release 0.0.1 of fsfw added as a core

fsfw/osal/FreeRTOS/BinSemaphUsingTask.cpp

@@ -0,0 +1,95 @@
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "Could not retrieve task handle. Please ensure the"
+				"constructor was called inside a task." << std::endl;
+	}
+	xTaskNotifyGive(handle);
+}
+
+BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+    if(timeoutType == TimeoutType::POLLING) {
+        timeout = 0;
+    }
+    else if(timeoutType == TimeoutType::WAITING){
+        timeout = pdMS_TO_TICKS(timeoutMs);
+    }
+    else {
+        timeout = portMAX_DELAY;
+    }
+	return acquireWithTickTimeout(timeoutType, timeout);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
+	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release() {
+	return release(this->handle);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release(
+		TaskHandle_t taskHandle) {
+	if(getSemaphoreCounter(taskHandle) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	BaseType_t returncode = xTaskNotifyGive(taskHandle);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
+	return getSemaphoreCounter(this->handle);
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
+		TaskHandle_t taskHandle) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
+	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}

fsfw/osal/FreeRTOS/BinSemaphUsingTask.h

@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+/**
+ * @brief 	Binary Semaphore implementation using the task notification value.
+ * 			The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ * Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ * and general semaphore documentation.
+ */
+class BinarySemaphoreUsingTask: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphoreUsingTask();
+	//! @brief Default dtor
+	virtual~ BinarySemaphoreUsingTask();
+
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        uint32_t timeoutMs = portMAX_DELAY) override;
+	ReturnValue_t release() override;
+	uint8_t getSemaphoreCounter() const override;
+	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Same as acquire() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	TaskHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

fsfw/osal/FreeRTOS/BinarySemaphore.cpp

@@ -0,0 +1,108 @@
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+BinarySemaphore::BinarySemaphore() {
+	handle = xSemaphoreCreateBinary();
+	if(handle == nullptr) {
+		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
+	}
+	// Initiated semaphore must be given before it can be taken.
+	xSemaphoreGive(handle);
+}
+
+BinarySemaphore::~BinarySemaphore() {
+	vSemaphoreDelete(handle);
+}
+
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+    handle = xSemaphoreCreateBinary();
+    if(handle == nullptr) {
+        sif::error << "Binary semaphore creation failure" << std::endl;
+    }
+    xSemaphoreGive(handle);
+}
+
+BinarySemaphore& BinarySemaphore::operator =(
+        BinarySemaphore&& s) {
+    if(&s != this) {
+        handle = xSemaphoreCreateBinary();
+        if(handle == nullptr) {
+            sif::error << "Binary semaphore creation failure" << std::endl;
+        }
+        xSemaphoreGive(handle);
+    }
+    return *this;
+}
+
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+	if(timeoutType == TimeoutType::POLLING) {
+	    timeout = 0;
+	}
+	else if(timeoutType == TimeoutType::WAITING){
+	    timeout = pdMS_TO_TICKS(timeoutMs);
+	}
+	else {
+	    timeout = portMAX_DELAY;
+	}
+	return acquireWithTickTimeout(timeoutType, timeout);
+}
+
+ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
+        TickType_t timeoutTicks) {
+	if(handle == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+
+	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphore::release() {
+	return release(handle);
+}
+
+ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
+	if (semaphore == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+	BaseType_t returncode = xSemaphoreGive(semaphore);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
+	return uxSemaphoreGetCount(handle);
+}
+
+SemaphoreHandle_t BinarySemaphore::getSemaphore() {
+	return handle;
+}
+
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphore::releaseFromISR(
+		SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
+	if (semaphore == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
+			higherPriorityTaskWoken);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+}

fsfw/osal/FreeRTOS/BinarySemaphore.h

@@ -0,0 +1,107 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+
+/**
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * 			task and ISR. The default semaphore implementation creates a
+ * 			binary semaphore, which can only be taken once.
+ * @details
+ * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
+ *
+ * Please note that if the semaphore implementation is only related to
+ * the synchronization of one task, the new task notifications can be used,
+ * also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
+ * These use the task notification value instead of a queue and are
+ * faster and more efficient.
+ *
+ * @author 	R. Mueller
+ * @ingroup osal
+ */
+class BinarySemaphore: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphore();
+	//! @brief Copy ctor, deleted explicitely.
+	BinarySemaphore(const BinarySemaphore&) = delete;
+	//! @brief Copy assignment, deleted explicitely.
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	//! @brief Move ctor
+	BinarySemaphore (BinarySemaphore &&);
+	//! @brief Move assignment
+	BinarySemaphore & operator=(BinarySemaphore &&);
+	//! @brief Destructor
+	virtual ~BinarySemaphore();
+
+	uint8_t getSemaphoreCounter() const override;
+
+	/**
+	 * Take the binary semaphore.
+	 * If the semaphore has already been taken, the task will be blocked
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
+
+	/**
+	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t  acquireWithTickTimeout(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Release the binary semaphore.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	/**
+	 * Get Handle to the semaphore.
+	 * @return
+	 */
+	SemaphoreHandle_t getSemaphore();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	static ReturnValue_t release(SemaphoreHandle_t semaphore);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch from an ISR should
+	 * then be requested (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	SemaphoreHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

fsfw/osal/FreeRTOS/Clock.cpp

@@ -0,0 +1,196 @@
+#include "../../timemanager/Clock.h"
+#include "../../globalfunctions/timevalOperations.h"
+#include "Timekeeper.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+#include <stdlib.h>
+#include <time.h>
+
+//TODO sanitize input?
+//TODO much of this code can be reused for tick-only systems
+
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = nullptr;
+
+uint32_t Clock::getTicksPerSecond(void) {
+	return 1000;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+
+	timeval time_timeval;
+
+	ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
+	if (result != HasReturnvaluesIF::RETURN_OK){
+		return result;
+	}
+
+	return setClock(&time_timeval);
+}
+
+ReturnValue_t Clock::setClock(const timeval* time) {
+	timeval uptime = getUptime();
+
+	timeval offset = *time - uptime;
+
+	Timekeeper::instance()->setOffset(offset);
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getClock_timeval(timeval* time) {
+	timeval uptime = getUptime();
+
+	timeval offset = Timekeeper::instance()->getOffset();
+
+	*time = offset + uptime;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getUptime(timeval* uptime) {
+	*uptime = getUptime();
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+timeval Clock::getUptime() {
+	TickType_t ticksSinceStart = xTaskGetTickCount();
+	return Timekeeper::ticksToTimeval(ticksSinceStart);
+}
+
+ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
+	timeval uptime = getUptime();
+	*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+	timeval time_timeval;
+	ReturnValue_t result = getClock_timeval(&time_timeval);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	*time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+	timeval time_timeval;
+	ReturnValue_t result = getClock_timeval(&time_timeval);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	struct tm time_tm;
+
+	gmtime_r(&time_timeval.tv_sec,&time_tm);
+
+	time->year = time_tm.tm_year + 1900;
+	time->month = time_tm.tm_mon + 1;
+	time->day = time_tm.tm_mday;
+
+	time->hour = time_tm.tm_hour;
+	time->minute = time_tm.tm_min;
+	time->second = time_tm.tm_sec;
+
+	time->usecond = time_timeval.tv_usec;
+
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
+		timeval* to) {
+	struct tm time_tm;
+
+		time_tm.tm_year = from->year - 1900;
+		time_tm.tm_mon = from->month - 1;
+		time_tm.tm_mday = from->day;
+
+		time_tm.tm_hour = from->hour;
+		time_tm.tm_min = from->minute;
+		time_tm.tm_sec = from->second;
+
+		time_t seconds = mktime(&time_tm);
+
+		to->tv_sec = seconds;
+		to->tv_usec = from->usecond;
+	//Fails in 2038..
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+	*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
+			/ 3600.;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
+	//SHOULDDO: works not for dates in the past (might have less leap seconds)
+	if (timeMutex == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint16_t leapSeconds;
+	ReturnValue_t result = getLeapSeconds(&leapSeconds);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	timeval leapSeconds_timeval = { 0, 0 };
+	leapSeconds_timeval.tv_sec = leapSeconds;
+
+	//initial offset between UTC and TAI
+	timeval UTCtoTAI1972 = { 10, 0 };
+
+	timeval TAItoTT = { 32, 184000 };
+
+	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
+	if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	leapSeconds = leapSeconds_;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
+	if (timeMutex == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	*leapSeconds_ = leapSeconds;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::checkOrCreateClockMutex() {
+	if (timeMutex == NULL) {
+		MutexFactory* mutexFactory = MutexFactory::instance();
+		if (mutexFactory == NULL) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		timeMutex = mutexFactory->createMutex();
+		if (timeMutex == NULL) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}

fsfw/osal/FreeRTOS/CountingSemaphUsingTask.cpp

@@ -0,0 +1,114 @@
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
+		uint8_t initCount): maxCount(maxCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
+				"handle. Please ensure the constructor was called inside a "
+				"task." << std::endl;
+	}
+
+	uint32_t oldNotificationValue;
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
+			&oldNotificationValue);
+	if(oldNotificationValue != 0) {
+		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
+				"current notification value is not 0. Please ensure the "
+				"notification value is not used for other purposes!" << std::endl;
+	}
+	for(int i = 0; i < initCount; i++) {
+		xTaskNotifyGive(handle);
+	}
+}
+
+CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	// If this is not desired, don't call the destructor
+	// (or implement a boolean which disables the reset)
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+    if(timeoutType == TimeoutType::POLLING) {
+        timeout = 0;
+    }
+    else if(timeoutType == TimeoutType::WAITING){
+        timeout = pdMS_TO_TICKS(timeoutMs);
+    }
+    else {
+        timeout = portMAX_DELAY;
+    }
+    return acquireWithTickTimeout(timeoutType, timeout);
+
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
+	// Decrement notfication value without resetting it.
+	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
+	if (getSemaphoreCounter() == oldCount - 1) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release() {
+	if(getSemaphoreCounter() == maxCount) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	return release(handle);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release(
+		TaskHandle_t taskToNotify) {
+	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
+	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}
+
+uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
+	return maxCount;
+}

fsfw/osal/FreeRTOS/CountingSemaphUsingTask.h

@@ -0,0 +1,102 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../tasks/SemaphoreIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+
+/**
+ * @brief 	Couting Semaphore implementation which uses the notification value
+ * 			of the task. The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ *  and general semaphore documentation.
+ */
+class CountingSemaphoreUsingTask: public SemaphoreIF {
+public:
+	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
+	virtual ~CountingSemaphoreUsingTask();
+
+	/**
+	 * Acquire the counting semaphore.
+	 * If no semaphores are available, the task will be blocked
+	 * for a maximum of #timeoutMs or until one is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        uint32_t timeoutMs = portMAX_DELAY) override;
+
+	/**
+	 * Release a semaphore, increasing the number of available counting
+	 * semaphores up to the #maxCount value.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	uint8_t getSemaphoreCounter() const override;
+	/**
+	 * Get the semaphore counter from an ISR.
+	 * @param task
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return
+	 */
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Acquire with a timeout value in ticks
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+			TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	/**
+	 * Release semaphore of task by supplying task handle
+	 * @param taskToNotify
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+	/**
+	 * Release seamphore of a task from an ISR.
+	 * @param taskToNotify
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+			BaseType_t* higherPriorityTaskWoken);
+
+	uint8_t getMaxCount() const;
+
+private:
+	TaskHandle_t handle;
+	const uint8_t maxCount;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

fsfw/osal/FreeRTOS/CountingSemaphore.cpp

@@ -0,0 +1,43 @@
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+#include <freertos/semphr.h>
+
+// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
+// free FreeRTOSConfig.h file.
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = xSemaphoreCreateCounting(maxCount, initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+	return * this;
+}
+
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}

fsfw/osal/FreeRTOS/CountingSemaphore.h

@@ -0,0 +1,34 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+
+/**
+ * @brief 	Counting semaphores, which can be acquire more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

