspCfgBase* mspCfg = {};

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];
@@ -11,11 +11,10 @@ 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) {
-    if(dma_idx == DMA_1) {
+  if (dma_idx == DMA_1) {
     DMA_1_USER_HANDLERS[stream_idx] = user_handler;
     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_ARGS[stream_idx] = user_args;
   }
@@ -27,58 +26,26 @@ void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
 defined in the startup_stm32h743xx.s files! */
 
 #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]); \
     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

@@ -5,20 +5,15 @@
 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,
@@ -29,7 +24,7 @@ enum DMAStreams {
   STREAM_5 = 5,
   STREAM_6 = 6,
   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

@@ -4,67 +4,67 @@
 
 void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
 #ifdef GPIOA
-    if(gpioPort == GPIOA) {
+  if (gpioPort == GPIOA) {
     __HAL_RCC_GPIOA_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOB
-    if(gpioPort == GPIOB) {
+  if (gpioPort == GPIOB) {
     __HAL_RCC_GPIOB_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOC
-    if(gpioPort == GPIOC) {
+  if (gpioPort == GPIOC) {
     __HAL_RCC_GPIOC_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOD
-    if(gpioPort == GPIOD) {
+  if (gpioPort == GPIOD) {
     __HAL_RCC_GPIOD_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOE
-    if(gpioPort == GPIOE) {
+  if (gpioPort == GPIOE) {
     __HAL_RCC_GPIOE_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOF
-    if(gpioPort == GPIOF) {
+  if (gpioPort == GPIOF) {
     __HAL_RCC_GPIOF_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOG
-    if(gpioPort == GPIOG) {
+  if (gpioPort == GPIOG) {
     __HAL_RCC_GPIOG_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOH
-    if(gpioPort == GPIOH) {
+  if (gpioPort == GPIOH) {
     __HAL_RCC_GPIOH_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOI
-    if(gpioPort == GPIOI) {
+  if (gpioPort == GPIOI) {
     __HAL_RCC_GPIOI_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOJ
-    if(gpioPort == GPIOJ) {
+  if (gpioPort == GPIOJ) {
     __HAL_RCC_GPIOJ_CLK_ENABLE();
   }
 #endif
 
 #ifdef GPIOK
-    if(gpioPort == GPIOK) {
+  if (gpioPort == GPIOK) {
     __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
@@ -13,14 +13,14 @@
 #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::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
   spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
@@ -35,13 +35,11 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
   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;
 #else
@@ -51,32 +49,34 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
   }
   auto transferMode = spiCookie->getTransferMode();
 
-    if(transferMode == spi::TransferModes::DMA) {
+  if (transferMode == spi::TransferModes::DMA) {
     DMA_HandleTypeDef *txHandle = nullptr;
     DMA_HandleTypeDef *rxHandle = nullptr;
     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");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
   }
   // This semaphore ensures thread-safety for a given bus
-    spiSemaphore = dynamic_cast<BinarySemaphore*>(
+  spiSemaphore =
-            SemaphoreFactory::instance()->createBinarySemaphore());
+      dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
   address_t spiAddress = spiCookie->getDeviceAddress();
 
   auto iter = spiDeviceMap.find(spiAddress);
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
     size_t bufferSize = spiCookie->getMaxRecvSize();
     auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
     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;
@@ -85,60 +85,56 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
   auto gpioPin = spiCookie->getChipSelectGpioPin();
   auto gpioPort = spiCookie->getChipSelectGpioPort();
 
-    SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
+  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
 
   auto spiIdx = spiCookie->getSpiIdx();
-    if(spiIdx == spi::SpiBus::SPI_1) {
+  if (spiIdx == spi::SpiBus::SPI_1) {
 #ifdef SPI1
     spiHandle.Instance = SPI1;
 #endif
-    }
+  } else if (spiIdx == spi::SpiBus::SPI_2) {
-    else if(spiIdx == spi::SpiBus::SPI_2) {
 #ifdef SPI2
     spiHandle.Instance = SPI2;
 #endif
-    }
+  } else {
-    else {
     printCfgError("SPI Bus Index");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   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");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     spi::setSpiPollingMspFunctions(typedCfg);
-    }
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
-    else if(transferMode == spi::TransferModes::INTERRUPT) {
+    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
-        auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
+    if (typedCfg == nullptr) {
-        if(typedCfg == nullptr) {
       printCfgError("IRQ MSP");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     spi::setSpiIrqMspFunctions(typedCfg);
-    }
+  } else if (transferMode == spi::TransferModes::DMA) {
-    else if(transferMode == spi::TransferModes::DMA) {
+    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
-        auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
+    if (typedCfg == nullptr) {
-        if(typedCfg == nullptr) {
       printCfgError("DMA MSP");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     // Check DMA handles
-        DMA_HandleTypeDef* txHandle = nullptr;
+    DMA_HandleTypeDef *txHandle = nullptr;
-        DMA_HandleTypeDef* rxHandle = nullptr;
+    DMA_HandleTypeDef *rxHandle = nullptr;
     spi::getDmaHandles(&txHandle, &rxHandle);
-        if(txHandle == nullptr or rxHandle == nullptr) {
+    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_InitTypeDef chipSelect = {};
     chipSelect.Pin = gpioPin;
@@ -147,7 +143,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     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");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -158,42 +154,42 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 }
 
 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;
   }
 
-    SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
+  SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
 
   auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
-    if(iter == spiDeviceMap.end()) {
+  if (iter == spiDeviceMap.end()) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   iter->second.currentTransferLen = sendLen;
 
   auto transferMode = spiCookie->getTransferMode();
-    switch(spiCookie->getTransferState()) {
+  switch (spiCookie->getTransferState()) {
-    case(spi::TransferStates::IDLE): {
+    case (spi::TransferStates::IDLE): {
       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;
     }
   }
 
-    switch(transferMode) {
+  switch (transferMode) {
-    case(spi::TransferModes::POLLING): {
+    case (spi::TransferModes::POLLING): {
       return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
                                         sendData, sendLen);
     }
-    case(spi::TransferModes::INTERRUPT): {
+    case (spi::TransferModes::INTERRUPT): {
       return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
                                           sendData, sendLen);
     }
-    case(spi::TransferModes::DMA): {
+    case (spi::TransferModes::DMA): {
       return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
                                     sendData, sendLen);
     }
@@ -201,23 +197,21 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
   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;
 }
 
 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;
   }
-    switch(spiCookie->getTransferState()) {
+  switch (spiCookie->getTransferState()) {
-    case(spi::TransferStates::SUCCESS): {
+    case (spi::TransferStates::SUCCESS): {
       auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
-        if(iter == spiDeviceMap.end()) {
+      if (iter == spiDeviceMap.end()) {
         return HasReturnvaluesIF::RETURN_FAILED;
       }
       *buffer = iter->second.replyBuffer.data();
@@ -225,7 +219,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
       spiCookie->setTransferState(spi::TransferStates::IDLE);
       break;
     }
-    case(spi::TransferStates::FAILURE): {
+    case (spi::TransferStates::FAILURE): {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
@@ -236,8 +230,8 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
       spiCookie->setTransferState(spi::TransferStates::IDLE);
       return HasReturnvaluesIF::RETURN_FAILED;
     }
-    case(spi::TransferStates::WAIT):
+    case (spi::TransferStates::WAIT):
-    case(spi::TransferStates::IDLE): {
+    case (spi::TransferStates::IDLE): {
       break;
     }
     default: {
@@ -252,35 +246,36 @@ void SpiComIF::setDefaultPollingTimeout(dur_millis_t 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,
+                                                   size_t sendLen) {
   auto gpioPort = spiCookie.getChipSelectGpioPort();
   auto gpioPin = spiCookie.getChipSelectGpioPin();
   auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
-    if(returnval != HasReturnvaluesIF::RETURN_OK) {
+  if (returnval != HasReturnvaluesIF::RETURN_OK) {
     return returnval;
   }
   spiCookie.setTransferState(spi::TransferStates::WAIT);
-    if(gpioPort != nullptr) {
+  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);
   }
   spiSemaphore->release();
-    switch(result) {
+  switch (result) {
-    case(HAL_OK): {
+    case (HAL_OK): {
       spiCookie.setTransferState(spi::TransferStates::SUCCESS);
       break;
     }
-    case(HAL_TIMEOUT): {
+    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",
                         spiCookie.getDeviceAddress());
@@ -289,12 +284,12 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
       spiCookie.setTransferState(spi::TransferStates::FAILURE);
       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",
                         spiCookie.getDeviceAddress());
@@ -307,41 +302,42 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
   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,
+                                                     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,
+                                               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,
+                                               size_t sendLen) {
   ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     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 (transferMode == spi::TransferModes::DMA) {
-        if(cacheMaintenanceOnTxBuffer) {
+    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),
+      SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
-                    sendLen + 32);
     }
-        status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t*>(sendData),
+    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);
   }
-    else {
+  switch (status) {
-        status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData),
+    case (HAL_OK): {
-                currentRecvPtr, sendLen);
-    }
-    switch(status) {
-    case(HAL_OK): {
       break;
     }
     default: {
@@ -353,22 +349,20 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
 
 ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
   char modeString[10];
-    if(transferMode == spi::TransferModes::DMA) {
+  if (transferMode == spi::TransferModes::DMA) {
     std::snprintf(modeString, sizeof(modeString), "Dma");
-    }
+  } else {
-    else {
     std::snprintf(modeString, sizeof(modeString), "Interrupt");
   }
-    sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString,
+  sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
-            status);
+  switch (status) {
-    switch(status) {
+    case (HAL_BUSY): {
-    case(HAL_BUSY): {
       return spi::HAL_BUSY_RETVAL;
     }
-    case(HAL_ERROR): {
+    case (HAL_ERROR): {
       return spi::HAL_ERROR_RETVAL;
     }
-    case(HAL_TIMEOUT): {
+    case (HAL_TIMEOUT): {
       return spi::HAL_TIMEOUT_RETVAL;
     }
     default: {
@@ -377,18 +371,20 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
   }
 }
 
-
+ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
+                                            SpiCookie &spiCookie, const uint8_t *sendData,
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+                                            size_t sendLen) {
   currentRecvPtr = recvPtr;
   currentRecvBuffSize = sendLen;
 
   // Take the semaphore which will be released by a callback when the transfer is complete
   ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     // Configuration error
-        sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore "
+    sif::printWarning(
-                "could not be acquired after %d ms\n", timeoutMs);
+        "SpiComIF::handleInterruptSendOperation: Semaphore "
+        "could not be acquired after %d ms\n",
+        timeoutMs);
     return result;
   }
   // Cache the current SPI handle in any case
@@ -398,8 +394,8 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
   irqArgs.spiCookie = &spiCookie;
   // The SPI handle is passed to the default SPI callback as a void argument. This callback
   // is different from the user callbacks specified above!
-    spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle));
+  spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
-    if(spiCookie.getChipSelectGpioPort() != nullptr) {
+  if (spiCookie.getChipSelectGpioPort() != nullptr) {
     HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
                       GPIO_PIN_RESET);
   }
@@ -423,48 +419,46 @@ void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
 }
 
 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;
   }
-    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;
   }
 
   spiCookie->setTransferState(targetState);
 
-    if(spiCookie->getChipSelectGpioPort() != nullptr) {
+  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
   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();
 #endif
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     // Configuration error
     printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
   }
 
   // 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
-        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
   than the currently running task */
-    if(taskWoken == pdTRUE) {
+  if (taskWoken == pdTRUE) {
     TaskManagement::requestContextSwitch(CallContext::ISR);
   }
 #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;
@@ -28,10 +27,8 @@ 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
@@ -62,19 +59,17 @@ public:
   ReturnValue_t initialize() override;
 
   // 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)) {}
+    SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
     std::vector<uint8_t> replyBuffer;
     size_t currentTransferLen = 0;
   };
@@ -103,27 +98,29 @@ protected:
   SpiDeviceMap spiDeviceMap;
 
   ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+                                           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);
+                                             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);
+                                       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);
+                                       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);
+                                    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 spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-    static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+  static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-    static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
+  static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
-    static void spiTransferErrorCallback(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);
 };
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

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

@@ -1,12 +1,16 @@
 #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,
-        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),
+      spiMode(spiMode),
+      transferMode(transferMode),
+      csGpio(csGpio),
+      mspCfg(mspCfg),
+      maxRecvSize(maxRecvSize) {
   spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
   spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
   spiHandle.Init.TIMode = SPI_TIMODE_DISABLE;
@@ -23,56 +27,34 @@ SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferM
   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;
   }
 }
 
-spi::TransferModes SpiCookie::getTransferMode() const {
+spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
-    return transferMode;
-}
 
 void SpiCookie::setTransferState(spi::TransferStates 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
@@ -18,10 +16,10 @@
  * SPI communication interface
  * @author  R. Mueller
  */
-class SpiCookie: public CookieIF {
+class SpiCookie : public CookieIF {
   friend class SpiComIF;
-public:
 
+ public:
   /**
    * Allows construction of a SPI cookie for a connected SPI device
    * @param deviceAddress
@@ -39,8 +37,8 @@ public:
    * @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,
+            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
-            size_t maxRecvSize, stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
+            stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
 
   uint16_t getChipSelectGpioPin() const;
   GPIO_TypeDef* getChipSelectGpioPort();
@@ -52,7 +50,7 @@ public:
   size_t getMaxRecvSize() const;
   SPI_HandleTypeDef& getSpiHandle();
 
-private:
+ private:
   address_t deviceAddress;
   SPI_HandleTypeDef spiHandle = {};
   spi::SpiBus spiIdx;
@@ -75,6 +73,4 @@ private:
   spi::TransferStates getTransferState() const;
 };
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */