Merge branch 'master' into mueller/DHB-update

2020-12-01 14:11:35 +01:00 · 2020-12-01 14:11:35 +01:00 · 30f4348bff
commit 30f4348bff
parent b6456c7b69 64b6edab6f
151 changed files with 6568 additions and 745 deletions
--- a/.gitmodules
+++ b/.gitmodules
--- a/FSFWVersion.h
+++ b/FSFWVersion.h
@ -0,0 +1,12 @@
+#ifndef FSFW_DEFAULTCFG_VERSION_H_
+#define FSFW_DEFAULTCFG_VERSION_H_
+
+const char* const FSFW_VERSION_NAME = "ASTP";
+
+#define FSFW_VERSION 		0
+#define	FSFW_SUBVERSION 	0
+#define	FSFW_REVISION 	1
+
+
+
+#endif /* FSFW_DEFAULTCFG_VERSION_H_ */
--- a/2
+++ b/2
@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during
 the Flying Laptop Project by the Universität Stuttgart in coorporation
 with Airbus Defence and Space GmbH.

+The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
+
 Copyrights in the Flight Software Framework are retained by their contributors.
 No copyright assignment is required to contribute to the Flight Software Framework.

--- a/README.md
+++ b/README.md
@ -0,0 +1,159 @@
+![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
+# Flight Software Framework (FSFW)
+
+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.
+
+## Intended Use
+
+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 recommended hardware is a microprocessor with more than 2 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.
+
+
+## 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.
+Exceptions are not allowed.
+
+### Failure Handling
+
+Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong. 
+Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
+The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
+
+### OSAL
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well. 
+The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes.
+
+### Core Components 
+
+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
+
+ObjectManager (must be created): 
+
+* The component which handles all references. All SystemObjects register at this component. 
+* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
+* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
+A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
+
+``` c++
+	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->initialize() the produce function will be called and all SystemObjects 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 must be configured by setting this parameters:
+
+``` c++
+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;
+}
+```
+
+
+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
+
+
+### 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 "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()".
+
+### Events
+
+Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues.
+Every object that needs own EventIds has to get a unique SUBSYSTEM_ID. 
+Every SystemObject can call 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 over Message through Queues. 
+Those queues are created by calling the singleton QueueFactory::instance()->create(). 
+
+### 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.
+
+#### 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 must be created. 
+An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
+
+#### DeviceHandling
+
+DeviceHandlers are a core 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 DH can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction. 
+A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
+
+#### Modes, Health
+
+The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
+On-board Mode Management is implement in hierarchy system. 
+DeviceHandlers 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 next level which are the Subsystems. 
+
+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. 
+
+## Example config
+
+A example config can be found in defaultcfg/fsfwconfig.
+
+## Unit Tests
+
+Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself. 
+See README.md in the unittest Folder.
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@ -1,10 +1,12 @@
 #include "ActionHelper.h"
 #include "HasActionsIF.h"
+
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManagerIF.h"

-ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
-		owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
+ActionHelper::ActionHelper(HasActionsIF* setOwner,
+        MessageQueueIF* useThisQueue) :
+		owner(setOwner), queueToUse(useThisQueue) {
 }

 ActionHelper::~ActionHelper() {
@ -33,13 +35,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
 	return HasReturnvaluesIF::RETURN_OK;
 }

-void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
+void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
+        ActionId_t commandId, ReturnValue_t result) {
 	CommandMessage reply;
 	ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
 	queueToUse->sendMessage(reportTo, &reply);
 }

-void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
+void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
+        ReturnValue_t result) {
 	CommandMessage reply;
 	ActionMessage::setCompletionReply(&reply, commandId, result);
 	queueToUse->sendMessage(reportTo, &reply);
@ -49,8 +53,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
 	queueToUse = queue;
 }

-void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-		store_address_t dataAddress) {
+void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
+        ActionId_t actionId, store_address_t dataAddress) {
 	const uint8_t* dataPtr = NULL;
 	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
@ -62,6 +66,11 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 	}
 	result = owner->executeAction(actionId, commandedBy, dataPtr, size);
 	ipcStore->deleteData(dataAddress);
+	if(result == HasActionsIF::EXECUTION_FINISHED) {
+		CommandMessage reply;
+		ActionMessage::setCompletionReply(&reply, actionId, result);
+		queueToUse->sendMessage(commandedBy, &reply);
+	}
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		CommandMessage reply;
 		ActionMessage::setStepReply(&reply, actionId, 0, result);
@ -86,22 +95,28 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
+	result = data->serialize(&dataPtr, &size, maxSize,
+	        SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		ipcStore->deleteData(storeAddress);
 		return result;
 	}
-	//We don't need to report the objectId, as we receive REQUESTED data before the completion success message.
-	//True aperiodic replies need to be reported with another dedicated message.
+	// We don't need to report the objectId, as we receive REQUESTED data
+	// before the completion success message.
+	// True aperiodic replies need to be reported with
+	// another dedicated message.
 	ActionMessage::setDataReply(&reply, replyId, storeAddress);

-	//TODO Service Implementation sucks at the moment
-	if (hideSender){
+    // If the sender needs to be hidden, for example to handle packet
+    // as unrequested reply, this will be done here.
+	if (hideSender) {
 		result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
-	} else {
+	}
+	else {
 		result = queueToUse->sendMessage(reportTo, &reply);
 	}
-	if ( result != HasReturnvaluesIF::RETURN_OK){
+
+	if (result != HasReturnvaluesIF::RETURN_OK){
 		ipcStore->deleteData(storeAddress);
 	}
 	return result;
@ -109,3 +124,39 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,

 void ActionHelper::resetHelper() {
 }
+
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+        ActionId_t replyId, const uint8_t *data, size_t dataSize,
+        bool hideSender) {
+    CommandMessage reply;
+    store_address_t storeAddress;
+    ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        ipcStore->deleteData(storeAddress);
+        return result;
+    }
+
+    // We don't need to report the objectId, as we receive REQUESTED data
+    // before the completion success message.
+    // True aperiodic replies need to be reported with
+    // another dedicated message.
+    ActionMessage::setDataReply(&reply, replyId, storeAddress);
+
+    // If the sender needs to be hidden, for example to handle packet
+    // as unrequested reply, this will be done here.
+    if (hideSender) {
+        result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
+    }
+    else {
+        result = queueToUse->sendMessage(reportTo, &reply);
+    }
+
+    if (result != HasReturnvaluesIF::RETURN_OK){
+        ipcStore->deleteData(storeAddress);
+    }
+    return result;
+}
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@ -1,15 +1,18 @@
-#ifndef ACTIONHELPER_H_
-#define ACTIONHELPER_H_
+#ifndef FSFW_ACTION_ACTIONHELPER_H_
+#define FSFW_ACTION_ACTIONHELPER_H_

 #include "ActionMessage.h"
 #include "../serialize/SerializeIF.h"
 #include "../ipc/MessageQueueIF.h"
 /**
- * \brief Action Helper is a helper class which handles action messages
+ * @brief Action Helper is a helper class which handles action messages
 *
- * Components which use the HasActionIF this helper can be used to handle the action messages.
- * It does handle step messages as well as other answers to action calls. It uses the executeAction function
- * of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
+ * Components which use the HasActionIF this helper can be used to handle
+ * the action messages.
+ * It does handle step messages as well as other answers to action calls.
+ * It uses the executeAction function of its owner as callback.
+ * The call of the initialize function is mandatory and needs a
+ * valid MessageQueueIF pointer!
 */
 class HasActionsIF;

@ -18,7 +21,8 @@ public:
 	/**
 	 * Constructor of the action helper
 	 * @param setOwner Pointer to the owner of the interface
-	 * @param useThisQueue messageQueue to be used, can be set during initialize function as well.
+	 * @param useThisQueue  messageQueue to be used, can be set during
+	 *                      initialize function as well.
 	 */
 	ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);

@ -26,28 +30,36 @@ public:
 	/**
 	 * Function to be called from the owner with a new command message
 	 *
-	 * If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
-	 * If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
+	 * If the message is a valid action message the helper will use the
+	 * executeAction function from HasActionsIF.
+	 * If the message is invalid or the callback fails a message reply will be
+	 * send to the sender of the message automatically.
 	 *
 	 * @param command Pointer to a command message received by the owner
-	 * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
+	 * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
+	 *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
 	 */
 	ReturnValue_t handleActionMessage(CommandMessage* command);
 	/**
-	 * Helper initialize function. Must be called before use of any other helper function
-	 * @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
+	 * Helper initialize function. Must be called before use of any other
+	 * helper function
+	 * @param queueToUse_   Pointer to the messageQueue to be used, optional
+	 *                      if queue was set in constructor
 	 * @return Returns RETURN_OK if successful
 	 */
 	ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
 	/**
-	 * Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
+	 * Function to be called from the owner to send a step message.
+	 * Success or failure will be determined by the result value.
 	 *
 	 * @param step Number of steps already done
 	 * @param reportTo The messageQueueId to report the step message to
 	 * @param commandId ID of the executed command
 	 * @param result Result of the execution
 	 */
-	void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	void step(uint8_t step, MessageQueueId_t reportTo,
+			ActionId_t commandId,
+			ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	/**
 	 * Function to be called by the owner to send a action completion message
 	 *
@ -55,39 +67,59 @@ public:
 	 * @param commandId ID of the executed command
 	 * @param result Result of the execution
 	 */
-	void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	void finish(MessageQueueId_t reportTo, ActionId_t commandId,
+	        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	/**
-	 * Function to be called by the owner if an action does report data
-	 *
-	 * @param reportTo MessageQueueId_t to report the action completion message to
+	 * Function to be called by the owner if an action does report data.
+	 * Takes a SerializeIF* pointer and serializes it into the IPC store.
+	 * @param reportTo  MessageQueueId_t to report the action completion
+	 *                  message to
 	 * @param replyId ID of the executed command
 	 * @param data Pointer to the data
 	 * @return Returns RETURN_OK if successful, otherwise failure code
 	 */
-	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
+	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+	        SerializeIF* data, bool hideSender = false);
+    /**
+     * Function to be called by the owner if an action does report data.
+     * Takes the raw data and writes it into the IPC store.
+     * @param reportTo  MessageQueueId_t to report the action completion
+     *                  message to
+     * @param replyId ID of the executed command
+     * @param data Pointer to the data
+     * @return Returns RETURN_OK if successful, otherwise failure code
+     */
+    ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+            const uint8_t* data, size_t dataSize, bool hideSender = false);
 	/**
-	 * Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
-	 * message queue is unavailable at construction and initialize but must be setup before first call of other functions.
+	 * Function to setup the MessageQueueIF* of the helper. Can be used to
+	 * set the MessageQueueIF* if message queue is unavailable at construction
+	 * and initialize but must be setup before first call of other functions.
 	 * @param queue Queue to be used by the helper
 	 */
 	void setQueueToUse(MessageQueueIF *queue);
 protected:
-	static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
+	//!< Increase of value of this per step
+	static const uint8_t STEP_OFFSET = 1;
 	HasActionsIF* owner;//!< Pointer to the owner
-	MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
-	StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
+	//! Queue to be used as response sender, has to be set in ctor or with
+	//! setQueueToUse
+	MessageQueueIF* queueToUse;
+	//! Pointer to an IPC Store, initialized during construction or
+	StorageManagerIF* ipcStore = nullptr;
+
 	/**
-	 *Internal function called by handleActionMessage(CommandMessage* command)
-	 *
+	 * Internal function called by handleActionMessage
 	 * @param commandedBy MessageQueueID of Commander
 	 * @param actionId ID of action to be done
 	 * @param dataAddress Address of additional data in IPC Store
 	 */
-	virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
+	virtual void prepareExecution(MessageQueueId_t commandedBy,
+	        ActionId_t actionId, store_address_t dataAddress);
 	/**
-	 *
+	 * @brief Default implementation is empty.
 	 */
 	virtual void resetHelper();
 };

-#endif /* ACTIONHELPER_H_ */
+#endif /* FSFW_ACTION_ACTIONHELPER_H_ */
--- a/action/ActionMessage.h
+++ b/action/ActionMessage.h
@ -1,5 +1,5 @@
-#ifndef ACTIONMESSAGE_H_
-#define ACTIONMESSAGE_H_
+#ifndef FSFW_ACTION_ACTIONMESSAGE_H_
+#define FSFW_ACTION_ACTIONMESSAGE_H_

 #include "../ipc/CommandMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
@ -18,15 +18,19 @@ public:
 	static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
 	static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
 	virtual ~ActionMessage();
-	static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
+	static void setCommand(CommandMessage* message, ActionId_t fid,
+			store_address_t parameters);
 	static ActionId_t getActionId(const CommandMessage* message );
 	static store_address_t getStoreId(const CommandMessage* message );
-	static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	static void setStepReply(CommandMessage* message, ActionId_t fid,
+			uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	static uint8_t getStep(const CommandMessage* message );
 	static ReturnValue_t getReturnCode(const CommandMessage* message );
-	static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
-	static void setCompletionReply(CommandMessage* message, ActionId_t fid, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	static void setDataReply(CommandMessage* message, ActionId_t actionId,
+			store_address_t data);
+	static void setCompletionReply(CommandMessage* message, ActionId_t fid,
+			ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	static void clear(CommandMessage* message);
 };

-#endif /* ACTIONMESSAGE_H_ */
+#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */
--- a/action/CommandsActionsIF.h
+++ b/action/CommandsActionsIF.h
@ -1,5 +1,5 @@
-#ifndef COMMANDSACTIONSIF_H_
-#define COMMANDSACTIONSIF_H_
+#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
+#define FSFW_ACTION_COMMANDSACTIONSIF_H_

 #include "CommandActionHelper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@ -24,11 +24,14 @@ public:
 	virtual MessageQueueIF* getCommandQueuePtr() = 0;
 protected:
 	virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
-	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
-	virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
+	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
+			ReturnValue_t returnCode) = 0;
+	virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
+			uint32_t size) = 0;
 	virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
-	virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
+	virtual void completionFailedReceived(ActionId_t actionId,
+			ReturnValue_t returnCode) = 0;
 };


-#endif /* COMMANDSACTIONSIF_H_ */
+#endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@ -1,11 +1,12 @@
-#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
-#define FRAMEWORK_ACTION_HASACTIONSIF_H_
+#ifndef FSFW_ACTION_HASACTIONSIF_H_
+#define FSFW_ACTION_HASACTIONSIF_H_

 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../ipc/MessageQueueIF.h"
+
 /**
 * @brief
 * Interface for component which uses actions
@ -47,14 +48,16 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	/**
 	 * Execute or initialize the execution of a certain function.
-	 * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
-	 * be done. When needing more steps, return RETURN_OK and issue steps and
-	 * completion manually.
-	 * One "step failed" or completion report must be issued!
+	 * The ActionHelpers will execute this function and behave differently
+	 * depending on the returnvalue.
+	 *
+	 * @return
+	 * -@c EXECUTION_FINISHED Finish reply will be generated
+	 * -@c Not RETURN_OK Step failure reply will be generated
 	 */
 	virtual ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
 };


-#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
+#endif /* FSFW_ACTION_HASACTIONSIF_H_ */
--- a/action/SimpleActionHelper.cpp
+++ b/action/SimpleActionHelper.cpp
@ -1,16 +1,17 @@
 #include "HasActionsIF.h"
 #include "SimpleActionHelper.h"
+
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
 		MessageQueueIF* useThisQueue) :
-		ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
-				0), lastAction(0), stepCount(0) {
+		ActionHelper(setOwner, useThisQueue), isExecuting(false) {
 }

 SimpleActionHelper::~SimpleActionHelper() {
 }

 void SimpleActionHelper::step(ReturnValue_t result) {
-	//STEP_OFFESET is subtracted to compensate for adding offset in base method, which is not necessary here.
+	// STEP_OFFESET is subtracted to compensate for adding offset in base
+	// method, which is not necessary here.
 	ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
 			result);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
--- a/action/SimpleActionHelper.h
+++ b/action/SimpleActionHelper.h
@ -1,8 +1,13 @@
-#ifndef SIMPLEACTIONHELPER_H_
-#define SIMPLEACTIONHELPER_H_
+#ifndef FSFW_ACTION_SIMPLEACTIONHELPER_H_
+#define FSFW_ACTION_SIMPLEACTIONHELPER_H_

 #include "ActionHelper.h"

+/**
+ * @brief	This is an action helper which is only able to service one action
+ * 			at a time but remembers last commander and last action which
+ * 			simplifies usage
+ */
 class SimpleActionHelper: public ActionHelper {
 public:
 	SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@ -12,13 +17,14 @@ public:
 	ReturnValue_t reportData(SerializeIF* data);

 protected:
-	void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
-	virtual  void resetHelper();
+	void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
+			store_address_t dataAddress);
+	virtual void resetHelper();
 private:
 	bool isExecuting;
-	MessageQueueId_t lastCommander;
-	ActionId_t lastAction;
-	uint8_t stepCount;
+	MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
+	ActionId_t lastAction = 0;
+	uint8_t stepCount = 0;
 };

 #endif /* SIMPLEACTIONHELPER_H_ */
--- a/defaultcfg/README.md
+++ b/defaultcfg/README.md
@ -0,0 +1,6 @@
+# How to setup configuration folder for FSFW
+
+It is recommended to copy the content of the defaultcfg folder
+into a config folder which is in the same directory as the Flight
+Software Framework submodule. After that, the config.mk folder should be
+included by the primary Makefile with CURRENTPATH set correctly.
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@ -0,0 +1,55 @@
+#ifndef CONFIG_FSFWCONFIG_H_
+#define CONFIG_FSFWCONFIG_H_
+
+#include <FSFWVersion.h>
+#include <cstddef>
+#include <cstdint>
+
+//! Used to determine whether C++ ostreams are used
+//! Those can lead to code bloat.
+#define FSFW_CPP_OSTREAM_ENABLED 	1
+
+//! Reduced printout to further decrese code size
+//! Be careful, this also turns off most diagnostic prinouts!
+#define FSFW_REDUCED_PRINTOUT		0
+
+//! Can be used to enable debugging printouts for developing the FSFW
+#define FSFW_DEBUGGING              0
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+#define FSFW_CSB_FIFO_DEPTH			6
+
+//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
+//! additional output which requires the translation files translateObjects
+//! and translateEvents (and their compiled source files)
+#define FSFW_OBJ_EVENT_TRANSLATION	0
+
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
+#define FSFW_DEBUG_OUTPUT 			1
+//! Specify whether info events are printed too.
+#define FSFW_DEBUG_INFO				1
+#include <translateObjects.h>
+#include <translateEvents.h>
+#else
+#define FSFW_DEBUG_OUTPUT			0
+#endif
+
+//! When using the newlib nano library, C99 support for stdio facilities
+//! will not be provided. This define should be set to 1 if this is the case.
+#define FSFW_NO_C99_IO 	1
+
+namespace fsfwconfig {
+//! Default timestamp size. The default timestamp will be an eight byte CDC
+//! short timestamp.
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+
+//! 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;
+}
+
+#endif /* CONFIG_FSFWCONFIG_H_ */
--- a/defaultcfg/fsfwconfig/OBSWConfig.h
+++ b/defaultcfg/fsfwconfig/OBSWConfig.h
@ -0,0 +1,16 @@
+#ifndef CONFIG_OBSWCONFIG_H_
+#define CONFIG_OBSWCONFIG_H_
+
+#include "OBSWVersion.h"
+
+#ifdef __cplusplus
+namespace config {
+#endif
+
+/* Add mission configuration flags here */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_OBSWCONFIG_H_ */
--- a/defaultcfg/fsfwconfig/OBSWVersion.h
+++ b/defaultcfg/fsfwconfig/OBSWVersion.h
@ -0,0 +1,9 @@
+#ifndef CONFIG_VERSION_H_
+#define CONFIG_VERSION_H_
+
+/* OBSW versioning can be specified in this file */
+
+#define OBSW_VERSION      0
+#define OBSW_SUBVERSION   0
+
+#endif /* CONFIG_VERSION_H_ */
--- a/defaultcfg/fsfwconfig/devices/logicalAddresses.cpp
+++ b/defaultcfg/fsfwconfig/devices/logicalAddresses.cpp
@ -0,0 +1,5 @@
+#include "logicalAddresses.h"
+
+
+
+
--- a/defaultcfg/fsfwconfig/devices/logicalAddresses.h
+++ b/defaultcfg/fsfwconfig/devices/logicalAddresses.h
@ -0,0 +1,18 @@
+#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
+#define CONFIG_DEVICES_LOGICALADDRESSES_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include "../objects/systemObjectList.h"
+#include <cstdint>
+
+/**
+ * Can be used for addresses for physical devices like I2C adresses.
+ */
+namespace addresses {
+	/* Logical addresses have uint32_t datatype */
+	enum logicalAddresses: address_t {
+	};
+}
+
+
+#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */
--- a/defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp
+++ b/defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp
@ -0,0 +1,4 @@
+#include "powerSwitcherList.h"
+
+
+
--- a/defaultcfg/fsfwconfig/devices/powerSwitcherList.h
+++ b/defaultcfg/fsfwconfig/devices/powerSwitcherList.h
@ -0,0 +1,12 @@
+#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
+#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
+
+namespace switches {
+	/* Switches are uint8_t datatype and go from 0 to 255 */
+	enum switcherList {
+	};
+
+}
+
+
+#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */
--- a/defaultcfg/fsfwconfig/events/subsystemIdRanges.h
+++ b/defaultcfg/fsfwconfig/events/subsystemIdRanges.h
@ -0,0 +1,18 @@
+#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+
+#include <cstdint>
+#include <fsfw/events/fwSubsystemIdRanges.h>
+
+/**
+ * @brief	Custom subsystem IDs can be added here
+ * @details
+ * Subsystem IDs are used to create unique events.
+ */
+namespace SUBSYSTEM_ID {
+enum: uint8_t {
+	SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
+};
+}
+
+#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */
--- a/defaultcfg/fsfwconfig/fsfwconfig.mk
+++ b/defaultcfg/fsfwconfig/fsfwconfig.mk
@ -0,0 +1,15 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/tmtc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
+
+INCLUDES += $(CURRENTPATH)
+INCLUDES += $(CURRENTPATH)/objects
+INCLUDES += $(CURRENTPATH)/returnvalues
+INCLUDES += $(CURRENTPATH)/tmtc
+INCLUDES += $(CURRENTPATH)/events
+INCLUDES += $(CURRENTPATH)/devices
+INCLUDES += $(CURRENTPATH)/pollingsequence
+INCLUDES += $(CURRENTPATH)/ipc
--- a/defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp
+++ b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp
@ -0,0 +1,12 @@
+#include "missionMessageTypes.h"
+
+#include <fsfw/ipc/CommandMessageIF.h>
+
+void messagetypes::clearMissionMessage(CommandMessage* message) {
+	switch(message->getMessageType()) {
+	default:
+		break;
+	}
+}
+
+
--- a/defaultcfg/fsfwconfig/ipc/missionMessageTypes.h
+++ b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.h
@ -0,0 +1,21 @@
+#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
+#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
+
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/ipc/FwMessageTypes.h>
+
+/**
+ * Custom command messages are specified here.
+ * Most messages needed to use FSFW are already located in
+ * <fsfw/ipc/FwMessageTypes.h>
+ * @param message Generic Command Message
+ */
+namespace messagetypes {
+enum CustomMessageTypes {
+	MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT
+};
+
+void clearMissionMessage(CommandMessage* message);
+}
+
+#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */
--- a/defaultcfg/fsfwconfig/objects/Factory.cpp
+++ b/defaultcfg/fsfwconfig/objects/Factory.cpp
@ -0,0 +1,54 @@
+#include "Factory.h"
+#include "../tmtc/apid.h"
+#include "../tmtc/pusIds.h"
+#include "../objects/systemObjectList.h"
+#include "../devices/logicalAddresses.h"
+#include "../devices/powerSwitcherList.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/events/EventManager.h>
+#include <fsfw/health/HealthTable.h>
+#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+#include <internalError/InternalErrorReporter.h>
+
+#include <cstdint>
+
+/**
+ * This class should be used to create all system objects required for
+ * the on-board software, using the object ID list from the configuration
+ * folder.
+ *
+ * The objects are registered in the internal object manager automatically.
+ * This is used later to add objects to tasks.
+ *
+ * This file also sets static framework IDs.
+ *
+ * Framework objects are created first.
+ * @ingroup init
+ */
+void Factory::produce(void) {
+	setStaticFrameworkObjectIds();
+	new EventManager(objects::EVENT_MANAGER);
+	new HealthTable(objects::HEALTH_TABLE);
+	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+}
+
+void Factory::setStaticFrameworkObjectIds() {
+	PusServiceBase::packetSource = objects::NO_OBJECT;
+	PusServiceBase::packetDestination = objects::NO_OBJECT;
+
+	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
+	CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
+
+	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+
+	DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+	DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
+
+	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
+
+	TmPacketStored::timeStamperId = objects::NO_OBJECT;
+}
+
--- a/defaultcfg/fsfwconfig/objects/Factory.h
+++ b/defaultcfg/fsfwconfig/objects/Factory.h
@ -0,0 +1,17 @@
+#ifndef FACTORY_H_
+#define FACTORY_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <cstddef>
+
+namespace Factory {
+	/**
+	 * @brief   Creates all SystemObject elements which are persistent
+	 *          during execution.
+	 */
+	void produce();
+	void setStaticFrameworkObjectIds();
+}
+
+
+#endif /* FACTORY_H_ */
--- a/defaultcfg/fsfwconfig/objects/systemObjectList.h
+++ b/defaultcfg/fsfwconfig/objects/systemObjectList.h
@ -0,0 +1,16 @@
+#ifndef CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+#define CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+
+#include <cstdint>
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+// The objects will be instantiated in the ID order
+namespace objects {
+	enum sourceObjects: uint32_t {
+		/* All addresses between start and end are reserved for the FSFW */
+		FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION,
+		FSFW_CONFIG_RESERVED_END = TM_STORE
+	};
+}
+
+#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
--- a/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
+++ b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
@ -0,0 +1,23 @@
+#include "PollingSequenceFactory.h"
+
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+
+ReturnValue_t pst::pollingSequenceInitDefault(
+        FixedTimeslotTaskIF *thisSequence) {
+	/* Length of a communication cycle */
+	uint32_t length = thisSequence->getPeriodMs();
+
+	/* Add polling sequence table here */
+
+	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
+		        << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
--- a/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h
+++ b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h
@ -0,0 +1,32 @@
+#ifndef POLLINGSEQUENCEFACTORY_H_
+#define POLLINGSEQUENCEFACTORY_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+class FixedTimeslotTaskIF;
+
+/**
+ * All device handlers are scheduled by adding them into  Polling Sequence Tables (PST)
+ * to satisfy stricter timing requirements of device communication,
+ * A device handler has four different communication steps:
+ *   1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
+ *   2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
+ *   3. DeviceHandlerIF::SEND_READ -> Send read request
+ *   4. DeviceHandlerIF::GET_READ -> Read from interface
+ * The PST specifies precisely when the respective ComIF functions are called
+ * during the communication cycle time.
+ * The task is created using the FixedTimeslotTaskIF,
+ * which utilises the underlying Operating System Abstraction Layer (OSAL)
+ *
+ * @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST
+ * @return
+ */
+namespace pst {
+
+/* Default PST */
+ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
+
+
+}
+
+#endif /* POLLINGSEQUENCEINIT_H_ */
--- a/defaultcfg/fsfwconfig/returnvalues/classIds.h
+++ b/defaultcfg/fsfwconfig/returnvalues/classIds.h
@ -0,0 +1,16 @@
+#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
+#define CONFIG_RETURNVALUES_CLASSIDS_H_
+
+#include <fsfw/returnvalues/FwClassIds.h>
+
+/**
+ * @brief   CLASS_ID defintions which are required for custom returnvalues.
+ */
+namespace CLASS_ID {
+enum {
+	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
+};
+}
+
+
+#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */
--- a/defaultcfg/fsfwconfig/tmtc/apid.h
+++ b/defaultcfg/fsfwconfig/tmtc/apid.h
@ -0,0 +1,18 @@
+#ifndef CONFIG_TMTC_APID_H_
+#define CONFIG_TMTC_APID_H_
+
+#include <cstdint>
+
+/**
+ * Application Process Definition: entity, uniquely identified by an
+ * application process ID (APID), capable of generating telemetry source
+ * packets and receiving telecommand packets.
+ *
+ * Chose APID(s) for mission and define it here.
+ */
+namespace apid {
+	static const uint16_t DEFAULT_APID = 0x00;
+}
+
+
+#endif /* CONFIG_TMTC_APID_H_ */
--- a/defaultcfg/fsfwconfig/tmtc/pusIds.h
+++ b/defaultcfg/fsfwconfig/tmtc/pusIds.h
@ -0,0 +1,23 @@
+#ifndef CONFIG_TMTC_PUSIDS_HPP_
+#define CONFIG_TMTC_PUSIDS_HPP_
+
+namespace pus {
+enum Ids: uint8_t {
+	PUS_SERVICE_1 = 1,
+	PUS_SERVICE_2 = 2,
+	PUS_SERVICE_3 = 3,
+	PUS_SERVICE_5 = 5,
+	PUS_SERVICE_6 = 6,
+	PUS_SERVICE_8 = 8,
+	PUS_SERVICE_9 = 9,
+	PUS_SERVICE_11 = 11,
+	PUS_SERVICE_17 = 17,
+	PUS_SERVICE_19 = 19,
+	PUS_SERVICE_20 = 20,
+	PUS_SERVICE_23 = 23,
+	PUS_SERVICE_200 = 200,
+	PUS_SERVICE_201 = 201,
+};
+};
+
+#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@ -1262,7 +1262,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		if (result == BUSY) {
 		    //so we can track misconfigurations
 			sif::debug << std::hex << getObjectId()
-					<< ": DHB::buildInternalCommand: Busy" << std::endl;
+					<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
 			result = NOTHING_TO_SEND; //no need to report this
 		}
 	}
--- a/events/Event.h
+++ b/events/Event.h
@ -4,7 +4,7 @@
 #include <stdint.h>
 #include "fwSubsystemIdRanges.h"
 //could be move to more suitable location
-#include <config/tmtc/subsystemIdRanges.h>
+#include <events/subsystemIdRanges.h>

 typedef uint16_t EventId_t;
 typedef uint8_t EventSeverity_t;
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@ -1,5 +1,7 @@
 #include "EventManager.h"
 #include "EventMessage.h"
+#include <FSFWConfig.h>
+
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
@ -12,8 +14,10 @@ const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
-// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
-const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
+const uint16_t EventManager::N_ELEMENTS[N_POOLS] = {
+		fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES ,
+		fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
+		fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS };

 EventManager::EventManager(object_id_t setObjectId) :
 		SystemObject(setObjectId),
--- a/fsfw.mk
+++ b/fsfw.mk
@ -28,12 +28,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 # select the OS
 ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
+
 else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
+
 else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
+ifeq ($(OS),Windows_NT)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
+else
+# For now, the linux UDP bridge sources needs to be included manually by upper makefile
+# for host OS because we can't be sure the OS is linux.
+# Following lines can be used to do this:
+# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
+# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
+endif
+
 else
 $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
--- a/health/HasHealthIF.h
+++ b/health/HasHealthIF.h
@ -1,5 +1,5 @@
-#ifndef HASHEALTHIF_H_
-#define HASHEALTHIF_H_
+#ifndef FSFW_HEALTH_HASHEALTHIF_H_
+#define FSFW_HEALTH_HASHEALTHIF_H_

 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@ -8,9 +8,13 @@
 class HasHealthIF {
 public:

-	typedef enum {
-		HEALTHY = 1, FAULTY = 0, EXTERNAL_CONTROL = 2, NEEDS_RECOVERY = 3, PERMANENT_FAULTY = 4
-	} HealthState;
+	enum HealthState: uint8_t {
+		HEALTHY = 1,
+		FAULTY = 0,
+		EXTERNAL_CONTROL = 2,
+		NEEDS_RECOVERY = 3,
+		PERMANENT_FAULTY = 4
+	};

 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
 	static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
@ -31,20 +35,17 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;

 	/**
-	 * set the Health State
-	 *
+	 * @brief   Set the Health State
 	 * The parent will be informed, if the Health changes
-	 *
 	 * @param health
 	 */
 	virtual ReturnValue_t setHealth(HealthState health) = 0;

 	/**
-	 * get Health State
-	 *
-	 * @return Health State of the object
+	 * @brief   Get Health State
+	 * @return  Health State of the object
 	 */
 	virtual HasHealthIF::HealthState getHealth() = 0;
 };

-#endif /* HASHEALTHIF_H_ */
+#endif /* FSFW_HEALTH_HASHEALTHIF_H_ */
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@ -12,13 +12,15 @@
 #include "../returnvalues/HasReturnvaluesIF.h"

 /**
- * Helper class for Objects that implement HasHealthIF
+ * @brief   Helper class for Objects that implement HasHealthIF
+ * @details
+ * It takes care of registering with the Health Table as well as handling
+ * health commands (including replying to the sender) and updating
+ * the Health Table.
 *
- * It takes care of registering with the Health Table as well as handling health commands
- * (including replying to the sender) and updating the Health Table.
- *
- * If a parent is set in the ctor, the parent will be informed with a @c HEALTH_INFO message
- * about changes in the health state. Note that a @c HEALTH_INFO is only generated if the Health
+ * If a parent is set in the ctor, the parent will be informed with a
+ * @c HEALTH_INFO message about changes in the health state.
+ * Note that a @c HEALTH_INFO is only generated if the Health
 * changes, not for all @c HEALTH_SET commands received.
 *
 * It does NOT handle @c HEALTH_INFO messages
@ -27,10 +29,9 @@ class HealthHelper {
 public:

 	/**
-	 * ctor
-	 *
 	 * @param owner
-	 * @param objectId the object Id to use when communication with the HealthTable
+	 * @param objectId      The object Id to use when communication with
+	 *                      the HealthTable
 	 */
 	HealthHelper(HasHealthIF* owner, object_id_t objectId);

@ -56,8 +57,9 @@ public:
 	 *
 	 * @param message
 	 * @return
-	 * 			-@c RETURN_OK if the message was handled
-	 * 			-@c RETURN_FAILED if the message could not be handled (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
+	 * -@c RETURN_OK if the message was handled
+	 * -@c RETURN_FAILED if the message could not be handled
+	 *     (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
 	 */
 	ReturnValue_t handleHealthCommand(CommandMessage *message);

@ -78,16 +80,19 @@ public:
 	HasHealthIF::HealthState getHealth();

 	/**
-	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
+	 * @param parentQueue   The queue ID of the parent object.
+	 *                      Set to 0 if no parent present
 	 */
 	void setParentQueue(MessageQueueId_t parentQueue);

 	/**
 	 *
-	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
+	 * @param parentQueue   The queue ID of the parent object.
+	 *                      Set to 0 if no parent present
 	 * @return
-	 * 			-@c RETURN_OK if the Health Table was found and the object could be registered
-	 * 			-@c RETURN_FAILED else
+	 * -@c RETURN_OK if the Health Table was found and the object
+	 * could be registered
+	 * -@c RETURN_FAILED else
 	 */
 	ReturnValue_t initialize(MessageQueueId_t parentQueue );

@ -110,11 +115,15 @@ private:
 	HasHealthIF* owner;

 	/**
-	 * if the #parentQueue is not NULL, a @c HEALTH_INFO message will be sent to this queue
-	 * @param health the health is passed as parameter so that the number of calls to the health table can be minimized
+	 * if the #parentQueue is not NULL, a @c HEALTH_INFO message
+	 * will be sent to this queue
+	 * @param health
+	 * The health is passed as parameter so that the number of
+	 * calls to the health table can be minimized
 	 * @param oldHealth information of the previous health state.
 	 */
-	void informParent(HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth);
+	void informParent(HasHealthIF::HealthState health,
+	        HasHealthIF::HealthState oldHealth);

 	void handleSetHealthCommand(CommandMessage *message);
 };
--- a/health/HealthMessage.cpp
+++ b/health/HealthMessage.cpp
@ -7,11 +7,13 @@ void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command,
 	message->setParameter2(oldHealth);
 }

-void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command) {
+void HealthMessage::setHealthMessage(CommandMessage* message,
+        Command_t command) {
 	message->setCommand(command);
 }

-HasHealthIF::HealthState HealthMessage::getHealth(const CommandMessage* message) {
+HasHealthIF::HealthState HealthMessage::getHealth(
+        const CommandMessage* message) {
 	return (HasHealthIF::HealthState) message->getParameter();
 }

--- a/health/HealthMessage.h
+++ b/health/HealthMessage.h
@ -1,5 +1,5 @@
-#ifndef HEALTHMESSAGE_H_
-#define HEALTHMESSAGE_H_
+#ifndef FSFW_HEALTH_HEALTHMESSAGE_H_
+#define FSFW_HEALTH_HEALTHMESSAGE_H_

 #include "HasHealthIF.h"
 #include "../ipc/CommandMessage.h"
@ -7,14 +7,20 @@
 class HealthMessage {
 public:
 	static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
-	static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
-	static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3);	//NO REPLY!
+
+	static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);
+	// No reply expected, health will be announced as event!
+	static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(2);
+	// Same as before, but all objects in health table will
+	// announce their health as events.
+	static const Command_t HEALTH_ANNOUNCE_ALL = MAKE_COMMAND_ID(3);
+
 	static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);
 	static const Command_t REPLY_HEALTH_SET = MAKE_COMMAND_ID(6);

 	static void setHealthMessage(CommandMessage *message, Command_t command,
-			HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
-
+			HasHealthIF::HealthState health,
+			HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
 	static void setHealthMessage(CommandMessage *message, Command_t command);

 	static HasHealthIF::HealthState getHealth(const CommandMessage *message);
@ -27,4 +33,4 @@ private:
 	HealthMessage();
 };

-#endif /* HEALTHMESSAGE_H_ */
+#endif /* FSFW_HEALTH_HEALTHMESSAGE_H_ */
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@ -1,6 +1,7 @@
 #include "HealthTable.h"
-#include "../serialize/SerializeAdapter.h"
+#include "../ipc/MutexHelper.h"
 #include "../ipc/MutexFactory.h"
+#include "../serialize/SerializeAdapter.h"

 HealthTable::HealthTable(object_id_t objectid) :
 		SystemObject(objectid) {
@ -9,6 +10,12 @@ HealthTable::HealthTable(object_id_t objectid) :
 	mapIterator = healthMap.begin();
 }

+void HealthTable::setMutexTimeout(MutexIF::TimeoutType timeoutType,
+		uint32_t timeoutMs) {
+	this->timeoutType = timeoutType;
+	this->mutexTimeoutMs = timeoutMs;
+}
+
 HealthTable::~HealthTable() {
 	MutexFactory::instance()->deleteMutex(mutex);
 }
@ -18,74 +25,63 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 	if (healthMap.count(object) != 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	healthMap.insert(
-			std::pair<object_id_t, HasHealthIF::HealthState>(object,
-					initilialState));
+	healthMap.emplace(object, initilialState);
 	return HasReturnvaluesIF::RETURN_OK;
 }

 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-	mutex->lockMutex(MutexIF::BLOCKING);
+    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
 	}
-	mutex->unlockMutex();
 }

 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
 	}
-	mutex->unlockMutex();
 	return state;
 }

-uint32_t HealthTable::getPrintSize() {
-	mutex->lockMutex(MutexIF::BLOCKING);
-	uint32_t size = healthMap.size() * 5 + 2;
-	mutex->unlockMutex();
-	return size;
-}
-
 bool HealthTable::hasHealth(object_id_t object) {
-	bool exits = false;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
-		exits = true;
+		return true;
 	}
-	mutex->unlockMutex();
-	return exits;
+	return false;
+}
+
+size_t HealthTable::getPrintSize() {
+    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+    uint32_t size = healthMap.size() * sizeof(object_id_t) +
+            sizeof(HasHealthIF::HealthState) + sizeof(uint16_t);
+    return size;
 }

 void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
-	mutex->lockMutex(MutexIF::BLOCKING);
+    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
-	ReturnValue_t result = SerializeAdapter::serialize(&count,
+	SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
-	HealthMap::iterator iter;
-	for (iter = healthMap.begin();
-			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
-			++iter) {
-		result = SerializeAdapter::serialize(&iter->first,
+	for (const auto& health: healthMap) {
+		SerializeAdapter::serialize(&health.first,
 				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
-		uint8_t health = iter->second;
-		result = SerializeAdapter::serialize(&health, &pointer, &size,
+		uint8_t healthValue = health.second;
+		SerializeAdapter::serialize(&healthValue, &pointer, &size,
 				maxSize, SerializeIF::Endianness::BIG);
 	}
-	mutex->unlockMutex();
 }

-ReturnValue_t HealthTable::iterate(
-		std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
+ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}
@ -94,7 +90,5 @@ ReturnValue_t HealthTable::iterate(
 	}
 	*value = *mapIterator;
 	mapIterator++;
-	mutex->unlockMutex();
-
 	return result;
 }
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@ -1,35 +1,47 @@
-#ifndef HEALTHTABLE_H_
-#define HEALTHTABLE_H_
+#ifndef FSFW_HEALTH_HEALTHTABLE_H_
+#define FSFW_HEALTH_HEALTHTABLE_H_

 #include "HealthTableIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../ipc/MutexIF.h"
 #include <map>

-typedef std::map<object_id_t, HasHealthIF::HealthState> HealthMap;

 class HealthTable: public HealthTableIF, public SystemObject {
 public:
 	HealthTable(object_id_t objectid);
 	virtual ~HealthTable();

-	virtual ReturnValue_t registerObject(object_id_t object,
-			HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY);
+	void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);

-	virtual bool hasHealth(object_id_t object);
-	virtual void setHealth(object_id_t object, HasHealthIF::HealthState newState);
-	virtual HasHealthIF::HealthState getHealth(object_id_t);
+    /** HealthTableIF overrides */
+    virtual ReturnValue_t registerObject(object_id_t object,
+            HasHealthIF::HealthState initilialState =
+            HasHealthIF::HEALTHY) override;
+    virtual size_t getPrintSize() override;
+    virtual void printAll(uint8_t *pointer, size_t maxSize) override;

-	virtual uint32_t getPrintSize();
-	virtual void printAll(uint8_t *pointer, size_t maxSize);
+	/** ManagesHealthIF overrides */
+	virtual bool hasHealth(object_id_t object) override;
+	virtual void setHealth(object_id_t object,
+	        HasHealthIF::HealthState newState) override;
+	virtual HasHealthIF::HealthState getHealth(object_id_t) override;

 protected:
+	using HealthMap = std::map<object_id_t, HasHealthIF::HealthState>;
+	using HealthEntry = std::pair<object_id_t, HasHealthIF::HealthState>;
+
 	MutexIF* mutex;
+	MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+	uint32_t mutexTimeoutMs = 20;
+
 	HealthMap healthMap;

 	HealthMap::iterator mapIterator;

-	virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false);
+	virtual ReturnValue_t iterate(
+	        HealthEntry* value,
+	        bool reset = false) override;
 };

-#endif /* HEALTHTABLE_H_ */
+#endif /* FSFW_HEALTH_HEALTHTABLE_H_ */
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@ -1,26 +1,24 @@
-#ifndef HEALTHTABLEIF_H_
-#define HEALTHTABLEIF_H_
+#ifndef FSFW_HEALTH_HEALTHTABLEIF_H_
+#define FSFW_HEALTH_HEALTHTABLEIF_H_

 #include "ManagesHealthIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <map>
-

 class HealthTableIF: public ManagesHealthIF {
-	friend class HealthCommandingService;
 public:
-	virtual ~HealthTableIF() {
-	}
+	virtual ~HealthTableIF() {}

 	virtual ReturnValue_t registerObject(object_id_t object,
 			HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;

-	virtual uint32_t getPrintSize() = 0;
+	virtual size_t getPrintSize() = 0;
 	virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;

 protected:
-	virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false) = 0;
+	virtual ReturnValue_t iterate(
+	        std::pair<object_id_t,HasHealthIF::HealthState> *value,
+	        bool reset = false) = 0;
 };

-#endif /* HEALTHTABLEIF_H_ */
+#endif /* FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ */
--- a/health/ManagesHealthIF.h
+++ b/health/ManagesHealthIF.h
@ -1,8 +1,9 @@
-#ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
-#define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
+#ifndef FSFW_HEALTH_MANAGESHEALTHIF_H_
+#define FSFW_HEALTH_MANAGESHEALTHIF_H_

 #include "HasHealthIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
+
 class ManagesHealthIF {
 public:
 	virtual ~ManagesHealthIF() {
@ -49,4 +50,4 @@ public:
 	}
 };

-#endif /* FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ */
+#endif /* FSFW_HEALTH_MANAGESHEALTHIF_H_ */
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--- a/logo/FSFW_Logo_V3_bw.png
+++ b/logo/FSFW_Logo_V3_bw.png
--- a/osal/host/QueueFactory.cpp
+++ b/osal/host/QueueFactory.cpp
@ -1,6 +1,11 @@
+
+#include "MessageQueue.h"
+
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../ipc/MessageQueueMessageIF.h"
 #include "../../ipc/QueueFactory.h"
-#include "../../osal/host/MessageQueue.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
+
 #include <cstring>

 QueueFactory* QueueFactory::factoryInstance = nullptr;
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@ -33,7 +33,7 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 	while(1) {
 		//! Sender Address is cached here.
 		struct sockaddr_in senderAddress;
-		socklen_t senderSockLen = 0;
+		socklen_t senderSockLen = sizeof(senderAddress);
 		ssize_t bytesReceived = recvfrom(serverUdpSocket,
 				receptionBuffer.data(), frameSize, receptionFlags,
 				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@ -65,9 +65,13 @@ TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
 ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	int flags = 0;

-	clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
-	//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
-	clientAddressLen = sizeof(serverAddress);
+	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
+
+	if(ipAddrAnySet){
+		clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
+		//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
+		clientAddressLen = sizeof(serverAddress);
+	}

 //	char ipAddress [15];
 //	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
@ -85,7 +89,7 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	return HasReturnvaluesIF::RETURN_OK;
 }

-void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
 	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);

 //	char ipAddress [15];
@ -168,3 +172,7 @@ void TmTcUnixUdpBridge::handleSendError() {
 	}
 }

+void TmTcUnixUdpBridge::setClientAddressToAny(bool ipAddrAnySet){
+	this->ipAddrAnySet = ipAddrAnySet;
+}
+
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@ -20,8 +20,9 @@ public:
 			uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();

-	void checkAndSetClientAddress(sockaddr_in clientAddress);
+	void checkAndSetClientAddress(sockaddr_in& clientAddress);

+	void setClientAddressToAny(bool ipAddrAnySet);
 protected:
 	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;

@ -36,6 +37,8 @@ private:
 	struct sockaddr_in serverAddress;
 	socklen_t serverAddressLen = 0;

+	bool ipAddrAnySet = false;
+
 	//! Access to the client address is mutex protected as it is set
 	//! by another task.
 	MutexIF* mutex;
--- a/osal/rtems/Clock.cpp
+++ b/osal/rtems/Clock.cpp
@ -3,7 +3,7 @@
 #include <rtems/score/todimpl.h>

 uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
+MutexIF* Clock::timeMutex = nullptr;

 uint32_t Clock::getTicksPerSecond(void){
 	rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
@ -40,7 +40,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
 	//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
 	//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
 	//TODO Second parameter is ISR_lock_Context
-	_TOD_Set(&newTime,NULL);
+	_TOD_Set(&newTime,nullptr);
 	return HasReturnvaluesIF::RETURN_OK;
 }

@ -131,7 +131,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {

 ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
 	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
+	if (timeMutex == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

@ -157,40 +157,34 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+	MutexHelper helper(timeMutex);
+

 	leapSeconds = leapSeconds_;

-	result = timeMutex->unlockMutex();
-	return result;
+
+	return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-	if(timeMutex==NULL){
+	if(timeMutex==nullptr){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+	MutexHelper helper(timeMutex);

 	*leapSeconds_ = leapSeconds;

-	result = timeMutex->unlockMutex();
-	return result;
+	return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t Clock::checkOrCreateClockMutex(){
-	if(timeMutex==NULL){
+	if(timeMutex==nullptr){
 		MutexFactory* mutexFactory = MutexFactory::instance();
-		if (mutexFactory == NULL) {
+		if (mutexFactory == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		timeMutex = mutexFactory->createMutex();
-		if (timeMutex == NULL) {
+		if (timeMutex == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@ -158,7 +158,7 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 }

 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
-		int32_t* size, Endianness streamEndianness) {
+		size_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
 			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
--- a/osal/rtems/InternalErrorCodes.cpp
+++ b/osal/rtems/InternalErrorCodes.cpp
@ -12,8 +12,8 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 //		return INVALID_WORKSPACE_ADDRESS;
 	case INTERNAL_ERROR_TOO_LITTLE_WORKSPACE:
 		return TOO_LITTLE_WORKSPACE;
-	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
-		return WORKSPACE_ALLOCATION;
+//	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
+//		return WORKSPACE_ALLOCATION;
 //	case INTERNAL_ERROR_INTERRUPT_STACK_TOO_SMALL:
 //		return INTERRUPT_STACK_TOO_SMALL;
 	case INTERNAL_ERROR_THREAD_EXITTED:
--- a/osal/rtems/Interrupt.cpp
+++ b/osal/rtems/Interrupt.cpp
@ -1,86 +0,0 @@
-#include "Interrupt.h"
-extern "C" {
-#include <bsp_flp/hw_timer/hw_timer.h>
-#include <bsp_flp/hw_uart/hw_uart.h>
-}
-#include "RtemsBasic.h"
-
-
-ReturnValue_t Interrupt::enableInterrupt(InterruptNumber_t interruptNumber) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask | (1 << interruptNumber);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Interrupt::setInterruptServiceRoutine(IsrHandler_t handler,
-		InterruptNumber_t interrupt, IsrHandler_t* oldHandler) {
-	IsrHandler_t oldHandler_local;
-	if (oldHandler == NULL) {
-		oldHandler = &oldHandler_local;
-	}
-	//+ 0x10 comes because of trap type assignment to IRQs in UT699 processor
-	rtems_status_code status = rtems_interrupt_catch(handler, interrupt + 0x10,
-			oldHandler);
-	switch(status){
-	case RTEMS_SUCCESSFUL:
-		//ISR established successfully
-		return HasReturnvaluesIF::RETURN_OK;
-	case RTEMS_INVALID_NUMBER:
-		//illegal vector number
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_INVALID_ADDRESS:
-		//illegal ISR entry point or invalid old_isr_handler
-		return HasReturnvaluesIF::RETURN_FAILED;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-}
-
-ReturnValue_t Interrupt::disableInterrupt(InterruptNumber_t interruptNumber) {
-	//TODO Not implemented
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-//SHOULDDO: Make default values (edge, polarity) settable?
-ReturnValue_t Interrupt::enableGpioInterrupt(InterruptNumber_t interrupt) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask | (1 << interrupt);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		volatile hw_gpio_port_t* ioPorts = hw_gpio_port;
-		ioPorts->direction &= ~(1 << interrupt); //Direction In
-		ioPorts->interrupt_edge |= 1 << interrupt; //Edge triggered
-		ioPorts->interrupt_polarity |= 1 << interrupt; //Trigger on rising edge
-		ioPorts->interrupt_mask |= 1 << interrupt; //Enable
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Interrupt::disableGpioInterrupt(InterruptNumber_t interrupt) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask & ~(1 << interrupt);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		//Disable gpio IRQ
-		volatile hw_gpio_port_t* ioPorts = hw_gpio_port;
-		ioPorts->interrupt_mask &= ~(1 << interrupt);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-bool Interrupt::isInterruptInProgress() {
-	return rtems_interrupt_is_in_progress();
-}
--- a/osal/rtems/Interrupt.h
+++ b/osal/rtems/Interrupt.h
@ -1,50 +0,0 @@
-#ifndef OS_RTEMS_INTERRUPT_H_
-#define OS_RTEMS_INTERRUPT_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include <cstring>
-#include <rtems.h>
-
-typedef rtems_isr_entry IsrHandler_t;
-typedef rtems_isr IsrReturn_t;
-typedef rtems_vector_number InterruptNumber_t;
-
-class Interrupt {
-public:
-	virtual ~Interrupt(){};
-
-	/**
-	 * Establishes a new interrupt service routine.
-	 * @param handler	The service routine to establish
-	 * @param interrupt	The interrupt (NOT trap type) the routine shall react to.
-	 * @return	RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t setInterruptServiceRoutine(IsrHandler_t handler,
-			InterruptNumber_t interrupt, IsrHandler_t *oldHandler = NULL);
-	static ReturnValue_t enableInterrupt(InterruptNumber_t interruptNumber);
-	static ReturnValue_t disableInterrupt(InterruptNumber_t interruptNumber);
-	/**
-	 * Enables the interrupt given.
-	 * The function tests, if the InterruptMask register was written successfully.
-	 * @param interrupt The interrupt to enable.
-	 * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else.
-	 */
-	static ReturnValue_t enableGpioInterrupt(InterruptNumber_t interrupt);
-	/**
-	 * Disables the interrupt given.
-	 * @param interrupt The interrupt to disable.
-	 * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else.
-	 */
-	static ReturnValue_t disableGpioInterrupt(InterruptNumber_t interrupt);
-
-
-	/**
-	 * Checks if the current executing context is an ISR.
-	 * @return true if handling an interrupt, false else.
-	 */
-	static bool isInterruptInProgress();
-
-};
-
-
-#endif /* OS_RTEMS_INTERRUPT_H_ */
--- a/osal/rtems/MessageQueue.cpp
+++ b/osal/rtems/MessageQueue.cpp
@ -1,14 +1,15 @@
 #include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 #include <cstring>
 MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
-		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(NULL) {
+		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
 	rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
 	rtems_status_code status = rtems_message_queue_create(name, message_depth,
 			max_message_size, 0, &(this->id));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
 				<< name << std::dec << " failed with status:"
 				<< (uint32_t) status << std::endl;
 		this->id = 0;
@ -20,15 +21,15 @@ MessageQueue::~MessageQueue() {
 }

 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }

-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }

-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 	if (this->lastPartner != 0) {
 		return sendMessage(this->lastPartner, message, this->getId());
 	} else {
@ -36,27 +37,29 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 	}
 }

-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	*receivedFrom = this->lastPartner;
 	return status;
 }

-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	size_t size = 0;
 	rtems_status_code status = rtems_message_queue_receive(id,
-			message->getBuffer(), &(message->messageSize),
+			message->getBuffer(),&size,
 			RTEMS_NO_WAIT, 1);
 	if (status == RTEMS_SUCCESSFUL) {
+		message->setMessageSize(size);
 		this->lastPartner = message->getSender();
 		//Check size of incoming message.
-		if (message->messageSize < message->getMinimumMessageSize()) {
+		if (message->getMessageSize() < message->getMinimumMessageSize()) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send something later.
 		//But still, delete packet content.
-		memset(message->getData(), 0, message->MAX_DATA_SIZE);
+		memset(message->getData(), 0, message->getMaximumMessageSize());
 	}
 	return convertReturnCode(status);
 }
@ -79,20 +82,20 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 }

 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {

 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo,
-			message->getBuffer(), message->messageSize);
+			message->getBuffer(), message->getMessageSize());

 	//TODO: Check if we're in ISR.
 	if (result != RTEMS_SUCCESSFUL && !ignoreFault) {
-		if (internalErrorReporter == NULL) {
+		if (internalErrorReporter == nullptr) {
 			internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
 					objects::INTERNAL_ERROR_REPORTER);
 		}
-		if (internalErrorReporter != NULL) {
+		if (internalErrorReporter != nullptr) {
 			internalErrorReporter->queueMessageNotSent();
 		}
 	}
@ -105,7 +108,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 	return returnCode;
 }

-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }
--- a/osal/rtems/MessageQueue.h
+++ b/osal/rtems/MessageQueue.h
@ -1,14 +1,5 @@
-/**
- *	@file	MessageQueue.h
- *
- *  @date	10/02/2012
- *	@author	Bastian Baetz
- *
- *	@brief	This file contains the definition of the MessageQueue class.
- */
-
-#ifndef MESSAGEQUEUE_H_
-#define MESSAGEQUEUE_H_
+#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
+#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_

 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
@ -60,14 +51,14 @@ public:
 	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false );
+			MessageQueueMessageIF* message, bool ignoreFault = false );
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
 	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t sendToDefault( MessageQueueMessage* message );
+	ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using the stored
@ -75,7 +66,7 @@ public:
 	 * 			(i.e. lastPartner is zero), an error code is returned.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t reply( MessageQueueMessage* message );
+	ReturnValue_t reply( MessageQueueMessageIF* message );

 	/**
 	 * @brief	This function reads available messages from the message queue and returns the sender.
@ -84,7 +75,7 @@ public:
 	 * @param message	A pointer to a message in which the received data is stored.
 	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom);

 	/**
@ -95,7 +86,7 @@ public:
 	 * 			message's content is cleared and the function returns immediately.
 	 * @param message	A pointer to a message in which the received data is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message);
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@ -121,7 +112,7 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	The sendToDefault method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
@ -129,7 +120,7 @@ public:
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */
@ -178,4 +169,4 @@ private:
 	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
 };

-#endif /* MESSAGEQUEUE_H_ */
+#endif /* FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ */
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@ -30,7 +30,7 @@ ReturnValue_t MultiObjectTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "ObjectTask::startTask for " << std::hex << this->getId()
+		sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
 	switch(status){
@ -63,8 +63,8 @@ void MultiObjectTask::taskFunctionality() {
 			char nameSpace[8] = { 0 };
 			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
 					nameSpace);
-			error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
-			if (this->deadlineMissedFunc != NULL) {
+			sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}
@ -74,7 +74,7 @@ void MultiObjectTask::taskFunctionality() {
 ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@ -80,7 +80,7 @@ protected:
 	/**
 	 * @brief	The pointer to the deadline-missed function.
 	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
+	 * 			So, each may react individually on a timing failure. The pointer may be nullptr,
 	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
 	 * 			of the periodic task.
 	 */
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@ -10,7 +10,7 @@ Mutex::Mutex() :
 	RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
 			&mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
+		sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
 				<< " failed with " << status << std::endl;
 	}
 }
@ -18,24 +18,25 @@ Mutex::Mutex() :
 Mutex::~Mutex() {
 	rtems_status_code status = rtems_semaphore_delete(mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "Mutex: deletion for id " << mutexId
+		sif::error << "Mutex: deletion for id " << mutexId
 				<< " failed with " << status << std::endl;
 	}
 }

 ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
        TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	rtems_status_code status = RTEMS_INVALID_ID;
 	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
 	}
 	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
 		timeoutMs = RTEMS_NO_TIMEOUT;
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_NO_WAIT, 0);
 	}
 	else {
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, timeoutMs);
 	}

--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
-#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#ifndef FSFW_OSAL_RTEMS_MUTEX_H_
+#define FSFW_OSAL_RTEMS_MUTEX_H_

 #include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
@ -15,4 +15,4 @@ private:
 	static uint8_t count;
 };

-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FSFW_OSAL_RTEMS_MUTEX_H_ */
--- a/osal/rtems/MutexFactory.cpp
+++ b/osal/rtems/MutexFactory.cpp
@ -2,7 +2,6 @@
 #include "Mutex.h"
 #include "RtemsBasic.h"

-//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();

 MutexFactory::MutexFactory() {
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@ -1,5 +1,6 @@
-#include "../../devicehandlers/FixedSequenceSlot.h"
+#include "../../tasks/FixedSequenceSlot.h"
 #include "../../objectmanager/SystemObjectIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "PollingTask.h"
 #include "RtemsBasic.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
@ -34,14 +35,14 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
 	PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
-	debug << "Polling task " << originalTask->getId()
+	sif::debug << "Polling task " << originalTask->getId()
 			<< " returned from taskFunctionality." << std::endl;
 }

 void PollingTask::missedDeadlineCounter() {
 	PollingTask::deadlineMissedCount++;
 	if (PollingTask::deadlineMissedCount % 10 == 0) {
-		error << "PST missed " << PollingTask::deadlineMissedCount
+		sif::error << "PST missed " << PollingTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
 	}
 }
@ -50,7 +51,7 @@ ReturnValue_t PollingTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "PollingTask::startTask for " << std::hex << this->getId()
+		sif::error << "PollingTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
 	switch(status){
@ -68,12 +69,13 @@ ReturnValue_t PollingTask::startTask() {

 ReturnValue_t PollingTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
+	if (object != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}

-	error << "Component " << std::hex << componentId <<
+	sif::error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
@ -90,11 +92,10 @@ ReturnValue_t PollingTask::checkSequence() const {

 void PollingTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	FixedSlotSequence::SlotListIter it = pst.current;

 	//The start time for the first entry is read.
-	rtems_interval interval = RtemsBasic::convertMsToTicks(
-			(*it)->pollingTimeMs);
+	rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
 	TaskBase::setAndStartPeriod(interval,&periodId);
 	//The task's "infinite" inner loop is entered.
 	while (1) {
@ -107,7 +108,7 @@ void PollingTask::taskFunctionality() {
 			//If the deadline was missed, the deadlineMissedFunc is called.
 			rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
 			if (status == RTEMS_TIMEOUT) {
-				if (this->deadlineMissedFunc != NULL) {
+				if (this->deadlineMissedFunc != nullptr) {
 					this->deadlineMissedFunc();
 				}
 			}
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@ -1,7 +1,7 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
+#define FSFW_OSAL_RTEMS_POLLINGTASK_H_

-#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "TaskBase.h"

@ -82,4 +82,4 @@ protected:
 	void taskFunctionality( void );
 };

-#endif /* POLLINGTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */
--- a/osal/rtems/QueueFactory.cpp
+++ b/osal/rtems/QueueFactory.cpp
@ -1,16 +1,17 @@
 #include "../../ipc/QueueFactory.h"
+#include "../../ipc/MessageQueueSenderIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"

-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;


 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,bool ignoreFault) {
 	//TODO add ignoreFault functionality
 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo, message->getBuffer(),
-			message->messageSize);
+			message->getMessageSize());
 	switch(result){
 	case RTEMS_SUCCESSFUL:
 			//message sent successfully
@ -37,7 +38,7 @@ ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
 }

 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
--- a/osal/rtems/RtemsBasic.h
+++ b/osal/rtems/RtemsBasic.h
@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_RTEMSBASIC_H_
-#define OS_RTEMS_RTEMSBASIC_H_
+#ifndef FSFW_OSAL_RTEMS_RTEMSBASIC_H_
+#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_

 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include <rtems.h>
@ -22,4 +22,4 @@ public:
 	}
 };

-#endif /* OS_RTEMS_RTEMSBASIC_H_ */
+#endif /* FSFW_OSAL_RTEMS_RTEMSBASIC_H_ */
--- a/osal/rtems/TaskBase.cpp
+++ b/osal/rtems/TaskBase.cpp
@ -22,7 +22,7 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 	}
 	ReturnValue_t result = convertReturnCode(status);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		error << "TaskBase::TaskBase: createTask with name " << std::hex
+		sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
 				<< osalName << std::dec << " failed with return code "
 				<< (uint32_t) status << std::endl;
 		this->id = 0;
--- a/osal/rtems/TaskBase.h
+++ b/osal/rtems/TaskBase.h
@ -1,5 +1,5 @@
-#ifndef TASKBASE_H_
-#define TASKBASE_H_
+#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_
+#define FSFW_OSAL_RTEMS_TASKBASE_H_

 #include "RtemsBasic.h"
 #include "../../tasks/PeriodicTaskIF.h"
@ -44,4 +44,4 @@ private:
 };


-#endif /* TASKBASE_H_ */
+#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */
--- a/osal/windows/TcWinUdpPollingTask.cpp
+++ b/osal/windows/TcWinUdpPollingTask.cpp
@ -0,0 +1,148 @@
+#include "TcWinUdpPollingTask.h"
+#include "../../globalfunctions/arrayprinter.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+#include <winsock2.h>
+#include <windows.h>
+
+TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
+		object_id_t tmtcUnixUdpBridge, size_t frameSize,
+		double timeoutSeconds): SystemObject(objectId),
+		tmtcBridgeId(tmtcUnixUdpBridge) {
+	if(frameSize > 0) {
+		this->frameSize = frameSize;
+	}
+	else {
+		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
+	}
+
+	// Set up reception buffer with specified frame size.
+	// For now, it is assumed that only one frame is held in the buffer!
+	receptionBuffer.reserve(this->frameSize);
+	receptionBuffer.resize(this->frameSize);
+
+	if(timeoutSeconds == -1) {
+		receptionTimeout = DEFAULT_TIMEOUT;
+	}
+	else {
+		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
+	}
+}
+
+TcWinUdpPollingTask::~TcWinUdpPollingTask() {}
+
+ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
+	// Poll for new UDP datagrams in permanent loop.
+	while(true) {
+		//! Sender Address is cached here.
+		struct sockaddr_in senderAddress;
+		int senderAddressSize = sizeof(senderAddress);
+		ssize_t bytesReceived = recvfrom(serverUdpSocket,
+				reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
+				receptionFlags, reinterpret_cast<sockaddr*>(&senderAddress),
+				&senderAddressSize);
+		if(bytesReceived == SOCKET_ERROR) {
+			// handle error
+			sif::error << "TcWinUdpPollingTask::performOperation: Reception"
+					" error." << std::endl;
+			handleReadError();
+			continue;
+		}
+		//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
+		//		<< " bytes received" << std::endl;
+
+		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
+		if(result != HasReturnvaluesIF::RETURN_FAILED) {
+
+		}
+		tmtcBridge->registerCommConnect();
+		tmtcBridge->checkAndSetClientAddress(senderAddress);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
+	store_address_t storeId;
+	ReturnValue_t result = tcStore->addData(&storeId,
+			receptionBuffer.data(), bytesRead);
+	// arrayprinter::print(receptionBuffer.data(), bytesRead);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
+				"storage failed" << std::endl;
+		sif::error << "Packet size: " << bytesRead << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	TmTcMessage message(storeId);
+
+	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Serial Polling: Sending message to queue failed"
+				<< std::endl;
+		tcStore->deleteData(storeId);
+	}
+	return result;
+}
+
+ReturnValue_t TcWinUdpPollingTask::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	if (tcStore == nullptr) {
+		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
+	if(tmtcBridge == nullptr) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
+				" TMTC bridge object!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	serverUdpSocket = tmtcBridge->serverSocket;
+	//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
+	//        << serverUdpSocket << std::endl;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() {
+	// Initialize the destination after task creation. This ensures
+	// that the destination has already been set in the TMTC bridge.
+	targetTcDestination = tmtcBridge->getRequestQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
+	DWORD timeoutMs = timeoutSeconds * 1000.0;
+	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+			reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
+	if(result == -1) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+				"receive timeout failed with " << strerror(errno) << std::endl;
+	}
+}
+
+void TcWinUdpPollingTask::handleReadError() {
+    int error = WSAGetLastError();
+    switch(error) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    case(WSAEFAULT): {
+        sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: "
+                << "Bad address " << std::endl;
+        break;
+    }
+    default: {
+        sif::info << "TmTcWinUdpBridge::handleReadError: Error code: "
+                << error << std::endl;
+        break;
+    }
+    }
+    // to prevent spam.
+    Sleep(1000);
+}
--- a/osal/windows/TcWinUdpPollingTask.h
+++ b/osal/windows/TcWinUdpPollingTask.h
@ -0,0 +1,67 @@
+#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
+#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
+
+#include "TmTcWinUdpBridge.h"
+#include "../../objectmanager/SystemObject.h"
+#include "../../tasks/ExecutableObjectIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+
+#include <vector>
+
+/**
+ * @brief 	This class can be used to implement the polling of a Unix socket,
+ * 			using UDP for now.
+ * @details
+ * The task will be blocked while the specified number of bytes has not been
+ * received, so TC reception is handled inside a separate task.
+ * This class caches the IP address of the sender. It is assumed there
+ * is only one sender for now.
+ */
+class TcWinUdpPollingTask: public SystemObject,
+		public ExecutableObjectIF {
+	friend class TmTcWinUdpBridge;
+public:
+	static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
+	//! 0.5  default milliseconds timeout for now.
+	static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
+
+	TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+			size_t frameSize = 0, double timeoutSeconds = -1);
+	virtual~ TcWinUdpPollingTask();
+
+	/**
+	 * Turn on optional timeout for UDP polling. In the default mode,
+	 * the receive function will block until a packet is received.
+	 * @param timeoutSeconds
+	 */
+	void setTimeout(double timeoutSeconds);
+
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual ReturnValue_t initialize() override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+protected:
+	StorageManagerIF* tcStore = nullptr;
+
+private:
+	//! TMTC bridge is cached.
+	object_id_t tmtcBridgeId = objects::NO_OBJECT;
+	TmTcWinUdpBridge* tmtcBridge = nullptr;
+	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
+	//! Reception flags: https://linux.die.net/man/2/recvfrom.
+	int receptionFlags = 0;
+
+	//! Server socket, which is member of TMTC bridge and is assigned in
+	//! constructor
+	SOCKET serverUdpSocket = 0;
+
+	std::vector<uint8_t> receptionBuffer;
+
+	size_t frameSize = 0;
+	timeval receptionTimeout;
+
+	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
+	void handleReadError();
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
--- a/osal/windows/TmTcWinUdpBridge.cpp
+++ b/osal/windows/TmTcWinUdpBridge.cpp
@ -0,0 +1,176 @@
+#include <fsfw/ipc/MutexHelper.h>
+#include "TmTcWinUdpBridge.h"
+
+TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
+        object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
+        uint16_t serverPort, uint16_t clientPort):
+        TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
+    mutex = MutexFactory::instance()->createMutex();
+
+    // Initiates Winsock DLL.
+    WSAData wsaData;
+    WORD wVersionRequested = MAKEWORD(2, 2);
+    int err = WSAStartup(wVersionRequested, &wsaData);
+    if (err != 0) {
+        /* Tell the user that we could not find a usable */
+        /* Winsock DLL.                                  */
+        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:"
+                "WSAStartup failed with error: " << err << std::endl;
+        return;
+    }
+
+    uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
+    if(serverPort != 0xFFFF) {
+        setServerPort = serverPort;
+    }
+
+    uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
+    if(clientPort != 0xFFFF) {
+        setClientPort = clientPort;
+    }
+
+    // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
+    //clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
+    serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+    if(serverSocket == INVALID_SOCKET) {
+        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
+                " UDP socket!" << std::endl;
+        handleSocketError();
+        return;
+    }
+
+    serverAddress.sin_family = AF_INET;
+
+    // Accept packets from any interface. (potentially insecure).
+    serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+    serverAddress.sin_port = htons(setServerPort);
+    serverAddressLen = sizeof(serverAddress);
+    setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR,
+            reinterpret_cast<const char*>(&serverSocketOptions),
+            sizeof(serverSocketOptions));
+
+    clientAddress.sin_family = AF_INET;
+    clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+    clientAddress.sin_port = htons(setClientPort);
+    clientAddressLen = sizeof(clientAddress);
+
+    int result = bind(serverSocket,
+            reinterpret_cast<struct sockaddr*>(&serverAddress),
+            serverAddressLen);
+    if(result != 0) {
+        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
+                "local port " << setServerPort << " to server socket!"
+                << std::endl;
+        handleBindError();
+    }
+}
+
+TmTcWinUdpBridge::~TmTcWinUdpBridge() {
+    WSACleanup();
+}
+
+ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
+    int flags = 0;
+
+    //clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
+    //clientAddressLen = sizeof(serverAddress);
+
+//  char ipAddress [15];
+//  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+//                  &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+
+    ssize_t bytesSent = sendto(serverSocket,
+            reinterpret_cast<const char*>(data), dataLen, flags,
+            reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
+    if(bytesSent == SOCKET_ERROR) {
+        sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed."
+                << std::endl;
+        handleSendError();
+    }
+//  sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
+//          " sent." << std::endl;
+    return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+    MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
+
+//  char ipAddress [15];
+//  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+//          &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+//  sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
+//          &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+
+    // Set new IP address if it has changed.
+    if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+        clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
+        clientAddressLen = sizeof(clientAddress);
+    }
+}
+
+void TmTcWinUdpBridge::handleSocketError() {
+    int errCode = WSAGetLastError();
+    switch(errCode) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    default: {
+        /*
+        https://docs.microsoft.com/en-us/windows/win32/winsock/
+        windows-sockets-error-codes-2
+         */
+        sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: "
+                << errCode << std::endl;
+        break;
+    }
+    }
+}
+
+void TmTcWinUdpBridge::handleBindError() {
+    int errCode = WSAGetLastError();
+    switch(errCode) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    default: {
+        /*
+        https://docs.microsoft.com/en-us/windows/win32/winsock/
+        windows-sockets-error-codes-2
+        */
+        sif::info << "TmTcWinUdpBridge::handleBindError: Error code: "
+                << errCode << std::endl;
+        break;
+    }
+    }
+}
+
+void TmTcWinUdpBridge::handleSendError() {
+    int errCode = WSAGetLastError();
+    switch(errCode) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    case(WSAEADDRNOTAVAIL): {
+        sif::info << "TmTcWinUdpBridge::handleReadError: WSAEADDRNOTAVAIL: "
+                << "Check target address. " << std::endl;
+        break;
+    }
+    default: {
+        /*
+        https://docs.microsoft.com/en-us/windows/win32/winsock/
+        windows-sockets-error-codes-2
+        */
+        sif::info << "TmTcWinUdpBridge::handleSendError: Error code: "
+                << errCode << std::endl;
+        break;
+    }
+    }
+}
+
--- a/osal/windows/TmTcWinUdpBridge.h
+++ b/osal/windows/TmTcWinUdpBridge.h
@ -0,0 +1,49 @@
+#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
+#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
+
+#include "../../tmtcservices/TmTcBridge.h"
+
+#include <winsock2.h>
+#include <windows.h>
+
+class TmTcWinUdpBridge: public TmTcBridge {
+    friend class TcWinUdpPollingTask;
+public:
+    // The ports chosen here should not be used by any other process.
+    static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
+    static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
+
+    TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
+            object_id_t tmStoreId, object_id_t tcStoreId,
+            uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
+    virtual~ TmTcWinUdpBridge();
+
+    void checkAndSetClientAddress(sockaddr_in clientAddress);
+
+protected:
+    virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
+
+private:
+    SOCKET serverSocket = 0;
+
+    const int serverSocketOptions = 0;
+
+    struct sockaddr_in clientAddress;
+    int clientAddressLen = 0;
+
+    struct sockaddr_in serverAddress;
+    int serverAddressLen = 0;
+
+    //! Access to the client address is mutex protected as it is set
+    //! by another task.
+    MutexIF* mutex;
+
+    void handleSocketError();
+    void handleBindError();
+    void handleSendError();
+};
+
+
+
+#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */
+
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@ -1,8 +1,8 @@
-#ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
-#define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
+#ifndef FSFW_RETURNVALUES_HASRETURNVALUESIF_H_
+#define FSFW_RETURNVALUES_HASRETURNVALUESIF_H_

 #include "FwClassIds.h"
-#include <config/returnvalues/classIds.h>
+#include <returnvalues/classIds.h>
 #include <cstdint>

 #define MAKE_RETURN_CODE( number )	((INTERFACE_ID << 8) + (number))
@ -15,9 +15,17 @@ public:
 	static const ReturnValue_t RETURN_FAILED = 1;
 	virtual ~HasReturnvaluesIF() {}

-	static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
-	    return (interfaceId << 8) + number;
+	/**
+	 * It is discouraged to use the input parameters 0,0 and 0,1 as this
+	 * will generate the RETURN_OK and RETURN_FAILED returnvalues.
+	 * @param interfaceId
+	 * @param number
+	 * @return
+	 */
+	static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
+			uint8_t number) {
+	    return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
 	}
 };

-#endif /* FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ */
+#endif /* FSFW_RETURNVALUES_HASRETURNVALUESIF_H_ */
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@ -1,8 +1,9 @@
-#include "../timemanager/CCSDSTime.h"
+#include "CCSDSTime.h"
+
 #include <cstdio>
 #include <cinttypes>
 #include <cmath>
-
+#include <FSFWConfig.h>

 CCSDSTime::CCSDSTime() {
 }
@ -158,15 +159,16 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 // Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
 // Suggestion: use uint16 all the time. This should work on all systems.
-#ifdef NEWLIB_NANO_NO_C99_IO
+#if FSFW_NO_C99_IO == 1
 	uint16_t year;
 	uint16_t month;
 	uint16_t day;
 	uint16_t hour;
 	uint16_t minute;
 	float second;
-	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year,
-				&month, &day, &hour, &minute, &second);
+	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%"
+	        "2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour,
+	        &minute, &second);
 	if (count == 6) {
 		to->year = year;
 		to->month = month;
@ -179,12 +181,13 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}

 	// try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &day,
-			&hour, &minute, &second);
+	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%"
+	        "2" SCNu16 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
-				reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
+				reinterpret_cast<uint8_t *>(&month),
+				reinterpret_cast<uint8_t *>(&tempDay));
 		if (result != RETURN_OK) {
 			return RETURN_FAILED;
 		}
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@ -2,7 +2,7 @@
 #define FRAMEWORK_TIMEMANAGER_CLOCK_H_

 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
 #include "../globalfunctions/timevalOperations.h"

 #include <cstdint>
--- a/timemanager/TimeStamperIF.h
+++ b/timemanager/TimeStamperIF.h
@ -14,8 +14,12 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::TIME_STAMPER_IF;
 	static const ReturnValue_t BAD_TIMESTAMP = MAKE_RETURN_CODE(1);

-	static const uint8_t MISSION_TIMESTAMP_SIZE = 8; //!< This is a mission-specific constant and determines the total size reserved for timestamps.
-	virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize) = 0;
+	//! This is a mission-specific constant and determines the total
+	//! size reserved for timestamps.
+	//! TODO: Default define in FSFWConfig ?
+	static const uint8_t MISSION_TIMESTAMP_SIZE = 8;
+	virtual ReturnValue_t addTimeStamp(uint8_t* buffer,
+	        const uint8_t maxSize) = 0;
 	virtual ~TimeStamperIF() {}
 };

--- a/tmtcpacket/SpacePacketBase.cpp
+++ b/tmtcpacket/SpacePacketBase.cpp
@ -1,6 +1,6 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "SpacePacketBase.h"
-#include <string.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>

 SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
 	this->data = (SpacePacketPointer*) set_address;
@ -14,7 +14,8 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
 	return (this->data->header.packet_id_h & 0b11100000) >> 5;
 }

-void SpacePacketBase::initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
+void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
+		bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
 	//reset header to zero:
 	memset(data,0, sizeof(this->data->header) );
 	//Set TC/TM bit.
@ -81,7 +82,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
 	this->data->header.packet_length_l = ( new_length & 0x00FF );
 }

-uint32_t SpacePacketBase::getFullSize() {
+size_t SpacePacketBase::getFullSize() {
 	//+1 is done because size in packet data length field is: size of data field -1
 	return this->getPacketDataLength() + sizeof(this->data->header) + 1;
 }
--- a/tmtcpacket/SpacePacketBase.h
+++ b/tmtcpacket/SpacePacketBase.h
@ -1,10 +1,11 @@
-#ifndef SPACEPACKETBASE_H_
-#define SPACEPACKETBASE_H_
+#ifndef FSFW_TMTCPACKET_SPACEPACKETBASE_H_
+#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_

 #include "ccsds_header.h"
+#include <cstddef>

 /**
- * \defgroup tmtcpackets Space Packets
+ * @defgroup tmtcpackets Space Packets
 * This is the group, where all classes associated with Telecommand and
 * Telemetry packets belong to.
 * The class hierarchy resembles the dependency between the different standards
@ -81,7 +82,8 @@ public:
 	 */
 	bool isTelecommand( void );

-	void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount = 0);
+	void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
+	        uint16_t apid, uint16_t sequenceCount = 0);
 	/**
 	 * The CCSDS header provides a secondary header flag (the fifth-highest bit),
 	 *  which is checked with this method.
@ -167,10 +169,10 @@ public:
 	 * This method returns the full raw packet size.
 	 * @return	The full size of the packet in bytes.
 	 */
-	uint32_t getFullSize();
+	size_t getFullSize();

 	uint32_t getApidAndSequenceCount() const;

 };

-#endif /* SPACEPACKETBASE_H_ */
+#endif /* FSFW_TMTCPACKET_SPACEPACKETBASE_H_ */
--- a/tmtcpacket/pus/PacketTimestampInterpreterIF.h
+++ b/tmtcpacket/pus/PacketTimestampInterpreterIF.h
@ -7,7 +7,8 @@ class TmPacketMinimal;
 class PacketTimestampInterpreterIF {
 public:
 	virtual ~PacketTimestampInterpreterIF() {}
-	virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet, timeval* timestamp) const = 0;
+	virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet,
+	        timeval* timestamp) const = 0;
 	virtual ReturnValue_t getPacketTimeRaw(TmPacketMinimal* packet, const uint8_t** timePtr, uint32_t* size) const = 0;
 };

--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@ -1,11 +1,14 @@
-#include "../../globalfunctions/CRC.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "TcPacketBase.h"
-#include <string.h>

-TcPacketBase::TcPacketBase(const uint8_t* set_data) :
-		SpacePacketBase(set_data) {
-	tcData = (TcPacketPointer*) set_data;
+#include "../../globalfunctions/CRC.h"
+#include "../../globalfunctions/arrayprinter.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+#include <cstring>
+
+TcPacketBase::TcPacketBase(const uint8_t* setData) :
+		SpacePacketBase(setData) {
+	tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
 }

 TcPacketBase::~TcPacketBase() {
@ -13,28 +16,28 @@ TcPacketBase::~TcPacketBase() {
 }

 uint8_t TcPacketBase::getService() {
-	return tcData->data_field.service_type;
+	return tcData->dataField.service_type;
 }

 uint8_t TcPacketBase::getSubService() {
-	return tcData->data_field.service_subtype;
+	return tcData->dataField.service_subtype;
 }

 uint8_t TcPacketBase::getAcknowledgeFlags() {
-	return tcData->data_field.version_type_ack & 0b00001111;
+	return tcData->dataField.version_type_ack & 0b00001111;
 }

 const uint8_t* TcPacketBase::getApplicationData() const {
-	return &tcData->data;
+	return &tcData->appData;
 }

 uint16_t TcPacketBase::getApplicationDataSize() {
-	return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1;
+	return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
 }

 uint16_t TcPacketBase::getErrorControl() {
 	uint16_t size = getApplicationDataSize() + CRC_SIZE;
-	uint8_t* p_to_buffer = &tcData->data;
+	uint8_t* p_to_buffer = &tcData->appData;
 	return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
 }

@ -42,41 +45,42 @@ void TcPacketBase::setErrorControl() {
 	uint32_t full_size = getFullSize();
 	uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
 	uint32_t size = getApplicationDataSize();
-	(&tcData->data)[size] = (crc & 0XFF00) >> 8;	// CRCH
-	(&tcData->data)[size + 1] = (crc) & 0X00FF; 		// CRCL
+	(&tcData->appData)[size] = (crc & 0XFF00) >> 8;	// CRCH
+	(&tcData->appData)[size + 1] = (crc) & 0X00FF; 		// CRCL
 }

-void TcPacketBase::setData(const uint8_t* p_Data) {
-	SpacePacketBase::setData(p_Data);
-	tcData = (TcPacketPointer*) p_Data;
+void TcPacketBase::setData(const uint8_t* pData) {
+	SpacePacketBase::setData(pData);
+	tcData = (TcPacketPointer*) pData;
 }

 uint8_t TcPacketBase::getSecondaryHeaderFlag() {
-	return (tcData->data_field.version_type_ack & 0b10000000) >> 7;
+	return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
 }

 uint8_t TcPacketBase::getPusVersionNumber() {
-	return (tcData->data_field.version_type_ack & 0b01110000) >> 4;
+	return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
 }

 void TcPacketBase::print() {
-	uint8_t * wholeData = getWholeData();
-	sif::debug << "TcPacket contains: " << std::endl;
-	for (uint8_t count = 0; count < getFullSize(); ++count) {
-		sif::debug << std::hex << (uint16_t) wholeData[count] << " ";
-	}
-	sif::debug << std::dec << std::endl;
+    sif::debug << "TcPacketBase::print: " << std::endl;
+	arrayprinter::print(getWholeData(), getFullSize());
 }

 void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
-		uint8_t ack, uint8_t service, uint8_t subservice) {
+        uint8_t ack, uint8_t service, uint8_t subservice) {
 	initSpacePacketHeader(true, true, apid, sequenceCount);
-	memset(&tcData->data_field, 0, sizeof(tcData->data_field));
-	setPacketDataLength(sizeof(tcData->data_field) + CRC_SIZE);
+	std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
+	setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
 	//Data Field Header:
-	//Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000
-	tcData->data_field.version_type_ack = 0b00010000;
-	tcData->data_field.version_type_ack |= (ack & 0x0F);
-	tcData->data_field.service_type = service;
-	tcData->data_field.service_subtype = subservice;
+	//Set CCSDS_secondary_header_flag to 0 and version number to 001
+	tcData->dataField.version_type_ack = 0b00010000;
+	tcData->dataField.version_type_ack |= (ack & 0x0F);
+	tcData->dataField.service_type = service;
+	tcData->dataField.service_subtype = subservice;
+}
+
+size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
+	return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
+			appDataLen + TcPacketBase::CRC_SIZE;
 }
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@ -1,7 +1,9 @@
-#ifndef TCPACKETBASE_H_
-#define TCPACKETBASE_H_
+#ifndef TMTCPACKET_PUS_TCPACKETBASE_H_
+#define TMTCPACKET_PUS_TCPACKETBASE_H_

 #include "../../tmtcpacket/SpacePacketBase.h"
+#include <cstddef>
+

 /**
 * This struct defines a byte-wise structured PUS TC Data Field Header.
@ -23,14 +25,14 @@ struct PUSTcDataFieldHeader {
 */
 struct TcPacketPointer {
 	CCSDSPrimaryHeader primary;
-	PUSTcDataFieldHeader data_field;
-	uint8_t data;
+	PUSTcDataFieldHeader dataField;
+	uint8_t appData;
 };

 /**
 * This class is the basic data handler for any ECSS PUS Telecommand packet.
 *
- * In addition to \SpacePacketBase, the class provides methods to handle
+ * In addition to #SpacePacketBase, the class provides methods to handle
 * the standardized entries of the PUS TC Packet Data Field Header.
 * It does not contain the packet data itself but a pointer to the
 * data must be set on instantiation. An invalid pointer may cause
@ -39,67 +41,38 @@ struct TcPacketPointer {
 * @ingroup tmtcpackets
 */
 class TcPacketBase : public SpacePacketBase {
-protected:
-	/**
-	 * A pointer to a structure which defines the data structure of
-	 * the packet's data.
-	 *
-	 * To be hardware-safe, all elements are of byte size.
-	 */
-	TcPacketPointer* tcData;
 public:
-	static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) + 2);
-	/**
-	 * With this constant for the acknowledge field responses on all levels are expected.
-	 */
-	static const uint8_t ACK_ALL = 0b1111;
-	/**
-	 * With this constant for the acknowledge field a response on acceptance is expected.
-	 */
-	static const uint8_t ACK_ACCEPTANCE = 0b0001;
-	/**
-	 * With this constant for the acknowledge field a response on start of execution is expected.
-	 */
-	static const uint8_t ACK_START = 0b0010;
-	/**
-	 * With this constant for the acknowledge field responses on execution steps are expected.
-	 */
-	static const uint8_t ACK_STEP = 0b0100;
-	/**
-	 * With this constant for the acknowledge field a response on completion is expected.
-	 */
-	static const uint8_t ACK_COMPLETION = 0b1000;
-	/**
-	 * With this constant for the acknowledge field no responses are expected.
-	 */
-	static const uint8_t ACK_NONE = 0b000;
+	static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
+	        sizeof(PUSTcDataFieldHeader) + 2);
+
+	enum AckField {
+		//! No acknowledgements are expected.
+		ACK_NONE = 0b0000,
+		//! Acknowledgements on acceptance are expected.
+		ACK_ACCEPTANCE = 0b0001,
+		//! Acknowledgements on start are expected.
+		ACK_START = 0b0010,
+		//! Acknowledgements on step are expected.
+		ACK_STEP = 0b0100,
+		//! Acknowledfgement on completion are expected.
+		ACK_COMPLETION = 0b1000
+	};
+
+	static constexpr uint8_t ACK_ALL = ACK_ACCEPTANCE | ACK_START | ACK_STEP |
+			ACK_COMPLETION;
+
 	/**
 	 * This is the default constructor.
 	 * It sets its internal data pointer to the address passed and also
 	 * forwards the data pointer to the parent SpacePacketBase class.
-	 * @param set_address	The position where the packet data lies.
+	 * @param setData	The position where the packet data lies.
 	 */
-	TcPacketBase( const uint8_t* set_data );
+	TcPacketBase( const uint8_t* setData );
 	/**
 	 * This is the empty default destructor.
 	 */
 	virtual ~TcPacketBase();
-	/**
-	 * Initializes the Tc Packet header.
-	 * @param apid APID used.
-	 * @param service	PUS Service
-	 * @param subservice PUS Subservice
-	 * @param packetSubcounter Additional subcounter used.
-	 */
-	/**
-	 * Initializes the Tc Packet header.
-	 * @param apid APID used.
-	 * @param sequenceCount Sequence Count in the primary header.
-	 * @param ack Which acknowledeges are expected from the receiver.
-	 * @param service	PUS Service
-	 * @param subservice PUS Subservice
-	 */
-	void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice);
+
 	/**
 	 * This command returns the CCSDS Secondary Header Flag.
 	 * It shall always be zero for PUS Packets. This is the
@ -166,22 +139,49 @@ public:
 	 * current content of the packet.
 	 */
 	void setErrorControl();
-	/**
-	 * With this method, the packet data pointer can be redirected to another
-	 * location.
-	 *
-	 * This call overwrites the parent's setData method to set both its
-	 * \c tc_data pointer and the parent's \c data pointer.
-	 *
-	 * @param p_data	A pointer to another PUS Telecommand Packet.
-	 */
-	void setData( const uint8_t* p_data );
+
 	/**
 	 * This is a debugging helper method that prints the whole packet content
 	 * to the screen.
 	 */
 	void print();
+	/**
+	 * Calculate full packet length from application data length.
+	 * @param appDataLen
+	 * @return
+	 */
+	static size_t calculateFullPacketLength(size_t appDataLen);
+
+protected:
+    /**
+     * A pointer to a structure which defines the data structure of
+     * the packet's data.
+     *
+     * To be hardware-safe, all elements are of byte size.
+     */
+    TcPacketPointer* tcData;
+
+    /**
+     * Initializes the Tc Packet header.
+     * @param apid APID used.
+     * @param sequenceCount Sequence Count in the primary header.
+     * @param ack Which acknowledeges are expected from the receiver.
+     * @param service   PUS Service
+     * @param subservice PUS Subservice
+     */
+    void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
+            uint8_t service, uint8_t subservice);
+
+    /**
+     * With this method, the packet data pointer can be redirected to another
+     * location.
+     * This call overwrites the parent's setData method to set both its
+     * @c tc_data pointer and the parent's @c data pointer.
+     *
+     * @param p_data    A pointer to another PUS Telecommand Packet.
+     */
+    void setData( const uint8_t* pData );
 };


-#endif /* TCPACKETBASE_H_ */
+#endif /* TMTCPACKET_PUS_TCPACKETBASE_H_ */
--- a/tmtcpacket/pus/TcPacketStored.cpp
+++ b/tmtcpacket/pus/TcPacketStored.cpp
@ -1,37 +1,50 @@
+#include "TcPacketStored.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "TcPacketStored.h"
-#include <string.h>
+
+#include <cstring>
+
+StorageManagerIF* TcPacketStored::store = nullptr;

 TcPacketStored::TcPacketStored(store_address_t setAddress) :
-		TcPacketBase(NULL), storeAddress(setAddress) {
-	this->setStoreAddress(this->storeAddress);
+		TcPacketBase(nullptr), storeAddress(setAddress) {
+	setStoreAddress(storeAddress);
 }

-TcPacketStored::TcPacketStored(uint16_t apid, uint8_t ack, uint8_t service,
-		uint8_t subservice, uint8_t sequence_count, const uint8_t* data,
-		uint32_t size) :
-		TcPacketBase(NULL) {
+TcPacketStored::TcPacketStored(uint16_t apid,  uint8_t service,
+        uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
+		size_t size, uint8_t ack) :
+		TcPacketBase(nullptr) {
 	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (!this->checkAndSetStore()) {
+	if (not this->checkAndSetStore()) {
 		return;
 	}
-	uint8_t* p_data = NULL;
+	uint8_t* pData = nullptr;
 	ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
-			(TC_PACKET_MIN_SIZE + size), &p_data);
+			(TC_PACKET_MIN_SIZE + size), &pData);
 	if (returnValue != this->store->RETURN_OK) {
+		sif::warning << "TcPacketStored: Could not get free element from store!"
+				<< std::endl;
 		return;
 	}
-	this->setData(p_data);
-	initializeTcPacket(apid, sequence_count, ack, service, subservice);
-	memcpy(&tcData->data, data, size);
+	this->setData(pData);
+	initializeTcPacket(apid, sequenceCount, ack, service, subservice);
+	memcpy(&tcData->appData, data, size);
 	this->setPacketDataLength(
 			size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
 	this->setErrorControl();
 }

-TcPacketStored::TcPacketStored() :
-		TcPacketBase(NULL) {
+ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
+		size_t* dataSize) {
+	auto result = this->store->getData(storeAddress, dataPtr, dataSize);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::warning << "TcPacketStored: Could not get data!" << std::endl;
+	}
+	return result;
+}
+
+TcPacketStored::TcPacketStored(): TcPacketBase(nullptr) {
 	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	this->checkAndSetStore();

@ -40,14 +53,14 @@ TcPacketStored::TcPacketStored() :
 ReturnValue_t TcPacketStored::deletePacket() {
 	ReturnValue_t result = this->store->deleteData(this->storeAddress);
 	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	this->setData( NULL);
+	this->setData(nullptr);
 	return result;
 }

 bool TcPacketStored::checkAndSetStore() {
-	if (this->store == NULL) {
+	if (this->store == nullptr) {
 		this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
-		if (this->store == NULL) {
+		if (this->store == nullptr) {
 			sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
 					<< std::endl;
 			return false;
@ -58,17 +71,17 @@ bool TcPacketStored::checkAndSetStore() {

 void TcPacketStored::setStoreAddress(store_address_t setAddress) {
 	this->storeAddress = setAddress;
-	const uint8_t* temp_data = NULL;
+	const uint8_t* tempData = nullptr;
 	size_t temp_size;
 	ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
 	if (this->checkAndSetStore()) {
-		status = this->store->getData(this->storeAddress, &temp_data,
+		status = this->store->getData(this->storeAddress, &tempData,
 				&temp_size);
 	}
 	if (status == StorageManagerIF::RETURN_OK) {
-		this->setData(temp_data);
+		this->setData(tempData);
 	} else {
-		this->setData(NULL);
+		this->setData(nullptr);
 		this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	}
 }
@ -78,7 +91,7 @@ store_address_t TcPacketStored::getStoreAddress() {
 }

 bool TcPacketStored::isSizeCorrect() {
-	const uint8_t* temp_data = NULL;
+	const uint8_t* temp_data = nullptr;
 	size_t temp_size;
 	ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
 			&temp_size);
@ -90,8 +103,6 @@ bool TcPacketStored::isSizeCorrect() {
 	return false;
 }

-StorageManagerIF* TcPacketStored::store = NULL;
-
 TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
 		TcPacketBase(data) {
 	if (getFullSize() != size) {
@ -100,7 +111,7 @@ TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
 	if (this->checkAndSetStore()) {
 		ReturnValue_t status = store->addData(&storeAddress, data, size);
 		if (status != HasReturnvaluesIF::RETURN_OK) {
-			this->setData(NULL);
+			this->setData(nullptr);
 		}
 	}
 }
--- a/tmtcpacket/pus/TcPacketStored.h
+++ b/tmtcpacket/pus/TcPacketStored.h
@ -1,8 +1,8 @@
-#ifndef TCPACKETSTORED_H_
-#define TCPACKETSTORED_H_
+#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
+#define TMTCPACKET_PUS_TCPACKETSTORED_H_

-#include "../../storagemanager/StorageManagerIF.h"
 #include "TcPacketBase.h"
+#include "../../storagemanager/StorageManagerIF.h"

 /**
 *	This class generates a ECSS PUS Telecommand packet within a given
@ -15,26 +15,6 @@
 *	@ingroup tmtcpackets
 */
 class TcPacketStored : public TcPacketBase {
-private:
-	/**
-	 * This is a pointer to the store all instances of the class use.
-	 * If the store is not yet set (i.e. \c store is NULL), every constructor
-	 * call tries to set it and throws an error message in case of failures.
-	 * The default store is objects::TC_STORE.
-	 */
-	static StorageManagerIF* store;
-	/**
-	 * The address where the packet data of the object instance is stored.
-	 */
-	store_address_t storeAddress;
-	/**
-	 * A helper method to check if a store is assigned to the class.
-	 * If not, the method tries to retrieve the store from the global
-	 * ObjectManager.
-	 * @return	@li	\c true if the store is linked or could be created.
-	 * 			@li \c false otherwise.
-	 */
-	bool checkAndSetStore();
 public:
 	/**
 	 * This is a default constructor which does not set the data pointer.
@ -53,18 +33,20 @@ public:
 	 * a new PUS Telecommand Packet is created there.
 	 * Packet Application Data passed in data is copied into the packet.
 	 * @param apid			Sets the packet's APID field.
-	 * @param ack			Set's the packet's Ack field,
-	 * 		which specifies number and size of verification packets returned
-	 * 		for this command.
 	 * @param service		Sets the packet's Service ID field.
-	 * 		This specifies the destination service.
+	 *                      This specifies the destination service.
 	 * @param subservice	Sets the packet's Service Subtype field.
-	 * 		This specifies the destination sub-service.
-	 * @param sequence_count	Sets the packet's Source Sequence Count field.
+	 * 		                This specifies the destination sub-service.
+	 * @param sequence_count Sets the packet's Source Sequence Count field.
 	 * @param data		The data to be copied to the Application Data Field.
 	 * @param size		The amount of data to be copied.
+	 * @param ack           Set's the packet's Ack field, which specifies
+	 *                      number of verification packets returned
+     *                      for this command.
 	 */
-	TcPacketStored( uint16_t apid, uint8_t ack, uint8_t service, uint8_t subservice, uint8_t sequence_count = 0, const uint8_t* data = NULL, uint32_t size = 0 );
+	TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
+			uint8_t sequence_count = 0, const uint8_t* data = nullptr,
+			size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
 	/**
 	 * Another constructor to create a TcPacket from a raw packet stream.
 	 * Takes the data and adds it unchecked to the TcStore.
@ -72,10 +54,19 @@ public:
 	 * @param Size size of the packet.
 	 */
 	TcPacketStored( const uint8_t* data, uint32_t size);
+
+	/**
+	 * Getter function for the raw data.
+	 * @param dataPtr [out] Pointer to the data pointer to set
+	 * @param dataSize [out] Address of size to set.
+	 * @return -@c RETURN_OK if data was retrieved successfully.
+	 */
+	ReturnValue_t getData(const uint8_t ** dataPtr,
+			size_t* dataSize);
 	/**
 	 * This is a getter for the current store address of the packet.
-	 * @return	The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
-	 * 			the packet is not linked.
+	 * @return	The current store address. The (raw) value is
+	 * 			@c StorageManagerIF::INVALID_ADDRESS if the packet is not linked.
 	 */
 	store_address_t getStoreAddress();
 	/**
@ -99,7 +90,28 @@ public:
 	 * 			store or size is incorrect.
 	 */
 	bool isSizeCorrect();
+
+private:
+    /**
+     * This is a pointer to the store all instances of the class use.
+     * If the store is not yet set (i.e. @c store is NULL), every constructor
+     * call tries to set it and throws an error message in case of failures.
+     * The default store is objects::TC_STORE.
+     */
+    static StorageManagerIF* store;
+    /**
+     * The address where the packet data of the object instance is stored.
+     */
+    store_address_t storeAddress;
+    /**
+     * A helper method to check if a store is assigned to the class.
+     * If not, the method tries to retrieve the store from the global
+     * ObjectManager.
+     * @return  @li @c true if the store is linked or could be created.
+     *          @li @c false otherwise.
+     */
+    bool checkAndSetStore();
 };


-#endif /* TCPACKETSTORED_H_ */
+#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */
--- a/tmtcpacket/pus/TmPacketBase.cpp
+++ b/tmtcpacket/pus/TmPacketBase.cpp
@ -1,13 +1,19 @@
+#include "TmPacketBase.h"
+
 #include "../../globalfunctions/CRC.h"
+#include "../../globalfunctions/arrayprinter.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "TmPacketBase.h"
 #include "../../timemanager/CCSDSTime.h"
-#include <string.h>

-TmPacketBase::TmPacketBase(uint8_t* set_data) :
-		SpacePacketBase(set_data) {
-	tm_data = (TmPacketPointer*) set_data;
+#include <cstring>
+
+TimeStamperIF* TmPacketBase::timeStamper = nullptr;
+object_id_t TmPacketBase::timeStamperId = 0;
+
+TmPacketBase::TmPacketBase(uint8_t* setData) :
+		SpacePacketBase(setData) {
+	tmData = reinterpret_cast<TmPacketPointer*>(setData);
 }

 TmPacketBase::~TmPacketBase() {
@ -15,25 +21,25 @@ TmPacketBase::~TmPacketBase() {
 }

 uint8_t TmPacketBase::getService() {
-	return tm_data->data_field.service_type;
+	return tmData->data_field.service_type;
 }

 uint8_t TmPacketBase::getSubService() {
-	return tm_data->data_field.service_subtype;
+	return tmData->data_field.service_subtype;
 }

 uint8_t* TmPacketBase::getSourceData() {
-	return &tm_data->data;
+	return &tmData->data;
 }

 uint16_t TmPacketBase::getSourceDataSize() {
-	return getPacketDataLength() - sizeof(tm_data->data_field)
+	return getPacketDataLength() - sizeof(tmData->data_field)
 			- CRC_SIZE + 1;
 }

 uint16_t TmPacketBase::getErrorControl() {
 	uint32_t size = getSourceDataSize() + CRC_SIZE;
-	uint8_t* p_to_buffer = &tm_data->data;
+	uint8_t* p_to_buffer = &tmData->data;
 	return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
 }

@ -47,16 +53,12 @@ void TmPacketBase::setErrorControl() {

 void TmPacketBase::setData(const uint8_t* p_Data) {
 	SpacePacketBase::setData(p_Data);
-	tm_data = (TmPacketPointer*) p_Data;
+	tmData = (TmPacketPointer*) p_Data;
 }

 void TmPacketBase::print() {
-	/*uint8_t * wholeData = getWholeData();
-	 debug << "TmPacket contains: " << std::endl;
-	 for (uint8_t count = 0; count < getFullSize(); ++count ) {
-	 debug << std::hex << (uint16_t)wholeData[count] << " ";
-	 }
-	 debug << std::dec << std::endl;*/
+	 sif::debug << "TmPacketBase::print: " << std::endl;
+	 arrayprinter::print(getWholeData(), getFullSize());
 }

 bool TmPacketBase::checkAndSetStamper() {
@ -73,32 +75,36 @@ bool TmPacketBase::checkAndSetStamper() {

 ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
 	uint32_t tempSize = 0;
-	return CCSDSTime::convertFromCcsds(timestamp, tm_data->data_field.time,
-			&tempSize, sizeof(tm_data->data_field.time));
+	return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time,
+			&tempSize, sizeof(tmData->data_field.time));
 }

 uint8_t* TmPacketBase::getPacketTimeRaw() const{
-	return tm_data->data_field.time;
+	return tmData->data_field.time;

 }

-void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter) {
+void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service,
+        uint8_t subservice, uint8_t packetSubcounter) {
 	//Set primary header:
 	initSpacePacketHeader(false, true, apid);
 	//Set data Field Header:
 	//First, set to zero.
-	memset(&tm_data->data_field, 0, sizeof(tm_data->data_field));
-	//Set CCSDS_secondary header flag to 0, version number to 001 and ack to 0000
+	memset(&tmData->data_field, 0, sizeof(tmData->data_field));
+
 	// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
-	// The other 4 bits of the first byte are the spacecraft time reference status
-	// To change to PUS-C, set 0b00100000
-	tm_data->data_field.version_type_ack = 0b00010000;
-	tm_data->data_field.service_type = service;
-	tm_data->data_field.service_subtype = subservice;
-	tm_data->data_field.subcounter = packetSubcounter;
+	// The other 4 bits of the first byte are the spacecraft time reference
+	// status. To change to PUS-C, set 0b00100000.
+    // Set CCSDS_secondary header flag to 0, version number to 001 and ack
+    // to 0000
+	tmData->data_field.version_type_ack = 0b00010000;
+	tmData->data_field.service_type = service;
+	tmData->data_field.service_subtype = subservice;
+	tmData->data_field.subcounter = packetSubcounter;
 	//Timestamp packet
 	if (checkAndSetStamper()) {
-		timeStamper->addTimeStamp(tm_data->data_field.time, sizeof(tm_data->data_field.time));
+		timeStamper->addTimeStamp(tmData->data_field.time,
+		        sizeof(tmData->data_field.time));
 	}
 }

@ -106,9 +112,6 @@ void TmPacketBase::setSourceDataSize(uint16_t size) {
 	setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
 }

-uint32_t TmPacketBase::getTimestampSize() const {
-	return sizeof(tm_data->data_field.time);
+size_t TmPacketBase::getTimestampSize() const {
+	return sizeof(tmData->data_field.time);
 }
-
-TimeStamperIF* TmPacketBase::timeStamper = NULL;
-object_id_t TmPacketBase::timeStamperId = 0;
--- a/tmtcpacket/pus/TmPacketBase.h
+++ b/tmtcpacket/pus/TmPacketBase.h
@ -1,8 +1,8 @@
-#ifndef TMPACKETBASE_H_
-#define TMPACKETBASE_H_
+#ifndef TMTCPACKET_PUS_TMPACKETBASE_H_
+#define TMTCPACKET_PUS_TMPACKETBASE_H_

+#include "../SpacePacketBase.h"
 #include "../../timemanager/TimeStamperIF.h"
-#include "../../tmtcpacket/SpacePacketBase.h"
 #include "../../timemanager/Clock.h"
 #include "../../objectmanager/SystemObjectIF.h"

@ -14,7 +14,7 @@ void setStaticFrameworkObjectIds();
 * This struct defines a byte-wise structured PUS TM Data Field Header.
 * Any optional fields in the header must be added or removed here.
 * Currently, no Destination field is present, but an eigth-byte representation
- * for a time tag [TBD].
+ * for a time tag.
 * @ingroup tmtcpackets
 */
 struct PUSTmDataFieldHeader {
@ -40,7 +40,7 @@ struct TmPacketPointer {
 /**
 * This class is the basic data handler for any ECSS PUS Telemetry packet.
 *
- * In addition to \SpacePacketBase, the class provides methods to handle
+ * In addition to #SpacePacketBase, the class provides methods to handle
 * the standardized entries of the PUS TM Packet Data Field Header.
 * It does not contain the packet data itself but a pointer to the
 * data must be set on instantiation. An invalid pointer may cause
@ -54,29 +54,27 @@ public:
 	/**
 	 * This constant defines the minimum size of a valid PUS Telemetry Packet.
 	 */
-	static const uint32_t  TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTmDataFieldHeader) + 2); //!< Minimum size of a valid PUS Telemetry Packet.
-	static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; //!< Maximum size of a TM Packet in this mission.
-	static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000; //!< First byte of secondary header for PUS-A packets.
+	static const uint32_t  TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
+	        sizeof(PUSTmDataFieldHeader) + 2);
+	//! Maximum size of a TM Packet in this mission.
+	//! TODO: Make this dependant on a config variable.
+	static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
+	//! First byte of secondary header for PUS-A packets.
+	//! TODO: Maybe also support PUS-C via config?
+	static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000;
+
 	/**
 	 * This is the default constructor.
 	 * It sets its internal data pointer to the address passed and also
 	 * forwards the data pointer to the parent SpacePacketBase class.
 	 * @param set_address	The position where the packet data lies.
 	 */
-	TmPacketBase( uint8_t* set_data );
+	TmPacketBase( uint8_t* setData );
 	/**
 	 * This is the empty default destructor.
 	 */
 	virtual ~TmPacketBase();
-	/**
-	 * Initializes the Tm Packet header.
-	 * Does set the timestamp (to now), but not the error control field.
-	 * @param apid APID used.
-	 * @param service	PUS Service
-	 * @param subservice PUS Subservice
-	 * @param packetSubcounter Additional subcounter used.
-	 */
-	void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter);
+
 	/**
 	 * This is a getter for the packet's PUS Service ID, which is the second
 	 * byte of the Data Field Header.
@ -106,11 +104,14 @@ public:
 	 */
 	uint16_t getSourceDataSize();

-	/**
-	 * In case data was filled manually (almost never the case).
-	 * @param size Size of source data (without CRC and data filed header!).
-	 */
-	void setSourceDataSize(uint16_t size);
+    /**
+     * With this method, the Error Control Field is updated to match the
+     * current content of the packet. This method is not protected because
+     * a recalculation by the user might be necessary when manipulating fields
+     * like the sequence count.
+     */
+    void setErrorControl();
+
 	/**
 	 * This getter returns the Error Control Field of the packet.
 	 *
@ -120,28 +121,15 @@ public:
 	 * @return	The PUS Error Control
 	 */
 	uint16_t getErrorControl();
-	/**
-	 * With this method, the Error Control Field is updated to match the
-	 * current content of the packet.
-	 */
-	void setErrorControl();
-	/**
-	 * With this method, the packet data pointer can be redirected to another
-	 * location.
-	 *
-	 * This call overwrites the parent's setData method to set both its
-	 * \c tc_data pointer and the parent's \c data pointer.
-	 *
-	 * @param p_data	A pointer to another PUS Telemetry Packet.
-	 */
-	void setData( const uint8_t* p_Data );
+
 	/**
 	 * This is a debugging helper method that prints the whole packet content
 	 * to the screen.
 	 */
 	void print();
 	/**
-	 * Interprets the "time"-field in the secondary header and returns it in timeval format.
+	 * Interprets the "time"-field in the secondary header and returns it in
+	 * timeval format.
 	 * @return Converted timestamp of packet.
 	 */
 	ReturnValue_t getPacketTime(timeval* timestamp) const;
@ -151,7 +139,7 @@ public:
 	 */
 	uint8_t* getPacketTimeRaw() const;

-	uint32_t getTimestampSize() const;
+	size_t getTimestampSize() const;

 protected:
 	/**
@ -160,20 +148,49 @@ protected:
 	 *
 	 * To be hardware-safe, all elements are of byte size.
 	 */
-	TmPacketPointer* tm_data;
+	TmPacketPointer* tmData;
 	/**
 	 * The timeStamper is responsible for adding a timestamp to the packet.
 	 * It is initialized lazy.
 	 */
 	static TimeStamperIF* timeStamper;
+	//! The ID to use when looking for a time stamper.
+	static object_id_t timeStamperId;

-	static object_id_t timeStamperId; //!< The ID to use when looking for a time stamper.
-	/**
-	 * Checks if a time stamper is available and tries to set it if not.
-	 * @return Returns false if setting failed.
-	 */
-	bool checkAndSetStamper();
+    /**
+     * Initializes the Tm Packet header.
+     * Does set the timestamp (to now), but not the error control field.
+     * @param apid APID used.
+     * @param service   PUS Service
+     * @param subservice PUS Subservice
+     * @param packetSubcounter Additional subcounter used.
+     */
+    void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
+            uint8_t packetSubcounter);
+
+    /**
+     * With this method, the packet data pointer can be redirected to another
+     * location.
+     *
+     * This call overwrites the parent's setData method to set both its
+     * @c tc_data pointer and the parent's @c data pointer.
+     *
+     * @param p_data    A pointer to another PUS Telemetry Packet.
+     */
+    void setData( const uint8_t* pData );
+
+    /**
+     * In case data was filled manually (almost never the case).
+     * @param size Size of source data (without CRC and data filed header!).
+     */
+    void setSourceDataSize(uint16_t size);
+
+    /**
+     * Checks if a time stamper is available and tries to set it if not.
+     * @return Returns false if setting failed.
+     */
+    bool checkAndSetStamper();
 };


-#endif /* TMPACKETBASE_H_ */
+#endif /* TMTCPACKET_PUS_TMPACKETBASE_H_ */
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@ -1,11 +1,16 @@
+#include "TmPacketStored.h"
+
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "TmPacketStored.h"
 #include "../../tmtcservices/TmTcMessage.h"
-#include <string.h>
+
+#include <cstring>
+
+StorageManagerIF *TmPacketStored::store = nullptr;
+InternalErrorReporterIF *TmPacketStored::internalErrorReporter = nullptr;

 TmPacketStored::TmPacketStored(store_address_t setAddress) :
-		TmPacketBase(NULL), storeAddress(setAddress) {
+		TmPacketBase(nullptr), storeAddress(setAddress) {
 	setStoreAddress(storeAddress);
 }

@ -14,10 +19,10 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (!checkAndSetStore()) {
+	if (not checkAndSetStore()) {
 		return;
 	}
-	uint8_t *pData = NULL;
+	uint8_t *pData = nullptr;
 	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
 			(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);

@ -38,7 +43,7 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 		SerializeIF *header) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (!checkAndSetStore()) {
+	if (not checkAndSetStore()) {
 		return;
 	}
 	size_t sourceDataSize = 0;
@ -77,29 +82,29 @@ store_address_t TmPacketStored::getStoreAddress() {
 void TmPacketStored::deletePacket() {
 	store->deleteData(storeAddress);
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	setData(NULL);
+	setData(nullptr);
 }

 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
-	const uint8_t* temp_data = NULL;
-	size_t temp_size;
-	if (!checkAndSetStore()) {
+	const uint8_t* tempData = nullptr;
+	size_t tempSize;
+	if (not checkAndSetStore()) {
 		return;
 	}
-	ReturnValue_t status = store->getData(storeAddress, &temp_data, &temp_size);
+	ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize);
 	if (status == StorageManagerIF::RETURN_OK) {
-		setData(temp_data);
+		setData(tempData);
 	} else {
-		setData(NULL);
+		setData(nullptr);
 		storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	}
 }

 bool TmPacketStored::checkAndSetStore() {
-	if (store == NULL) {
+	if (store == nullptr) {
 		store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
-		if (store == NULL) {
+		if (store == nullptr) {
 			sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
 					<< std::endl;
 			return false;
@ -108,12 +113,9 @@ bool TmPacketStored::checkAndSetStore() {
 	return true;
 }

-StorageManagerIF *TmPacketStored::store = NULL;
-InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
-
 ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		MessageQueueId_t sentFrom, bool doErrorReporting) {
-	if (getWholeData() == NULL) {
+	if (getWholeData() == nullptr) {
 		//SHOULDDO: More decent code.
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@ -133,11 +135,11 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 }

 void TmPacketStored::checkAndReportLostTm() {
-	if (internalErrorReporter == NULL) {
+	if (internalErrorReporter == nullptr) {
 		internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
 				objects::INTERNAL_ERROR_REPORTER);
 	}
-	if (internalErrorReporter != NULL) {
+	if (internalErrorReporter != nullptr) {
 		internalErrorReporter->lostTm();
 	}
 }
--- a/tmtcpacket/pus/TmPacketStored.h
+++ b/tmtcpacket/pus/TmPacketStored.h
@ -1,9 +1,10 @@
-#ifndef TMPACKETSTORED_H_
-#define TMPACKETSTORED_H_
+#ifndef TMTCPACKET_PUS_TMPACKETSTORED_H_
+#define TMTCPACKET_PUS_TMPACKETSTORED_H_
+
+#include "TmPacketBase.h"

 #include "../../serialize/SerializeIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "TmPacketBase.h"
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueSenderIF.h"

@ -18,31 +19,6 @@
 *	@ingroup tmtcpackets
 */
 class TmPacketStored : public TmPacketBase {
-private:
-	/**
-	 * This is a pointer to the store all instances of the class use.
-	 * If the store is not yet set (i.e. \c store is NULL), every constructor
-	 * call tries to set it and throws an error message in case of failures.
-	 * The default store is objects::TM_STORE.
-	 */
-	static StorageManagerIF* store;
-
-	static InternalErrorReporterIF *internalErrorReporter;
-
-	/**
-	 * The address where the packet data of the object instance is stored.
-	 */
-	store_address_t storeAddress;
-	/**
-	 * A helper method to check if a store is assigned to the class.
-	 * If not, the method tries to retrieve the store from the global
-	 * ObjectManager.
-	 * @return	@li	\c true if the store is linked or could be created.
-	 * 			@li \c false otherwise.
-	 */
-	bool checkAndSetStore();
-
-	void checkAndReportLostTm();
 public:
 	/**
 	 * This is a default constructor which does not set the data pointer.
@ -52,28 +28,38 @@ public:
 	/**
 	 * With this constructor, new space is allocated in the packet store and
 	 * a new PUS Telemetry Packet is created there.
-	 * Packet Application Data passed in data is copied into the packet. The Application data is
-	 * passed in two parts, first a header, then a data field. This allows building a Telemetry
-	 * Packet from two separate data sources.
+	 * Packet Application Data passed in data is copied into the packet.
+	 * The Application data is passed in two parts, first a header, then a
+	 * data field. This allows building a Telemetry Packet from two separate
+	 * data sources.
 	 * @param apid			Sets the packet's APID field.
 	 * @param service		Sets the packet's Service ID field.
 	 * 		This specifies the source service.
 	 * @param subservice	Sets the packet's Service Subtype field.
 	 * 		This specifies the source sub-service.
 	 * @param packet_counter	Sets the Packet counter field of this packet
-	 * @param data			The payload data to be copied to the Application Data Field
+	 * @param data			The payload data to be copied to the
+	 * 						Application Data Field
 	 * @param size			The amount of data to be copied.
-	 * @param headerData 	The header Data of the Application field; will be copied in front of data
+	 * @param headerData 	The header Data of the Application field,
+	 * 						 will be copied in front of data
 	 * @param headerSize	The size of the headerDataF
 	 */
-	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice, uint8_t packet_counter = 0, const uint8_t* data = NULL, uint32_t size = 0, const uint8_t* headerData = NULL, uint32_t headerSize = 0);
+	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice,
+			uint8_t packet_counter = 0, const uint8_t* data = nullptr,
+			uint32_t size = 0, const uint8_t* headerData = nullptr,
+			uint32_t headerSize = 0);
 	/**
-	 * Another ctor to directly pass structured content and header data to the packet to avoid additional buffers.
+	 * Another ctor to directly pass structured content and header data to the
+	 * packet to avoid additional buffers.
 	 */
-	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice, uint8_t packet_counter, SerializeIF* content, SerializeIF* header = NULL);
+	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice,
+			uint8_t packet_counter, SerializeIF* content,
+			SerializeIF* header = nullptr);
 	/**
 	 * This is a getter for the current store address of the packet.
-	 * @return	The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
+	 * @return	The current store address. The (raw) value is
+	 * 			@c StorageManagerIF::INVALID_ADDRESS if
 	 * 			the packet is not linked.
 	 */
 	store_address_t getStoreAddress();
@ -89,8 +75,34 @@ public:
 	 */
 	void setStoreAddress( store_address_t setAddress );

-	ReturnValue_t sendPacket( MessageQueueId_t destination, MessageQueueId_t sentFrom, bool doErrorReporting = true );
+	ReturnValue_t sendPacket( MessageQueueId_t destination,
+			MessageQueueId_t sentFrom, bool doErrorReporting = true );
+private:
+	/**
+	 * This is a pointer to the store all instances of the class use.
+	 * If the store is not yet set (i.e. @c store is NULL), every constructor
+	 * call tries to set it and throws an error message in case of failures.
+	 * The default store is objects::TM_STORE.
+	 */
+	static StorageManagerIF* store;
+
+	static InternalErrorReporterIF *internalErrorReporter;
+
+	/**
+	 * The address where the packet data of the object instance is stored.
+	 */
+	store_address_t storeAddress;
+	/**
+	 * A helper method to check if a store is assigned to the class.
+	 * If not, the method tries to retrieve the store from the global
+	 * ObjectManager.
+	 * @return	@li	@c true if the store is linked or could be created.
+	 * 			@li @c false otherwise.
+	 */
+	bool checkAndSetStore();
+
+	void checkAndReportLostTm();
 };


-#endif /* TMPACKETSTORED_H_ */
+#endif /* TMTCPACKET_PUS_TMPACKETSTORED_H_ */
--- a/unittest/README.md
+++ b/unittest/README.md
@ -0,0 +1,59 @@
+## FSFW Testing
+This repository contains testing and unit testing components.
+
+[Catch2](https://github.com/catchorg/Catch2) has been used as a framework,
+and these unit tests can only be run on a linux host machine.
+The makefile with default settings creates the unit test binary which can be
+run in the terminal or in eclipse.
+
+### Instructions
+
+To run the fsfw unittests in the project, perform following steps:
+
+1. Copy the testcfg folder  the project root (folder containing the FSFW).
+2. There is a makefile inside the testcfg folder which can be used to have 
+   a starting point to compile the unit tests. Copy that Makefile to the project
+   root
+3. Create a folder named catch2 (can have other name which requires Makefile 
+   adaption) and copy the Catch2 header files there (NOTE: CMake support
+   not enabled yet!)
+   
+### Eclipse CDT settings
+
+The default eclipse terminal has issues displaying the colors used
+when running the unit test binary by catch2. To fix this issue,
+install the ANSI Escape In Console package from the eclipse marketplace.
+
+### GCOV integration
+
+GCOV has been integrated as a code coverage tool.
+It can be enabled by adding `GCOV=1` to the build process as an additional argument.
+Coverage data will be provided in form of .gcno and .gcda files.
+These can be displayed in eclipse by looking
+for a .gcno or .gcda file in the \_obj folder, double-clicking it
+and picking the right source-binary. This will generate 
+information about which lines of a file have run, provided it is open in 
+eclipse.
+
+### LCOV integration
+
+The files generated by GCOV can also be processed by the tool LCOV.
+On ubuntu, the tool can be installed with the following command:
+
+```sh 
+sudo apt-get install lcov
+```` 
+
+After that, the tool can be run by building the unit tests with `GCOV=1`,
+running them at least one time and then executing the `lcov.sh` script.
+
+### Adding unit tests
+
+The catch unit tests are located in unittest/testfw. To add new unit tests,
+add them to the UnitTestCatch.cpp file or add a new source file which
+includes catch.hpp.
+
+For writing basics tests, the [assertion documentation](https://github.com/catchorg/Catch2/blob/master/docs/assertions.md#top)
+or the existing examples are a good guideliens.
+For more advanced tests, refer to the [catch2 documentation](https://github.com/catchorg/Catch2/blob/master/docs/Readme.md#top).
+
--- a/unittest/core/CatchDefinitions.cpp
+++ b/unittest/core/CatchDefinitions.cpp
@ -0,0 +1,11 @@
+#include "CatchDefinitions.h"
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+
+StorageManagerIF* tglob::getIpcStoreHandle() {
+	if(objectManager != nullptr) {
+		return objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	} else {
+		sif::error << "Global object manager uninitialized" << std::endl;
+		return nullptr;
+	}
+}
--- a/unittest/core/CatchDefinitions.h
+++ b/unittest/core/CatchDefinitions.h
@ -0,0 +1,21 @@
+#ifndef FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_
+#define FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_
+
+#include <fsfw/ipc/messageQueueDefinitions.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/storagemanager/StorageManagerIF.h>
+
+namespace retval {
+static constexpr int CATCH_OK = static_cast<int>(HasReturnvaluesIF::RETURN_OK);
+static constexpr int CATCH_FAILED = static_cast<int>(HasReturnvaluesIF::RETURN_FAILED);
+}
+
+namespace tconst {
+	static constexpr MessageQueueId_t testQueueId = 42;
+}
+
+namespace tglob {
+	StorageManagerIF* getIpcStoreHandle();
+}
+
+#endif /* FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_ */
--- a/unittest/core/CatchRunner.cpp
+++ b/unittest/core/CatchRunner.cpp
@ -0,0 +1,31 @@
+/**
+ * @file 	CatchSource.cpp
+ * @brief 	Source file to compile catch framework.
+ * @details	All tests should be written in other files.
+ * For eclipse console output, install ANSI Escape in Console
+ * from the eclipse market place to get colored characters.
+ */
+
+#ifndef NO_UNIT_TEST_FRAMEWORK
+
+#define CATCH_CONFIG_RUNNER
+#include <catch2/catch.hpp>
+
+#if CUSTOM_UNITTEST_RUNNER == 0
+
+extern int customSetup();
+
+int main( int argc, char* argv[] ) {
+    customSetup();
+
+    // Catch internal function call
+    int result = Catch::Session().run( argc, argv );
+
+    // global clean-up
+    return result;
+}
+
+#endif
+
+
+#endif
--- a/unittest/core/CatchSetup.cpp
+++ b/unittest/core/CatchSetup.cpp
@ -0,0 +1,42 @@
+#include "CatchDefinitions.h"
+
+#include <testcfg/cdatapool/dataPoolInit.h>
+#include <testcfg/objects/Factory.h>
+
+
+#ifdef GCOV
+#include <gcov.h>
+#endif
+
+#include "../../objectmanager/ObjectManager.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "../../datapool/DataPool.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+
+/* Global instantiations normally done in main.cpp */
+/* Initialize Data Pool */
+//namespace glob {
+DataPool dataPool(datapool::dataPoolInit);
+//}
+
+
+namespace sif {
+/* Set up output streams */
+ServiceInterfaceStream debug("DEBUG");
+ServiceInterfaceStream info("INFO");
+ServiceInterfaceStream error("ERROR");
+ServiceInterfaceStream warning("WARNING");
+}
+
+/* Global object manager */
+ObjectManagerIF *objectManager;
+
+int customSetup() {
+    // global setup
+    objectManager = new ObjectManager(Factory::produce);
+    objectManager -> initialize();
+    return 0;
+}
+
--- a/unittest/core/core.mk
+++ b/unittest/core/core.mk
@ -0,0 +1,3 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
+
+INCLUDES += $(CURRENTPATH)
--- a/unittest/core/printChar.cpp
+++ b/unittest/core/printChar.cpp
@ -0,0 +1,10 @@
+#include <fsfw/unittest/core/printChar.h>
+#include <cstdio>
+
+void printChar(const char* character, bool errStream) {
+	if(errStream) {
+		std::putc(*character, stderr);
+		return;
+	}
+	std::putc(*character, stdout);
+}
--- a/unittest/core/printChar.h
+++ b/unittest/core/printChar.h
@ -0,0 +1,8 @@
+#ifndef FSFW_UNITTEST_CORE_PRINTCHAR_H_
+#define FSFW_UNITTEST_CORE_PRINTCHAR_H_
+
+
+extern "C" void printChar(const char*, bool errStream);
+
+
+#endif /* FSFW_UNITTEST_CORE_PRINTCHAR_H_ */
--- a/unittest/internal/InternalUnitTester.cpp
+++ b/unittest/internal/InternalUnitTester.cpp
@ -0,0 +1,27 @@
+#include "InternalUnitTester.h"
+#include "UnittDefinitions.h"
+
+#include "osal/IntTestMq.h"
+#include "osal/IntTestSemaphore.h"
+#include "osal/IntTestMutex.h"
+#include "serialize/IntTestSerialization.h"
+
+#include <cstdlib>
+
+InternalUnitTester::InternalUnitTester() {}
+
+InternalUnitTester::~InternalUnitTester() {}
+
+ReturnValue_t InternalUnitTester::performTests() {
+	sif::info << "Running internal unit tests.." << std::endl;
+	testserialize::test_serialization();
+	testmq::testMq();
+	testsemaph::testBinSemaph();
+	testsemaph::testCountingSemaph();
+	testmutex::testMutex();
+	sif::info << "Internal unit tests finished." << std::endl;
+	return RETURN_OK;
+}
+
+
+
--- a/unittest/internal/InternalUnitTester.h
+++ b/unittest/internal/InternalUnitTester.h
@ -0,0 +1,29 @@
+#ifndef FRAMEWORK_TEST_UNITTESTCLASS_H_
+#define FRAMEWORK_TEST_UNITTESTCLASS_H_
+
+#include "UnittDefinitions.h"
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+/**
+ * @brief	Can be used for internal testing, for example for hardware specific
+ * 			tests which can not be run on a host-machine.
+ *
+ * TODO: A lot of ways to improve this class. A way for tests to subscribe
+ * 		 in this central class would be nice. Right now, this is the class
+ * 		 which simply calls all other tests from other files manually.
+ * 		 Maybe there is a better way..
+ */
+class InternalUnitTester: public HasReturnvaluesIF {
+public:
+	InternalUnitTester();
+	virtual~ InternalUnitTester();
+
+	/**
+	 * Some function which calls all other tests
+	 * @return
+	 */
+	virtual ReturnValue_t performTests();
+};
+
+
+#endif /* FRAMEWORK_TEST_UNITTESTCLASS_H_ */
--- a/unittest/internal/UnittDefinitions.cpp
+++ b/unittest/internal/UnittDefinitions.cpp
@ -0,0 +1,7 @@
+#include <fsfw/unittest/internal/UnittDefinitions.h>
+
+ ReturnValue_t unitt::put_error(std::string errorId) {
+	sif::error << "Unit Tester error: Failed at test ID "
+			<< errorId << "\n" << std::flush;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
--- a/unittest/internal/UnittDefinitions.h
+++ b/unittest/internal/UnittDefinitions.h
@ -0,0 +1,33 @@
+#ifndef UNITTEST_INTERNAL_UNITTDEFINITIONS_H_
+#define UNITTEST_INTERNAL_UNITTDEFINITIONS_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include <cstdint>
+#include <cstddef>
+
+namespace tv {
+// POD test values
+static const bool tv_bool = true;
+static const uint8_t tv_uint8   {5};
+static const uint16_t tv_uint16 {283};
+static const uint32_t tv_uint32 {929221};
+static const uint64_t tv_uint64 {2929329429};
+
+static const int8_t tv_int8 {-16};
+static const int16_t tv_int16 {-829};
+static const int32_t tv_int32 {-2312};
+
+static const float tv_float {8.2149214};
+static const float tv_sfloat = {-922.2321321};
+static const double tv_double {9.2132142141e8};
+static const double tv_sdouble {-2.2421e19};
+}
+
+namespace unitt {
+ReturnValue_t put_error(std::string errorId);
+}
+
+
+
+#endif /* UNITTEST_INTERNAL_UNITTDEFINITIONS_H_ */
--- a/unittest/internal/internal.mk
+++ b/unittest/internal/internal.mk
@ -0,0 +1,3 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/osal/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/serialize/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
--- a/Show More
+++ b/Show More