fsfw/osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -0,0 +1,162 @@
+#include "FixedTimeslotTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
+
+FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod overallPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), handle(nullptr), pst(overallPeriod * 1000) {
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
+	// All additional attributes are applied to the object.
+	this->deadlineMissedFunc = setDeadlineMissedFunc;
+}
+
+FixedTimeslotTask::~FixedTimeslotTask() {
+}
+
+void FixedTimeslotTask::taskEntryPoint(void* argument) {
+
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
+	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
+
+	if (not originalTask->started) {
+		vTaskSuspend(NULL);
+	}
+
+	originalTask->taskFunctionality();
+	sif::debug << "Polling task " << originalTask->handle
+			<< " returned from taskFunctionality." << std::endl;
+}
+
+void FixedTimeslotTask::missedDeadlineCounter() {
+	FixedTimeslotTask::deadlineMissedCount++;
+	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+				<< " deadlines." << std::endl;
+	}
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+	started = true;
+
+	// We must not call resume if scheduler is not started yet
+	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+		vTaskResume(handle);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+		uint32_t slotTimeMs, int8_t executionStep) {
+    ExecutableObjectIF* handler =
+            objectManager->get<ExecutableObjectIF>(componentId);
+	if (handler != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	sif::error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+uint32_t FixedTimeslotTask::getPeriodMs() const {
+	return pst.getLengthMs();
+}
+
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
+	return pst.checkSequence();
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
+	auto slotListIter = pst.current;
+
+	pst.intializeSequenceAfterTaskCreation();
+
+	//The start time for the first entry is read.
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
+	TickType_t interval = pdMS_TO_TICKS(intervalMs);
+
+	TickType_t xLastWakeTime;
+	/* The xLastWakeTime variable needs to be initialized with the current tick
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
+	xLastWakeTime = xTaskGetTickCount();
+
+	// wait for first entry's start time
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		//The component for this slot is executed and the next one is chosen.
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        // Get the interval till execution of the next slot.
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+
+	        checkMissedDeadline(xLastWakeTime, interval);
+
+	        // Wait for the interval. This exits immediately if a deadline was
+	        // missed while also updating the last wake time.
+	        vTaskDelayUntil(&xLastWakeTime, interval);
+	    }
+	}
+}
+
+void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
+            handleMissedDeadline();
+        }
+    }
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
+        handleMissedDeadline();
+    }
+}
+
+void FixedTimeslotTask::handleMissedDeadline() {
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+	vTaskDelay(pdMS_TO_TICKS(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+TaskHandle_t FixedTimeslotTask::getTaskHandle() {
+    return handle;
+}

fsfw/osal/FreeRTOS/FixedTimeslotTask.h

@@ -0,0 +1,101 @@
+#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+
+#include "FreeRTOSTaskIF.h"
+#include "../../tasks/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
+public:
+
+	/**
+	 * Keep in mind that you need to call before vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
+	 * @param setPriority Number of priorities specified by
+	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
+	 * @param setStack	Stack size in words (not bytes!).
+	 * Lower limit specified by configMINIMAL_STACK_SIZE
+	 * @param overallPeriod		Period in seconds.
+	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
+	 * @return Pointer to the newly created task.
+	 */
+	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
+			TaskStackSize setStack, TaskPeriod overallPeriod,
+			void (*setDeadlineMissedFunc)());
+
+	/**
+	 * @brief	The destructor of the class.
+	 * @details
+	 * The destructor frees all heap memory that was allocated on thread
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
+	 */
+	virtual ~FixedTimeslotTask(void);
+
+	ReturnValue_t startTask(void);
+	/**
+	 * This static function can be used as #deadlineMissedFunc.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
+	 */
+	static void missedDeadlineCounter();
+	/**
+	 * A helper variable to count missed deadlines.
+	 */
+	static uint32_t deadlineMissedCount;
+
+	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+			int8_t executionStep) override;
+
+	uint32_t getPeriodMs() const override;
+
+	ReturnValue_t checkSequence() const override;
+
+	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
+
+protected:
+	bool started;
+	TaskHandle_t handle;
+
+	FixedSlotSequence pst;
+
+	/**
+	 * @brief	This attribute holds a function pointer that is executed when
+	 *          a deadline was missed.
+	 * @details
+	 * Another function may be announced to determine the actions to perform
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the entry point for a new task.
+	 * @details
+	 * This method starts the task by calling taskFunctionality(), as soon as
+	 * all requirements (task scheduler has started and startTask()
+	 * has been called) are met.
+	 */
+	static void taskEntryPoint(void* argument);
+
+	/**
+	 * @brief	This function holds the main functionality of the thread.
+	 * @details
+	 * Core function holding the main functionality of the task
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
+	 */
+	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
+};
+
+#endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */

fsfw/osal/FreeRTOS/FreeRTOSTaskIF.h

@@ -0,0 +1,13 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+class FreeRTOSTaskIF {
+public:
+	virtual~ FreeRTOSTaskIF() {}
+	virtual TaskHandle_t getTaskHandle() = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */

fsfw/osal/FreeRTOS/MessageQueue.cpp

@@ -0,0 +1,156 @@
+#include "MessageQueue.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+// TODO I guess we should have a way of checking if we are in an ISR and then
+// use the "fromISR" versions of all calls
+// As a first step towards this, introduces system context variable which needs
+// to be switched manually
+// Haven't found function to find system context.
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		maxMessageSize(maxMessageSize) {
+	handle = xQueueCreate(messageDepth, maxMessageSize);
+	if (handle == nullptr) {
+		sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
+	}
+}
+
+MessageQueue::~MessageQueue() {
+	if (handle != nullptr) {
+		vQueueDelete(handle);
+	}
+}
+
+void MessageQueue::switchSystemContext(CallContext callContext) {
+	this->callContext = callContext;
+}
+
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, bool ignoreFault) {
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+	return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+	if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
+		return sendMessageFrom(this->lastPartner, message, this->getId());
+	} else {
+		return NO_REPLY_PARTNER;
+	}
+}
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
+	        callContext);
+}
+
+
+ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
+	if (result != pdPASS) {
+		if (not ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter = objectManager->
+					get<InternalErrorReporterIF>(
+					objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != nullptr) {
+				internalErrorReporter->queueMessageNotSent();
+			}
+		}
+		return MessageQueueIF::FULL;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+		MessageQueueId_t* receivedFrom) {
+	ReturnValue_t status = this->receiveMessage(message);
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
+	return status;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
+			message->getBuffer()), 0);
+	if (result == pdPASS){
+		this->lastPartner = message->getSender();
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return MessageQueueIF::EMPTY;
+	}
+}
+
+MessageQueueId_t MessageQueue::getLastPartner() const {
+	return lastPartner;
+}
+
+ReturnValue_t MessageQueue::flush(uint32_t* count) {
+	//TODO FreeRTOS does not support flushing partially
+	//Is always successful
+	xQueueReset(handle);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getId() const {
+	return reinterpret_cast<MessageQueueId_t>(handle);
+}
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	defaultDestinationSet = true;
+	this->defaultDestination = defaultDestination;
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const {
+	return defaultDestination;
+}
+
+bool MessageQueue::isDefaultDestinationSet() const {
+	return defaultDestinationSet;
+}
+
+
+// static core function to send messages.
+ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+        bool ignoreFault, CallContext callContext) {
+	BaseType_t result = pdFALSE;
+	QueueHandle_t destination = nullptr;
+
+	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
+		return MessageQueueIF::DESTINVATION_INVALID;
+	}
+	else  {
+		destination = reinterpret_cast<QueueHandle_t>(sendTo);
+	}
+
+    message->setSender(sentFrom);
+
+
+    if(callContext == CallContext::TASK) {
+        result = xQueueSendToBack(destination,
+                static_cast<const void*>(message->getBuffer()), 0);
+    }
+    else {
+        /* If the call context is from an interrupt,
+         * request a context switch if a higher priority task
+         * was blocked by the interrupt. */
+        BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+        result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
+                static_cast<const void*>(message->getBuffer()),
+                &xHigherPriorityTaskWoken);
+        if(xHigherPriorityTaskWoken == pdTRUE) {
+            TaskManagement::requestContextSwitch(callContext);
+        }
+    }
+    return handleSendResult(result, ignoreFault);
+}

fsfw/osal/FreeRTOS/MessageQueue.h

@@ -0,0 +1,150 @@
+#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
+#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
+
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessageIF.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#include <fsfw/ipc/MessageQueueMessage.h>
+
+// TODO: this class assumes that MessageQueueId_t is the same size as void*
+// (the FreeRTOS handle type), compiler will catch this but it might be nice
+// to have something checking or even an always working solution
+// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
+
+/**
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
+ *
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
+ */
+class MessageQueue : public MessageQueueIF {
+	friend class MessageQueueSenderIF;
+public:
+	/**
+	 * @brief	The constructor initializes and configures the message queue.
+	 * @details
+	 * By making use of the according operating system call, a message queue
+	 * is created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
+	 */
+	MessageQueue( size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
+	/**
+	 * @brief	The destructor deletes the formerly created message queue.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
+	 */
+	virtual ~MessageQueue();
+
+	/**
+	 * This function is used to switch the call context. This has to be called
+	 * if a message is sent or received from an ISR!
+	 * @param callContext
+	 */
+	void switchSystemContext(CallContext callContext);
+
+	/** MessageQueueIF implementation */
+	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
+
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
+	virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) override;
+
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+
+	ReturnValue_t flush(uint32_t* count) override;
+
+	MessageQueueId_t getLastPartner() const override;
+
+	MessageQueueId_t getId() const override;
+
+	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+
+	MessageQueueId_t getDefaultDestination() const override;
+
+	bool isDefaultDestinationSet() const override;
+
+protected:
+	/**
+	 * @brief 	Implementation to be called from any send Call within
+	 * 			MessageQueue and MessageQueueSenderIF.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 * The OS's return value is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @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.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter  is not incremented
+	 * if queue is full.
+	 * @param context Specify whether call is made from task or from an ISR.
+	 */
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false, CallContext callContext = CallContext::TASK);
+
+	static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
+private:
+	bool defaultDestinationSet = false;
+	QueueHandle_t handle;
+	MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
+	MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
+	const size_t maxMessageSize;
+	//! Stores the current system context
+	CallContext callContext =  CallContext::TASK;
+};
+
+#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */

fsfw/osal/FreeRTOS/Mutex.cpp

@@ -0,0 +1,51 @@
+#include "Mutex.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+Mutex::Mutex() {
+	handle = xSemaphoreCreateMutex();
+	if(handle == nullptr) {
+		sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
+	}
+}
+
+Mutex::~Mutex() {
+	if (handle != nullptr) {
+		vSemaphoreDelete(handle);
+	}
+
+}
+
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+	if (handle == nullptr) {
+		return MutexIF::MUTEX_NOT_FOUND;
+	}
+	// If the timeout type is BLOCKING, this will be the correct value.
+	uint32_t timeout = portMAX_DELAY;
+	if(timeoutType == TimeoutType::POLLING) {
+		timeout = 0;
+	}
+	else if(timeoutType == TimeoutType::WAITING){
+		timeout = pdMS_TO_TICKS(timeoutMs);
+	}
+
+	BaseType_t returncode = xSemaphoreTake(handle, timeout);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return MutexIF::MUTEX_TIMEOUT;
+	}
+}
+
+ReturnValue_t Mutex::unlockMutex() {
+	if (handle == nullptr) {
+		return MutexIF::MUTEX_NOT_FOUND;
+	}
+	BaseType_t returncode = xSemaphoreGive(handle);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
+	}
+}

fsfw/osal/FreeRTOS/Mutex.h

@@ -0,0 +1,29 @@
+#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
+#define FRAMEWORK_FREERTOS_MUTEX_H_
+
+#include "../../ipc/MutexIF.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
+class Mutex : public MutexIF {
+public:
+	Mutex();
+	~Mutex();
+	ReturnValue_t lockMutex(TimeoutType timeoutType,
+	        uint32_t timeoutMs) override;
+	ReturnValue_t unlockMutex() override;
+
+private:
+	SemaphoreHandle_t handle;
+};
+
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */

fsfw/osal/FreeRTOS/MutexFactory.cpp

@@ -0,0 +1,28 @@
+#include "../../ipc/MutexFactory.h"
+
+#include "../FreeRTOS/Mutex.h"
+
+//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? -> one is on heap the other on bss/data
+//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
+MutexFactory* MutexFactory::factoryInstance = NULL;
+
+MutexFactory::MutexFactory() {
+}
+
+MutexFactory::~MutexFactory() {
+}
+
+MutexFactory* MutexFactory::instance() {
+	if (factoryInstance == NULL){
+		factoryInstance = new MutexFactory();
+	}
+	return MutexFactory::factoryInstance;
+}
+
+MutexIF* MutexFactory::createMutex() {
+	return new Mutex();
+}
+
+void MutexFactory::deleteMutex(MutexIF* mutex) {
+	delete mutex;
+}

fsfw/osal/FreeRTOS/PeriodicTask.cpp

@@ -0,0 +1,139 @@
+#include "PeriodicTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		TaskDeadlineMissedFunction deadlineMissedFunc) :
+		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
+		deadlineMissedFunc)
+{
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	BaseType_t status = xTaskCreate(taskEntryPoint, name,
+			stackSize, this, setPriority, &handle);
+	if(status != pdPASS){
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+		        "Status: " << status << std::endl;
+	}
+
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
+
+	if (not originalTask->started) {
+		vTaskSuspend(NULL);
+	}
+
+	originalTask->taskFunctionality();
+	sif::debug << "Polling task " << originalTask->handle
+			<< " returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// We must not call resume if scheduler is not started yet
+	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+		vTaskResume(handle);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	vTaskDelay(pdMS_TO_TICKS(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	TickType_t xLastWakeTime;
+	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
+	
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
+	/* The xLastWakeTime variable needs to be initialized with the current tick
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
+	xLastWakeTime = xTaskGetTickCount();
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		for (auto const& object: objectList) {
+			object->performOperation();
+		}
+
+		checkMissedDeadline(xLastWakeTime, xPeriod);
+
+		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
+            handleMissedDeadline();
+        }
+    }
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
+        handleMissedDeadline();
+    }
+}
+
+TaskHandle_t PeriodicTask::getTaskHandle() {
+    return handle;
+}
+
+void PeriodicTask::handleMissedDeadline() {
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}

fsfw/osal/FreeRTOS/PeriodicTask.h

@@ -0,0 +1,126 @@
+#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_
+#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_
+
+#include "FreeRTOSTaskIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+#include <vector>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
+public:
+	/**
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * @details
+	 * The class is initialized without allocated objects.
+	 * These need to be added with #addComponent.
+	 * @param priority
+	 * Sets the priority of a task. Values depend on freeRTOS configuration,
+	 * high number means high priority.
+	 * @param stack_size
+	 * The stack size reserved by the operating system for the task.
+	 * @param setPeriod
+	 * The length of the period with which the task's
+	 * functionality will be executed. It is expressed in clock ticks.
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall
+	 * be assigned.
+	 */
+	PeriodicTask(TaskName name, TaskPriority setPriority,
+	        TaskStackSize setStack, TaskPeriod setPeriod,
+	        TaskDeadlineMissedFunction deadlineMissedFunc);
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask() override;
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object) override;
+
+	uint32_t getPeriodMs() const override;
+
+	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
+protected:
+	bool started;
+	TaskHandle_t handle;
+
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+	/**
+	 * @brief	The period of the task.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
+	 */
+	TaskPeriod period;
+	/**
+	 * @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, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the function executed in the new task's context.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
+	 * @param	A pointer to the task object itself is passed as argument.
+	 */
+
+	static void taskEntryPoint(void* argument);
+	/**
+	 * @brief	The function containing the actual functionality of the task.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
+};
+
+#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */

fsfw/osal/FreeRTOS/QueueFactory.cpp

@@ -0,0 +1,37 @@
+#include "MessageQueue.h"
+
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../ipc/QueueFactory.h"
+
+
+QueueFactory* QueueFactory::factoryInstance = nullptr;
+
+
+ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
+}
+
+QueueFactory* QueueFactory::instance() {
+	if (factoryInstance == nullptr) {
+		factoryInstance = new QueueFactory;
+	}
+	return factoryInstance;
+}
+
+QueueFactory::QueueFactory() {
+}
+
+QueueFactory::~QueueFactory() {
+}
+
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
+		size_t maxMessageSize) {
+	return new MessageQueue(messageDepth, maxMessageSize);
+}
+
+void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
+	delete queue;
+}

fsfw/osal/FreeRTOS/README.md

@@ -0,0 +1,14 @@
+FreeRTOS Readme
+=
+
+## Main.cpp Notices
+
+### Tasks
+
+A FreeRTOS application needs to start 
+
+> vTaskStartScheduler() 
+
+before creating Tasks.
+Keep this in mind for the mission dependent code!
+This has to be done before the Task Factory is used. 

fsfw/osal/FreeRTOS/SemaphoreFactory.cpp

@@ -0,0 +1,59 @@
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+static const uint32_t USE_REGULAR_SEMAPHORES = 0;
+static const uint32_t USE_TASK_NOTIFICATIONS = 1;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new BinarySemaphore();
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new BinarySemaphoreUsingTask();
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+				"binary semaphore" << std::endl;
+		return new BinarySemaphore();
+	}
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
+		uint8_t initCount, uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new CountingSemaphore(maxCount, initCount);
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new CountingSemaphoreUsingTask(maxCount, initCount);
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+						"binary semaphore" << std::endl;
+		return new CountingSemaphore(maxCount, initCount);
+	}
+
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}

fsfw/osal/FreeRTOS/TaskFactory.cpp

@@ -0,0 +1,55 @@
+#include "../../tasks/TaskFactory.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
+#include "PeriodicTask.h"
+#include "FixedTimeslotTask.h"
+
+
+TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
+
+TaskFactory::~TaskFactory() {
+}
+
+TaskFactory* TaskFactory::instance() {
+	return TaskFactory::factoryInstance;
+}
+/***
+ * Keep in Mind that you need to call before this vTaskStartScheduler()!
+ * High taskPriority_ number means high priority.
+ */
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_, TaskStackSize stackSize_,
+		TaskPeriod period_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_,
+			period_, deadLineMissedFunction_));
+}
+/***
+ * Keep in Mind that you need to call before this vTaskStartScheduler()!
+ */
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_, TaskStackSize stackSize_,
+		TaskPeriod period_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return (FixedTimeslotTaskIF*) (new FixedTimeslotTask(name_, taskPriority_,
+			stackSize_, period_, deadLineMissedFunction_));
+}
+
+ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
+	if (task == NULL) {
+		//delete self
+		vTaskDelete(NULL);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		//TODO not implemented
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t TaskFactory::delayTask(uint32_t delayMs) {
+	vTaskDelay(pdMS_TO_TICKS(delayMs));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+TaskFactory::TaskFactory() {
+}

fsfw/osal/FreeRTOS/TaskManagement.cpp

@@ -0,0 +1,24 @@
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+void TaskManagement::vRequestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void TaskManagement::requestContextSwitch(
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
+		// This function depends on the partmacro.h definition for the specific device
+		vRequestContextSwitchFromISR();
+	} else {
+		vRequestContextSwitchFromTask();
+	}
+}
+
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+	return xTaskGetCurrentTaskHandle();
+}
+
+size_t TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}

fsfw/osal/FreeRTOS/TaskManagement.h

@@ -0,0 +1,64 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+#include <cstdint>
+
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern void vRequestContextSwitchFromISR();
+
+/*!
+ * Used by functions to tell if they are being called from
+ * within an ISR or from a regular task. This is required because FreeRTOS
+ * has different functions for handling semaphores and messages from within
+ * an ISR and task.
+ */
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
+};
+
+
+class TaskManagement {
+public:
+	/**
+	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * 			function calls to request a context switch can be specified.
+	 * This can be used if sending to the queue from an ISR caused a task
+	 * to unblock and a context switch is required.
+	 */
+	static void requestContextSwitch(CallContext callContext);
+
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void vRequestContextSwitchFromTask(void);
+
+	/**
+	 * @return The current task handle
+	 */
+	static TaskHandle_t getCurrentTaskHandle();
+
+	/**
+	 * Get returns the minimum amount of remaining stack space in words
+	 * that was a available to the task since the task started executing.
+	 * Please note that the actual value in bytes depends
+	 * on the stack depth type.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * @return Smallest value of stack remaining since the task was started in
+	 * 		   words.
+	 */
+	static size_t getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

fsfw/osal/FreeRTOS/Timekeeper.cpp

@@ -0,0 +1,41 @@
+#include "Timekeeper.h"
+
+#include "FreeRTOSConfig.h"
+
+Timekeeper * Timekeeper::myinstance = nullptr;
+
+Timekeeper::Timekeeper() : offset( { 0, 0 } ) {}
+
+Timekeeper::~Timekeeper() {}
+
+const timeval& Timekeeper::getOffset() const {
+	return offset;
+}
+
+Timekeeper* Timekeeper::instance() {
+	if (myinstance == nullptr) {
+		myinstance = new Timekeeper();
+	}
+	return myinstance;
+}
+
+void Timekeeper::setOffset(const timeval& offset) {
+	this->offset = offset;
+}
+
+timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
+	timeval uptime;
+	uptime.tv_sec = ticks / configTICK_RATE_HZ;
+
+	//TODO explain, think about overflow
+	uint32_t subsecondTicks = ticks % configTICK_RATE_HZ;
+	uint64_t usecondTicks = subsecondTicks * 1000000;
+
+	uptime.tv_usec = usecondTicks / configTICK_RATE_HZ;
+
+	return uptime;
+}
+
+TickType_t Timekeeper::getTicks() {
+    return xTaskGetTickCount();
+}

fsfw/osal/FreeRTOS/Timekeeper.h

@@ -0,0 +1,40 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
+#define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
+
+#include "../../timemanager/Clock.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+
+/**
+ * A Class to basically store the time difference between uptime and UTC
+ * so the "time-agnostic" FreeRTOS can keep an UTC Time
+ *
+ * Implemented as Singleton, so the FSFW Clock Implementation (see Clock.cpp)
+ * can use it without having a member.
+ */
+
+class Timekeeper {
+private:
+	Timekeeper();
+
+	timeval offset;
+
+	static Timekeeper * myinstance;
+public:
+	static Timekeeper * instance();
+	virtual ~Timekeeper();
+
+	static timeval ticksToTimeval(TickType_t ticks);
+    /**
+     * Get elapsed time in system ticks.
+     * @return
+     */
+    static TickType_t getTicks();
+
+	const timeval& getOffset() const;
+	void setOffset(const timeval& offset);
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */