fix

CMakeLists.txt

@@ -1,9 +1,7 @@
 add_subdirectory(config)
 add_subdirectory(example)
 
-target_include_directories(${TARGET_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${TARGET_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 
 if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
   add_subdirectory(stm32h7)

cmake/BuildType.cmake

@@ -0,0 +1,45 @@
+function(set_build_type)
+
+message(STATUS "Used build generator: ${CMAKE_GENERATOR}")
+
+# Set a default build type if none was specified
+set(DEFAULT_BUILD_TYPE "RelWithDebInfo")
+if(EXISTS "${CMAKE_SOURCE_DIR}/.git")
+	set(DEFAULT_BUILD_TYPE "Debug")
+endif()
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+	message(STATUS 
+		"Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified."
+	)
+	set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE
+		STRING "Choose the type of build." FORCE
+	)
+	# Set the possible values of build type for cmake-gui
+	set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+		"Debug" "Release" "MinSizeRel" "RelWithDebInfo"
+	)
+endif()
+
+if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
+	message(STATUS 
+		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
+	)
+elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
+	message(STATUS 
+		"Building Release (Debug) application with "
+		"flags: ${CMAKE_C_FLAGS_RELWITHDEBINFO}"
+	)
+elseif(${CMAKE_BUILD_TYPE} MATCHES "MinSizeRel")
+	message(STATUS 
+		"Building Release (Size) application with "
+		"flags: ${CMAKE_C_FLAGS_MINSIZEREL}"
+	)
+else()
+	message(STATUS 
+		"Building Release (Speed) application with "
+		"flags: ${CMAKE_C_FLAGS_RELEASE}"
+	)
+endif()
+
+endfunction()

cmake/common.cmake

@@ -0,0 +1,42 @@
+function(get_common_build_flags TGT_NAME)
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+      set(COMMON_COMPILE_OPTS
+        -ffunction-sections
+        -fdata-sections
+        PARENT_SCOPE)
+      set(COMMON_LINK_OPTS
+        -Wl,--gc-sections
+        -Wl,-Map=${TARGET_NAME}.map
+        PARENT_SCOPE)
+      set(COMMON_WARNING_FLAGS
+        -Wall
+        -Wextra
+        -Wimplicit-fallthrough=1
+        -Wno-unused-parameter
+        -Wno-psabi
+        -Wduplicated-cond # check for duplicate conditions
+        -Wduplicated-branches # check for duplicate branches
+        -Wlogical-op # Search for bitwise operations instead of logical
+        -Wnull-dereference # Search for NULL dereference
+        -Wundef # Warn if undefind marcos are used
+        -Wformat=2 # Format string problem detection
+        -Wformat-overflow=2 # Formatting issues in printf
+        -Wformat-truncation=2 # Formatting issues in printf
+        -Wformat-security # Search for dangerous printf operations
+        -Wstrict-overflow=3 # Warn if integer overflows might happen
+        -Warray-bounds=2 # Some array bounds violations will be found
+        -Wshift-overflow=2 # Search for bit left shift overflows (<c++14)
+        -Wcast-qual # Warn if the constness is cast away
+        -Wstringop-overflow=4
+        # -Wstack-protector # Emits a few false positives for low level access
+        # -Wconversion # Creates many false positives -Warith-conversion # Use
+        # with Wconversion to find more implicit conversions -fanalyzer # Should
+        # be used to look through problems
+        PARENT_SCOPE)
+  elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    add_compile_options(/permissive- /d2SSAOptimizer-)
+    # To avoid nameclashes with min and max macro
+    add_compile_definitions(NOMINMAX)
+  endif()
+
+endfunction()

config/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${TARGET_NAME} PRIVATE
-    commonPollingSequenceFactory.cpp
-)
+target_sources(${TARGET_NAME} PRIVATE commonPollingSequenceFactory.cpp)
 
-target_include_directories(${TARGET_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${TARGET_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})

config/OBSWVersion.h

@@ -2,7 +2,7 @@
 #define COMMON_OBSWVERSION_H_
 
 #define FSFW_EXAMPLE_VERSION 1
-#define FSFW_EXAMPLE_SUBVERSION     4
+#define FSFW_EXAMPLE_SUBVERSION 5
 #define FSFW_EXAMPLE_REVISION 0
 
 #endif /* COMMON_OBSWVERSION_H_ */

config/common/definitions.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include <cstdint>
+
+/**
+ * Enumerations for used PUS service IDs.
+ */
+namespace pus {
+enum ServiceIds : uint8_t {
+  PUS_SERVICE_1 = 1,
+  PUS_SERVICE_2 = 2,
+  PUS_SERVICE_3 = 3,
+  PUS_SERVICE_5 = 5,
+  PUS_SERVICE_8 = 8,
+  PUS_SERVICE_9 = 9,
+  PUS_SERVICE_11 = 11,
+  PUS_SERVICE_17 = 17,
+  PUS_SERVICE_20 = 20,
+  PUS_SERVICE_200 = 200
+};
+}

config/commonClassIds.h

@@ -4,9 +4,9 @@
 #include "fsfw/returnvalues/FwClassIds.h"
 
 namespace CLASS_ID {
-enum commonClassIds: uint8_t {
+enum commonClassIds : uint8_t {
   COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
-    DUMMY_HANDLER, //DDH
+  DUMMY_HANDLER,      // DDH
   COMMON_CLASS_ID_END // [EXPORT] : [END]
 };
 }

config/commonConfig.h.in

@@ -4,11 +4,13 @@
 #ifndef COMMON_COMMONCONFIG_H_
 #define COMMON_COMMONCONFIG_H_
 
-#include <stdint.h>
+#include <cstdint>
+
+#cmakedefine01 OBSW_ADD_FMT_TESTS
 
 //! Specify the debug output verbose level
 #define OBSW_VERBOSE_LEVEL              1
-
+#define OBSW_TCPIP_UDP_WIRETAPPING      0
 #define OBSW_PRINT_MISSED_DEADLINES     0
 
 //! Perform internal unit testd at application startup
@@ -42,24 +44,10 @@ static const uint16_t COMMON_APID = 0xEF;
 
 #ifdef __cplusplus
 
-#include <fsfw/events/fwSubsystemIdRanges.h>
-#include <fsfw/returnvalues/FwClassIds.h>
+namespace cfg {
+
+static constexpr uint32_t OBSW_MAX_SCHEDULED_TCS = @OBSW_MAX_SCHEDULED_TCS@;
 
-/**
- * Enumerations for used PUS service IDs.
- */
-namespace pus {
-enum ServiceIds: uint8_t {
-    PUS_SERVICE_1 = 1,
-    PUS_SERVICE_2 = 2,
-    PUS_SERVICE_3 = 3,
-    PUS_SERVICE_5 = 5,
-    PUS_SERVICE_8 = 8,
-    PUS_SERVICE_9 = 9,
-    PUS_SERVICE_17 = 17,
-    PUS_SERVICE_20 = 20,
-    PUS_SERVICE_200 = 200
-};
 }
 
 #endif /* __cplusplus */

config/commonObjects.h

@@ -0,0 +1,39 @@
+#ifndef COMMON_COMMONSYSTEMOBJECTS_H_
+#define COMMON_COMMONSYSTEMOBJECTS_H_
+
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+#include <cstdint>
+
+namespace objects {
+enum commonObjects : object_id_t {
+
+  /* 0x41 ('A') for Assemblies */
+  TEST_ASSEMBLY = 0x4100CAFE,
+
+  /* 0x43 ('C') for Controllers */
+  TEST_CONTROLLER = 0x4301CAFE,
+
+  /* 0x44 ('D') for Device Handlers */
+  TEST_DEVICE_HANDLER_0 = 0x4401AFFE,
+  TEST_DEVICE_HANDLER_1 = 0x4402AFFE,
+
+  /* 0x49 ('I') for Communication Interfaces */
+  TEST_ECHO_COM_IF = 0x4900AFFE,
+
+  /* 0x63 ('C') for core objects */
+  CCSDS_DISTRIBUTOR = 0x63000000,
+  PUS_DISTRIBUTOR = 0x63000001,
+  TM_FUNNEL = 0x63000002,
+
+  /* 0x74 ('t') for test and example objects  */
+  TEST_TASK = 0x7400CAFE,
+  TEST_DUMMY_1 = 0x74000001,
+  TEST_DUMMY_2 = 0x74000002,
+  TEST_DUMMY_3 = 0x74000003,
+  TEST_DUMMY_4 = 0x74000004,
+  TEST_DUMMY_5 = 0x74000005,
+};
+}
+
+#endif /* COMMON_COMMONSYSTEMOBJECTS_H_ */

config/commonPollingSequenceFactory.cpp

@@ -1,14 +1,12 @@
-#include "pollingsequence/pollingSequenceFactory.h"
-#include "objects/systemObjectList.h"
-
-#include "example/test/FsfwExampleTask.h"
-
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
+#include "example/test/FsfwExampleTask.h"
+#include "objects/systemObjectList.h"
+#include "pollingsequence/pollingSequenceFactory.h"
 
-ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
+ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
 
   thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0,
@@ -34,13 +32,8 @@ ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
 
   if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
     return HasReturnvaluesIF::RETURN_OK;
-    }
-    else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "pst::pollingSequenceInitFunction: Initialization errors!" << std::endl;
-#else
-        sif::printError("pst::pollingSequenceInitFunction: Initialization errors!\n");
-#endif
+  } else {
+    FSFW_LOGE("pst::pollingSequenceInitFunction: Initialization errors\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
@@ -48,36 +41,35 @@ ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
 ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
 
-    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
 
-    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.3, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.3, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.3 * length,
+                        DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.3 * length,
+                        DeviceHandlerIF::SEND_WRITE);
 
   thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.45 * length,
                         DeviceHandlerIF::GET_WRITE);
   thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.45 * length,
                         DeviceHandlerIF::GET_WRITE);
 
-    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.6 * length, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.6 * length, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.6 * length,
+                        DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.6 * length,
+                        DeviceHandlerIF::SEND_READ);
 
-    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.8 * length, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.8 * length, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.8 * length,
+                        DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.8 * length,
+                        DeviceHandlerIF::GET_READ);
 
   if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
     return HasReturnvaluesIF::RETURN_OK;
-    }
-    else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "pst::pollingSequenceTestFunction: Initialization errors!" << std::endl;
-#else
-        sif::printError("pst::pollingSequenceTestFunction: Initialization errors!\n");
-#endif
+  } else {
+    FSFW_LOGE("pst::pollingSequenceTestFunction: Initialization errors\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
-
-
-
-

config/commonSubsystemIds.h

@@ -7,12 +7,11 @@
  * The subsystem IDs will be part of the event IDs used throughout the FSFW.
  */
 namespace SUBSYSTEM_ID {
-enum commonSubsystemId: uint8_t {
+enum commonSubsystemId : uint8_t {
   COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
   TEST_TASK_ID = 105,
   COMMON_SUBSYSTEM_ID_END
 };
 }
 
-
 #endif /* COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_ */

config/commonSystemObjects.h

@@ -1,40 +0,0 @@
-#ifndef COMMON_COMMONSYSTEMOBJECTS_H_
-#define COMMON_COMMONSYSTEMOBJECTS_H_
-
-#include <cstdint>
-#include <fsfw/objectmanager/frameworkObjects.h>
-
-namespace objects {
-enum commonObjects: object_id_t {
-
-	/* 0x41 ('A') for Assemblies */
-	TEST_ASSEMBLY = 0x4100CAFE,
-
-    /* 0x43 ('C') for Controllers */
-    TEST_CONTROLLER = 0x4301CAFE,
-
-    /* 0x44 ('D') for Device Handlers */
-    TEST_DEVICE_HANDLER_0 = 0x4401AFFE,
-    TEST_DEVICE_HANDLER_1 = 0x4402AFFE,
-
-    /* 0x49 ('I') for Communication Interfaces */
-    TEST_ECHO_COM_IF = 0x4900AFFE,
-
-    /* 0x63 ('C') for core objects */
-    CCSDS_DISTRIBUTOR = 0x63000000,
-    PUS_DISTRIBUTOR = 0x63000001,
-    TM_FUNNEL = 0x63000002,
-
-    /* 0x74 ('t') for test and example objects  */
-    TEST_TASK = 0x7400CAFE,
-    TEST_DUMMY_1 = 0x74000001,
-    TEST_DUMMY_2 = 0x74000002,
-    TEST_DUMMY_3= 0x74000003,
-    TEST_DUMMY_4 = 0x74000004,
-    TEST_DUMMY_5 = 0x74000005,
-};
-}
-
-
-
-#endif /* COMMON_COMMONSYSTEMOBJECTS_H_ */

example/controller/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${TARGET_NAME} PRIVATE FsfwTestController.cpp)

example/controller/FsfwTestController.cpp

@@ -0,0 +1,172 @@
+#include "FsfwTestController.h"
+
+#include <fsfw/datapool/PoolReadGuard.h>
+
+FsfwTestController::FsfwTestController(object_id_t objectId,
+                                       object_id_t device0, object_id_t device1,
+                                       uint8_t verboseLevel)
+    : TestController(objectId, objects::NO_OBJECT, 5), device0Id(device0),
+      device1Id(device1), deviceDataset0(device0), deviceDataset1(device1) {}
+
+FsfwTestController::~FsfwTestController() {}
+
+ReturnValue_t
+FsfwTestController::handleCommandMessage(CommandMessage *message) {
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FsfwTestController::initializeLocalDataPool(
+    localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FsfwTestController::performControlOperation() {
+  // We will trace variables if we received an update notification or snapshots
+  if (verboseLevel >= 1) {
+    if (not traceVariable) {
+      return;
+    }
+    switch (currentTraceType) {
+      case (NONE): {
+        break;
+      }
+      case (TRACE_DEV_0_UINT8): {
+        if (traceCounter == 0) {
+          FSFW_LOGI("Tracing finished\n");
+          traceVariable = false;
+          traceCounter = traceCycles;
+          currentTraceType = TraceTypes::NONE;
+          break;
+        }
+        PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
+        FSFW_LOGI("Tracing device 0 variable 0 (UINT8), current value: {}",
+                  static_cast<int>(deviceDataset0.testUint8Var.value));
+        traceCounter--;
+        break;
+      }
+      case (TRACE_DEV_0_VECTOR): {
+        break;
+      }
+    }
+  }
+}
+
+ReturnValue_t FsfwTestController::initializeAfterTaskCreation() {
+  namespace td = testdevice;
+  ReturnValue_t result = TestController::initializeAfterTaskCreation();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  auto* device0 =
+      ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
+  if (device0 == nullptr) {
+    FSFW_LOGW("initializeAfterTaskCreation: Test device handler 0 handle invalid\n");
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  ProvidesDataPoolSubscriptionIF *subscriptionIF =
+      device0->getSubscriptionInterface();
+  if (subscriptionIF != nullptr) {
+    /* For DEVICE_0, we only subscribe for notifications */
+    subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
+                                                 getCommandQueue(), false);
+    subscriptionIF->subscribeForVariableUpdateMessage(
+        td::PoolIds::TEST_UINT8_ID, getObjectId(), getCommandQueue(), false);
+  }
+
+  auto* device1 =
+      ObjectManager::instance()->get<HasLocalDataPoolIF>(deviceDataset0.getCreatorObjectId());
+  if (device1 == nullptr) {
+    FSFW_LOGW("initializeAfterTaskCreation: Test device handler 1 handle invalid\n");
+  }
+
+  subscriptionIF = device1->getSubscriptionInterface();
+  if (subscriptionIF != nullptr) {
+    /* For DEVICE_1, we will subscribe for snapshots */
+    subscriptionIF->subscribeForSetUpdateMessage(td::TEST_SET_ID, getObjectId(),
+                                                 getCommandQueue(), true);
+    subscriptionIF->subscribeForVariableUpdateMessage(
+        td::PoolIds::TEST_UINT8_ID, getObjectId(), getCommandQueue(), true);
+  }
+  return result;
+}
+
+LocalPoolDataSetBase *FsfwTestController::getDataSetHandle(sid_t sid) {
+  return nullptr;
+}
+
+ReturnValue_t FsfwTestController::checkModeCommand(Mode_t mode,
+                                                   Submode_t submode,
+                                                   uint32_t *msToReachTheMode) {
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FsfwTestController::handleChangedDataset(sid_t sid,
+                                              store_address_t storeId,
+                                              bool *clearMessage) {
+  using namespace std;
+
+  if (verboseLevel >= 1) {
+    char const *printout = nullptr;
+    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+      printout = "Notification";
+    } else {
+      printout = "Snapshot";
+    }
+    FSFW_LOGI("handleChangedDataset: {} update from object ID {:#010x} and set ID {}\n", printout,
+              sid.objectId, sid.ownerSetId);
+
+    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+      if (sid.objectId == device0Id) {
+        PoolReadGuard readHelper(&deviceDataset0.testFloat3Vec);
+        float floatVec[3];
+        floatVec[0] = deviceDataset0.testFloat3Vec.value[0];
+        floatVec[1] = deviceDataset0.testFloat3Vec.value[1];
+        floatVec[2] = deviceDataset0.testFloat3Vec.value[2];
+        FSFW_LOGI("Current float vector (3) values: [{},{},{}]\n", floatVec[0], floatVec[1],
+                  floatVec[2]);
+      }
+    }
+  }
+
+  /* We will trace the variables for snapshots and update notifications */
+  if (not traceVariable) {
+    traceVariable = true;
+    traceCounter = traceCycles;
+    currentTraceType = TraceTypes::TRACE_DEV_0_VECTOR;
+  }
+}
+
+void FsfwTestController::handleChangedPoolVariable(gp_id_t globPoolId,
+                                                   store_address_t storeId,
+                                                   bool *clearMessage) {
+  using namespace std;
+
+  if (verboseLevel >= 1) {
+    char const *printout = nullptr;
+    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+      printout = "Notification";
+    } else {
+      printout = "Snapshot";
+    }
+
+    FSFW_LOGI(
+        "TestController::handleChangedPoolVariable: {} update from object "
+        "ID {:#010x} and LPID {}\n",
+        printout, globPoolId.objectId, globPoolId.localPoolId);
+
+    if (storeId == storeId::INVALID_STORE_ADDRESS) {
+      if (globPoolId.objectId == device0Id) {
+        PoolReadGuard readHelper(&deviceDataset0.testUint8Var);
+        FSFW_LOGI("Current test variable 0 (UINT8) value: {}",
+                  static_cast<int>(deviceDataset0.testUint8Var.value));
+      }
+    }
+  }
+
+  /* We will trace the variables for snapshots and update notifications */
+  if (not traceVariable) {
+    traceVariable = true;
+    traceCounter = traceCycles;
+    currentTraceType = TraceTypes::TRACE_DEV_0_UINT8;
+  }
+}

example/controller/FsfwTestController.h

@@ -0,0 +1,46 @@
+#ifndef EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_
+#define EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_
+
+#include "fsfw/controller/ExtendedControllerBase.h"
+#include "fsfw_tests/integration/controller/TestController.h"
+
+class FsfwTestController : public TestController {
+public:
+  FsfwTestController(object_id_t objectId, object_id_t device0,
+                     object_id_t device1, uint8_t verboseLevel = 0);
+  virtual ~FsfwTestController();
+  ReturnValue_t handleCommandMessage(CommandMessage *message) override;
+
+  /**
+   * Periodic helper from ControllerBase, implemented by child class.
+   */
+  void performControlOperation() override;
+
+private:
+  object_id_t device0Id;
+  object_id_t device1Id;
+  testdevice::TestDataSet deviceDataset0;
+  testdevice::TestDataSet deviceDataset1;
+
+  uint8_t verboseLevel = 0;
+  bool traceVariable = false;
+  uint8_t traceCycles = 5;
+  uint8_t traceCounter = traceCycles;
+
+  enum TraceTypes { NONE, TRACE_DEV_0_UINT8, TRACE_DEV_0_VECTOR };
+  TraceTypes currentTraceType = TraceTypes::NONE;
+
+  ReturnValue_t initializeAfterTaskCreation() override;
+  void handleChangedDataset(sid_t sid, store_address_t storeId,
+                            bool *clearMessage) override;
+  void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
+                                 bool *clearMessage) override;
+  ReturnValue_t
+  initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                          LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t *msToReachTheMode) override;
+};
+
+#endif /* EXAMPLE_COMMON_EXAMPLE_CONTROLLER_FSFWTESTCONTROLLER_H_ */

example/core/CMakeLists.txt

@@ -1,4 +1 @@
-target_sources(${TARGET_NAME} 
-	PRIVATE
-		GenericFactory.cpp
-)
+target_sources(${TARGET_NAME} PRIVATE GenericFactory.cpp)

example/core/GenericFactory.cpp

@@ -1,27 +1,17 @@
 #include "GenericFactory.h"
 
 #include "OBSWConfig.h"
-#include "fsfw/FSFW.h"
-#include "tmtc/apid.h"
-#include "tmtc/pusIds.h"
-#include "objects/systemObjectList.h"
-
-#include "example/utility/TmFunnel.h"
+#include "common/definitions.h"
 #include "example/test/FsfwExampleTask.h"
 #include "example/test/FsfwReaderTask.h"
-
-#include "fsfw_tests/internal/InternalUnitTester.h"
-#include "fsfw_tests/integration/assemblies/TestAssembly.h"
-#include "fsfw_tests/integration/devices/TestCookie.h"
-#include "fsfw_tests/integration/devices/TestDeviceHandler.h"
-#include "fsfw_tests/integration/devices/TestEchoComIF.h"
-#include "fsfw_tests/integration/controller/TestController.h"
-
+#include "example/utility/TmFunnel.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/CookieIF.h"
 #include "fsfw/events/EventManager.h"
 #include "fsfw/health/HealthTable.h"
 #include "fsfw/internalerror/InternalErrorReporter.h"
 #include "fsfw/pus/CService200ModeCommanding.h"
+#include "fsfw/pus/Service11TelecommandScheduling.h"
 #include "fsfw/pus/Service17Test.h"
 #include "fsfw/pus/Service1TelecommandVerification.h"
 #include "fsfw/pus/Service20ParameterManagement.h"
@@ -34,8 +24,14 @@
 #include "fsfw/tcdistribution/PUSDistributor.h"
 #include "fsfw/timemanager/TimeStamper.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
-
-
+#include "fsfw_tests/integration/assemblies/TestAssembly.h"
+#include "fsfw_tests/integration/controller/TestController.h"
+#include "fsfw_tests/integration/devices/TestCookie.h"
+#include "fsfw_tests/integration/devices/TestDeviceHandler.h"
+#include "fsfw_tests/integration/devices/TestEchoComIF.h"
+#include "fsfw_tests/internal/InternalUnitTester.h"
+#include "objects/systemObjectList.h"
+#include "tmtc/apid.h"
 
 void ObjectFactory::produceGenericObjects() {
 #if OBSW_ADD_CORE_COMPONENTS == 1
@@ -44,6 +40,7 @@ void ObjectFactory::produceGenericObjects() {
   new HealthTable(objects::HEALTH_TABLE);
   new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
   new TimeStamper(objects::TIME_STAMPER);
+  auto *ccsdsDistrib =
       new CCSDSDistributor(apid::APID, objects::CCSDS_DISTRIBUTOR);
   new PUSDistributor(apid::APID, objects::PUS_DISTRIBUTOR,
                      objects::CCSDS_DISTRIBUTOR);
@@ -53,22 +50,29 @@ void ObjectFactory::produceGenericObjects() {
   /* PUS stack */
 #if OBSW_ADD_PUS_STACK == 1
   new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION,
-            apid::APID, pus::PUS_SERVICE_1, objects::TM_FUNNEL, 5);
-    new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS,
-            apid::APID, pus::PUS_SERVICE_2, 3, 10);
-    new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::APID, pus::PUS_SERVICE_3);
-    new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING,
-            apid::APID, pus::PUS_SERVICE_5, 50);
+                                      apid::APID, pus::PUS_SERVICE_1,
+                                      objects::TM_FUNNEL, 5);
+  new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, apid::APID,
+                           pus::PUS_SERVICE_2, 3, 10);
+  new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::APID,
+                           pus::PUS_SERVICE_3);
+  new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::APID,
+                             pus::PUS_SERVICE_5, 50);
   new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT,
                                  apid::APID, pus::PUS_SERVICE_8, 3, 10);
   new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::APID,
                              pus::PUS_SERVICE_9);
   new Service17Test(objects::PUS_SERVICE_17_TEST, apid::APID,
                     pus::PUS_SERVICE_17);
-    new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::APID,
-            pus::PUS_SERVICE_20);
-    new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
-            apid::APID, pus::PUS_SERVICE_200);
+  new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS,
+                                   apid::APID, pus::PUS_SERVICE_20);
+#if OBSW_ADD_CORE_COMPONENTS == 1
+  new Service11TelecommandScheduling<cfg::OBSW_MAX_SCHEDULED_TCS>(
+      objects::PUS_SERVICE_11_TC_SCHEDULER, apid::APID, pus::PUS_SERVICE_11,
+      ccsdsDistrib);
+#endif
+  new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::APID,
+                                pus::PUS_SERVICE_200);
 #endif /* OBSW_ADD_PUS_STACK == 1 */
 
 #if OBSW_ADD_TASK_EXAMPLE == 1
@@ -77,7 +81,6 @@ void ObjectFactory::produceGenericObjects() {
   new FsfwExampleTask(objects::TEST_DUMMY_2);
   new FsfwExampleTask(objects::TEST_DUMMY_3);
 
-
   bool enablePrintout = false;
 #if OBSW_TASK_EXAMPLE_PRINTOUT == 1
   enablePrintout = true;
@@ -95,29 +98,32 @@ void ObjectFactory::produceGenericObjects() {
 
   /* Demo device handler object */
   size_t expectedMaxReplyLen = 64;
-    CookieIF* testCookie = new TestCookie(
-            static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0), expectedMaxReplyLen);
-    new TestEchoComIF(objects::TEST_ECHO_COM_IF);
-    new TestDevice(objects::TEST_DEVICE_HANDLER_0, objects::TEST_ECHO_COM_IF, testCookie,
-            testdevice::DeviceIndex::DEVICE_0, enableInfoPrintout);
-    testCookie = new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_1),
+  CookieIF *testCookie =
+      new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_0),
                      expectedMaxReplyLen);
-    new TestDevice(objects::TEST_DEVICE_HANDLER_1, objects::TEST_ECHO_COM_IF, testCookie,
-            testdevice::DeviceIndex::DEVICE_1, enableInfoPrintout);
+  new TestEchoComIF(objects::TEST_ECHO_COM_IF);
+  new TestDevice(objects::TEST_DEVICE_HANDLER_0, objects::TEST_ECHO_COM_IF,
+                 testCookie, testdevice::DeviceIndex::DEVICE_0,
+                 enableInfoPrintout);
+  testCookie =
+      new TestCookie(static_cast<address_t>(testdevice::DeviceIndex::DEVICE_1),
+                     expectedMaxReplyLen);
+  new TestDevice(objects::TEST_DEVICE_HANDLER_1, objects::TEST_ECHO_COM_IF,
+                 testCookie, testdevice::DeviceIndex::DEVICE_1,
+                 enableInfoPrintout);
 
-    new TestAssembly(objects::TEST_ASSEMBLY, objects::NO_OBJECT, objects::TEST_DEVICE_HANDLER_0,
+  new TestAssembly(objects::TEST_ASSEMBLY, objects::NO_OBJECT,
+                   objects::TEST_DEVICE_HANDLER_0,
                    objects::TEST_DEVICE_HANDLER_1);
 
 #endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
 
-
   /* Demo controller object */
 #if OBSW_ADD_CONTROLLER_DEMO == 1
 
 #if OBSW_CONTROLLER_PRINTOUT == 1
 #endif
-    new TestController(objects::TEST_CONTROLLER, objects::TEST_DEVICE_HANDLER_0,
-            objects::TEST_DEVICE_HANDLER_1);
+  new TestController(objects::TEST_CONTROLLER, objects::NO_OBJECT);
 
 #endif /* OBSW_ADD_CONTROLLER_DEMO == 1 */
 
@@ -154,7 +160,4 @@ void Factory::setStaticFrameworkObjectIds() {
   VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
 
   TmPacketBase::timeStamperId = objects::TIME_STAMPER;
-
 }
-
-

example/core/GenericFactory.h

@@ -11,7 +11,6 @@ namespace ObjectFactory {
  */
 void produceGenericObjects();
 
-}
-
+} // namespace ObjectFactory
 
 #endif /* MISSION_CORE_GENERICFACTORY_H_ */

example/devices/CMakeLists.txt

@@ -0,0 +1 @@
+

example/devices/TestDeviceHandler.h

@@ -3,10 +3,8 @@
 
 //#include "fsfw_tests/integration/TestDeviceHandler.h"
 //
-//class FsfwTestDeviceHandler: public TestDeviceHandler {
+// class FsfwTestDeviceHandler: public TestDeviceHandler {
 //
 //};
 
-
-
 #endif /* EXAMPLE_COMMON_DEVICES_TESTDEVICEHANDLER_H_ */

example/test/CMakeLists.txt

@@ -1,5 +1,8 @@
-target_sources(${TARGET_NAME} PRIVATE
-    FsfwReaderTask.cpp
-    FsfwExampleTask.cpp
-    MutexExample.cpp
-)
+target_sources(${TARGET_NAME} PRIVATE FsfwReaderTask.cpp FsfwExampleTask.cpp
+                                      MutexExample.cpp FsfwTestTask.cpp)
+
+if(OBSW_ADD_FMT_TESTS)
+  target_sources(${TARGET_NAME} PRIVATE
+    testFmt.cpp
+  )
+endif()

example/test/FsfwExampleTask.cpp

@@ -1,62 +1,59 @@
 #include "FsfwExampleTask.h"
+
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/serviceinterface.h>
+#include <fsfw/tasks/TaskFactory.h>
+
 #include "OBSWConfig.h"
-#include "commonSystemObjects.h"
+#include "commonObjects.h"
 #include "objects/systemObjectList.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/tasks/TaskFactory.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/ipc/CommandMessage.h>
-
-
-FsfwExampleTask::FsfwExampleTask(object_id_t objectId): SystemObject(objectId),
-        poolManager(this, nullptr), demoSet(this),
-        monitor(objectId, MONITOR_ID, gp_id_t(objectId, FsfwDemoSet::VARIABLE_LIMIT), 30, 10)
-{
-    commandQueue = QueueFactory::instance()->createMessageQueue(10,
-            CommandMessage::MAX_MESSAGE_SIZE);
+FsfwExampleTask::FsfwExampleTask(object_id_t objectId)
+    : SystemObject(objectId), poolManager(this, nullptr), demoSet(this),
+      monitor(objectId, MONITOR_ID,
+              gp_id_t(objectId, FsfwDemoSet::VARIABLE_LIMIT), 30, 10) {
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      10, CommandMessage::MAX_MESSAGE_SIZE);
 }
 
-FsfwExampleTask::~FsfwExampleTask() {
-}
+FsfwExampleTask::~FsfwExampleTask() {}
 
 ReturnValue_t FsfwExampleTask::performOperation(uint8_t operationCode) {
-    if(operationCode == OpCodes::DELAY_SHORT){
+  if (operationCode == OpCodes::DELAY_SHORT) {
     TaskFactory::delayTask(5);
   }
 
   // TODO: Move this to new test controller?
   ReturnValue_t result = performMonitoringDemo();
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
 
   if (operationCode == OpCodes::SEND_RAND_NUM) {
     result = performSendOperation();
-        if(result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
   }
 
-
   if (operationCode == OpCodes::RECEIVE_RAND_NUM) {
     result = performReceiveOperation();
-
   }
 
   return 0;
 }
 
 object_id_t FsfwExampleTask::getNextRecipient() {
-    switch(this->getObjectId()) {
-    case(objects::TEST_DUMMY_1): {
+  switch (this->getObjectId()) {
+  case (objects::TEST_DUMMY_1): {
     return objects::TEST_DUMMY_2;
   }
-    case(objects::TEST_DUMMY_2): {
+  case (objects::TEST_DUMMY_2): {
     return objects::TEST_DUMMY_3;
   }
-    case(objects::TEST_DUMMY_3): {
+  case (objects::TEST_DUMMY_3): {
     return objects::TEST_DUMMY_1;
   }
   default:
@@ -65,14 +62,14 @@ object_id_t FsfwExampleTask::getNextRecipient() {
 }
 
 object_id_t FsfwExampleTask::getSender() {
-    switch(this->getObjectId()) {
-    case(objects::TEST_DUMMY_1): {
+  switch (this->getObjectId()) {
+  case (objects::TEST_DUMMY_1): {
     return objects::TEST_DUMMY_3;
   }
-    case(objects::TEST_DUMMY_2): {
+  case (objects::TEST_DUMMY_2): {
     return objects::TEST_DUMMY_1;
   }
-    case(objects::TEST_DUMMY_3): {
+  case (objects::TEST_DUMMY_3): {
     return objects::TEST_DUMMY_2;
   }
   default:
@@ -80,28 +77,20 @@ object_id_t FsfwExampleTask::getSender() {
   }
 }
 
-
 ReturnValue_t FsfwExampleTask::initialize() {
   // Get the dataset of the sender. Will be cached for later checks.
   object_id_t sender = getSender();
-    HasLocalDataPoolIF* senderIF = ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
-    if(senderIF == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "FsfwDemoTask::initialize: Sender object invalid!" << std::endl;
-#else
-        sif::printError("FsfwDemoTask::initialize: Sender object invalid!\n");
-#endif
+  auto* senderIF = ObjectManager::instance()->get<HasLocalDataPoolIF>(sender);
+  if (senderIF == nullptr) {
+    FSFW_LOGE("initialize: Sender object invalid\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-    // we need a private copy of the previous dataset.. or we use the shared dataset.
+  // we need a private copy of the previous dataset.. or we use the shared
+  // dataset.
   senderSet = new FsfwDemoSet(senderIF);
-    if(senderSet == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "FsfwDemoTask::initialize: Sender dataset invalid!" << std::endl;
-#else
-        sif::printError("FsfwDemoTask::initialize: Sender dataset invalid!\n");
-#endif
+  if (senderSet == nullptr) {
+    FSFW_LOGE("initialize: Sender dataset invalid\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return poolManager.initialize(commandQueue);
@@ -115,15 +104,13 @@ object_id_t FsfwExampleTask::getObjectId() const {
   return SystemObject::getObjectId();
 }
 
-MessageQueueId_t FsfwExampleTask::getMessageQueueId(){
+MessageQueueId_t FsfwExampleTask::getMessageQueueId() {
   return commandQueue->getId();
 }
 
-void  FsfwExampleTask::setTaskIF(PeriodicTaskIF* task){
-    this->task = task;
-}
+void FsfwExampleTask::setTaskIF(PeriodicTaskIF *task) { this->task = task; }
 
-LocalPoolDataSetBase* FsfwExampleTask::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase *FsfwExampleTask::getDataSetHandle(sid_t sid) {
   return &demoSet;
 }
 
@@ -131,31 +118,30 @@ uint32_t FsfwExampleTask::getPeriodicOperationFrequency() const {
   return task->getPeriodMs();
 }
 
-ReturnValue_t FsfwExampleTask::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE, new PoolEntry<uint32_t>({0}));
-    localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE_LIMIT, new PoolEntry<uint16_t>({0}));
+ReturnValue_t
+FsfwExampleTask::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                         LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE,
+                           new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(FsfwDemoSet::PoolIds::VARIABLE_LIMIT,
+                           new PoolEntry<uint16_t>({0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
-    ReturnValue_t result = demoSet.variableLimit.read(
-            MutexIF::TimeoutType::WAITING, 20);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+  ReturnValue_t result =
+      demoSet.variableLimit.read(MutexIF::TimeoutType::WAITING, 20);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "DummyObject::performOperation: Could not read variableLimit!" << std::endl;
-#else
-        sif::printError("DummyObject::performOperation: Could not read variableLimit!\n");
-#endif
+    FSFW_LOGE("DummyObject::performOperation: Could not read variableLimit\n");
     return result;
   }
-    if(this->getObjectId() == objects::TEST_DUMMY_5){
-        if(demoSet.variableLimit.value > 20){
+  if (this->getObjectId() == objects::TEST_DUMMY_5) {
+    if (demoSet.variableLimit.value > 20) {
       demoSet.variableLimit.value = 0;
     }
     demoSet.variableLimit.value++;
-        demoSet.variableLimit.commit(20);
+    demoSet.variableLimit.commit(true);
     monitor.check();
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -163,18 +149,13 @@ ReturnValue_t FsfwExampleTask::performMonitoringDemo() {
 
 ReturnValue_t FsfwExampleTask::performSendOperation() {
   object_id_t nextRecipient = getNextRecipient();
-    FsfwExampleTask* target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
+  auto* target = ObjectManager::instance()->get<FsfwExampleTask>(nextRecipient);
   if (target == nullptr) {
     /* Configuration error */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "DummyObject::performOperation: Next recipient does not exist!" << std::endl;
-#else
-        sif::printError("DummyObject::performOperation: Next recipient does not exist!\n");
-#endif
+    FSFW_LOGE("performSendOperation: Next recipient does not exist\n");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-
   uint32_t randomNumber = rand() % 100;
   CommandMessage message;
   message.setParameter(randomNumber);
@@ -182,30 +163,19 @@ ReturnValue_t FsfwExampleTask::performSendOperation() {
 
   /* Send message using own message queue */
   ReturnValue_t result = commandQueue->sendMessage(target->getMessageQueueId(), &message);
-    if (result != HasReturnvaluesIF::RETURN_OK
-            && result != MessageQueueIF::FULL) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result <<
-                std::endl;
-#else
-        sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
-#endif
+  if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
+    FSFW_LOGE("performSendOperation: Send failed with {:#06x}\n", result);
   }
 
   /* Send message without via MessageQueueSenderIF */
   result = MessageQueueSenderIF::sendMessage(target->getMessageQueueId(), &message,
                                              commandQueue->getId());
-    if (result != HasReturnvaluesIF::RETURN_OK
-            && result != MessageQueueIF::FULL) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "FsfwDemoTask::performSendOperation: Send failed with " << result << std::endl;
-#else
-        sif::printError("FsfwDemoTask::performSendOperation: Send failed with %hu\n", result);
-#endif
+  if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::FULL) {
+    FSFW_LOGE("performSendOperation: Send failed with {:#06x}\n", result);
   }
 
   demoSet.variableWrite.value = randomNumber;
-    result = demoSet.variableWrite.commit(20);
+  result = demoSet.variableWrite.commit(true);
 
   return result;
 }
@@ -215,41 +185,34 @@ ReturnValue_t FsfwExampleTask::performReceiveOperation() {
   while (result != MessageQueueIF::EMPTY) {
     CommandMessage receivedMessage;
     result = commandQueue->receiveMessage(&receivedMessage);
-        if (result != HasReturnvaluesIF::RETURN_OK
-                && result != MessageQueueIF::EMPTY) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::debug << "Receive failed with " << result << std::endl;
-#endif
+    if (result != HasReturnvaluesIF::RETURN_OK && result != MessageQueueIF::EMPTY) {
+      FSFW_LOGD("performReceiveOperation: Receive failed with {}\n", result);
       break;
     }
     if (result != MessageQueueIF::EMPTY) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 #if OBSW_VERBOSE_LEVEL >= 2
-            sif::debug << "Message Received by " << getObjectId() << " from Queue " <<
-                    receivedMessage.getSender() << " ObjectId " << receivedMessage.getParameter() <<
-                    " Queue " << receivedMessage.getParameter2() << std::endl;
+      sif::debug << "Message Received by " << getObjectId() << " from Queue "
+                 << receivedMessage.getSender() << " ObjectId "
+                 << receivedMessage.getParameter() << " Queue "
+                 << receivedMessage.getParameter2() << std::endl;
 #endif
 #endif
 
-            if(senderSet == nullptr) {
+      if (senderSet == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
       }
 
-            result = senderSet->variableRead.read(MutexIF::TimeoutType::WAITING,
-                    20);
-            if(result != HasReturnvaluesIF::RETURN_OK) {
+      result = senderSet->variableRead.read(MutexIF::TimeoutType::WAITING, 20);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
-            if(senderSet->variableRead.value != receivedMessage.getParameter()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::error << "FsfwDemoTask::performReceiveOperation: Variable " << std::hex <<
-                        "0x" << senderSet->variableRead.getDataPoolId() << std::dec <<
-                        " has wrong value." << std::endl;
-                sif::error << "Value: "  << demoSet.variableRead.value << ", expected: " <<
-                        receivedMessage.getParameter() << std::endl;
-#endif
+      if (senderSet->variableRead.value != receivedMessage.getParameter()) {
+        FSFW_LOGE(
+            "FsfwDemoTask::performReceiveOperation: Variable {} has wrong value {}, expected {}\n",
+            senderSet->variableRead.getDataPoolId(), demoSet.variableRead.value,
+            receivedMessage.getParameter());
       }
-
     }
   }
   return result;
@@ -259,6 +222,6 @@ MessageQueueId_t FsfwExampleTask::getCommandQueue() const {
   return commandQueue->getId();
 }
 
-LocalDataPoolManager* FsfwExampleTask::getHkManagerHandle() {
+LocalDataPoolManager *FsfwExampleTask::getHkManagerHandle() {
   return &poolManager;
 }

example/test/FsfwExampleTask.h

@@ -1,18 +1,17 @@
 #ifndef MISSION_DEMO_FSFWDEMOTASK_H_
 #define MISSION_DEMO_FSFWDEMOTASK_H_
 
-#include "testdefinitions/demoDefinitions.h"
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/ipc/MessageQueueIF.h>
 #include <fsfw/monitoring/AbsLimitMonitor.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
+#include "testdefinitions/demoDefinitions.h"
 
 class PeriodicTaskIF;
 
-
 /**
  * @brief 	This demo set shows the local data pool functionality and fixed
  * 			timeslot capabilities of the FSFW.
@@ -25,16 +24,11 @@ class PeriodicTaskIF;
  * value directly from the sender via the local data pool interface.
  * If the timing is set up correctly, the values will always be the same.
  */
-class FsfwExampleTask:
-        public ExecutableObjectIF,
+class FsfwExampleTask : public ExecutableObjectIF,
                         public SystemObject,
                         public HasLocalDataPoolIF {
 public:
-    enum OpCodes {
-        SEND_RAND_NUM,
-        RECEIVE_RAND_NUM,
-        DELAY_SHORT
-    };
+  enum OpCodes { SEND_RAND_NUM, RECEIVE_RAND_NUM, DELAY_SHORT };
 
   static constexpr uint8_t MONITOR_ID = 2;
 
@@ -52,7 +46,7 @@ public:
    * 			other member of the class can be used.
    * @return	Currently, the return value is ignored.
    */
-    virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
+  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
   /**
    * @brief 	This function will be called by the global object manager
@@ -80,29 +74,28 @@ public:
    * task interface handle can be cached to access task specific properties.
    * @param task
    */
-    void setTaskIF(PeriodicTaskIF* task) override;
+  void setTaskIF(PeriodicTaskIF *task) override;
 
   object_id_t getObjectId() const override;
 
   MessageQueueId_t getMessageQueueId();
 
-
 private:
   LocalDataPoolManager poolManager;
-    FsfwDemoSet* senderSet = nullptr;
+  FsfwDemoSet *senderSet = nullptr;
   FsfwDemoSet demoSet;
   AbsLimitMonitor<int32_t> monitor;
-    PeriodicTaskIF* task = nullptr;
-    MessageQueueIF* commandQueue = nullptr;
+  PeriodicTaskIF *task = nullptr;
+  MessageQueueIF *commandQueue = nullptr;
 
   /* HasLocalDatapoolIF overrides */
   MessageQueueId_t getCommandQueue() const override;
-    LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
   uint32_t getPeriodicOperationFrequency() const override;
-    virtual ReturnValue_t initializeLocalDataPool(
-            localpool::DataPool& localDataPoolMap,
-            LocalDataPoolManager& poolManager) override;
-    virtual LocalDataPoolManager* getHkManagerHandle() override;
+  ReturnValue_t
+  initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                          LocalDataPoolManager &poolManager) override;
+  LocalDataPoolManager *getHkManagerHandle() override;
 
   object_id_t getNextRecipient();
   object_id_t getSender();
@@ -110,7 +103,6 @@ private:
   ReturnValue_t performMonitoringDemo();
   ReturnValue_t performSendOperation();
   ReturnValue_t performReceiveOperation();
-    uint8_t execCounter = 0;
 };
 
 #endif /* MISSION_DEMO_FSFWDEMOTASK_H_ */

example/test/FsfwReaderTask.cpp

@@ -1,25 +1,23 @@
 #include "FsfwReaderTask.h"
 
+#include <OBSWConfig.h>
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
-#include <OBSWConfig.h>
-
-
-FsfwReaderTask::FsfwReaderTask(object_id_t objectId, bool enablePrintout):
-		SystemObject(objectId), printoutEnabled(enablePrintout), opDivider(10),
+FsfwReaderTask::FsfwReaderTask(object_id_t objectId, bool enablePrintout)
+    : SystemObject(objectId), printoutEnabled(enablePrintout), opDivider(10),
       readSet(this->getObjectId(),
               gp_id_t(objects::TEST_DUMMY_1, FsfwDemoSet::PoolIds::VARIABLE),
               gp_id_t(objects::TEST_DUMMY_2, FsfwDemoSet::PoolIds::VARIABLE),
               gp_id_t(objects::TEST_DUMMY_3, FsfwDemoSet::PoolIds::VARIABLE)) {
-    /* Special protection for set reading because each variable is read from a different pool */
+  /* Special protection for set reading because each variable is read from a
+   * different pool */
   readSet.setReadCommitProtectionBehaviour(true);
 }
 
-FsfwReaderTask::~FsfwReaderTask() {
-}
+FsfwReaderTask::~FsfwReaderTask() {}
 
 ReturnValue_t FsfwReaderTask::initializeAfterTaskCreation() {
   /* Give other task some time to set up local data pools. */
@@ -34,22 +32,11 @@ ReturnValue_t FsfwReaderTask::performOperation(uint8_t operationCode) {
   uint32_t variable2 = readSet.variable2.value;
   uint32_t variable3 = readSet.variable3.value;
 
-#if OBSW_VERBOSE_LEVEL >= 1
-	if(opDivider.checkAndIncrement() and printoutEnabled) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::info << "FsfwPeriodicTask::performOperation: Reading variables." << std::endl;
-		sif::info << "Variable read from demo object 1: " << variable1 << std::endl;
-		sif::info << "Variable read from demo object 2: " << variable2 << std::endl;
-		sif::info << "Variable read from demo object 3: " << variable3 << std::endl;
-#else
-		sif::printInfo("FsfwPeriodicTask::performOperation: Reading variables.\n\r");
-		sif::printInfo("Variable read from demo object 1: %d\n\r", variable1);
-		sif::printInfo("Variable read from demo object 2: %d\n\r", variable2);
-		sif::printInfo("Variable read from demo object 3: %d\n\r", variable3);
-#endif
+  if (opDivider.checkAndIncrement() and printoutEnabled) {
+    FSFW_LOGI(
+        "FsfwPeriodicTask::performOperation: Reading variables from Demo "
+        "Object 1,2,3\n1 {} | 2 {} | 3 {}\n",
+        variable1, variable2, variable3);
   }
-#else
-	if(variable1 and variable2 and variable3) {};
-#endif
   return HasReturnvaluesIF::RETURN_OK;
 }

example/test/FsfwReaderTask.h

@@ -1,19 +1,19 @@
 #ifndef MISSION_DEMO_FSFWPERIODICTASK_H_
 #define MISSION_DEMO_FSFWPERIODICTASK_H_
 
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+
 #include "testdefinitions/demoDefinitions.h"
 
-#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
-
-class FsfwReaderTask: public ExecutableObjectIF, public SystemObject {
+class FsfwReaderTask : public ExecutableObjectIF, public SystemObject {
 public:
   FsfwReaderTask(object_id_t objectId, bool enablePrintout);
-    virtual ~FsfwReaderTask();
+  ~FsfwReaderTask() override;
 
   ReturnValue_t initializeAfterTaskCreation() override;
-    virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
 private:
   bool printoutEnabled = false;

example/test/FsfwTestTask.cpp

@@ -0,0 +1,21 @@
+#include "FsfwTestTask.h"
+
+#include <commonConfig.h>
+
+#if OBSW_ADD_FMT_TESTS == 1
+#include "testFmt.h"
+#endif
+
+FsfwTestTask::FsfwTestTask(object_id_t objectId, bool periodicEvent)
+    : TestTask(objectId), periodicEvent(periodicEvent) {
+#if OBSW_ADD_FMT_TESTS == 1
+  fmtTests();
+#endif
+}
+
+ReturnValue_t FsfwTestTask::performPeriodicAction() {
+  if (periodicEvent) {
+    triggerEvent(TEST_EVENT, 0x1234, 0x4321);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}

example/test/FsfwTestTask.h

@@ -0,0 +1,21 @@
+#ifndef EXAMPLE_COMMON_EXAMPLE_TEST_FSFWTESTTASK_H_
+#define EXAMPLE_COMMON_EXAMPLE_TEST_FSFWTESTTASK_H_
+
+#include "events/subsystemIdRanges.h"
+#include "fsfw/events/Event.h"
+#include "fsfw_tests/integration/task/TestTask.h"
+
+class FsfwTestTask : public TestTask {
+public:
+  FsfwTestTask(object_id_t objectId, bool periodicEvent);
+
+  ReturnValue_t performPeriodicAction() override;
+
+private:
+  bool periodicEvent = false;
+  static constexpr uint8_t subsystemId = SUBSYSTEM_ID::TEST_TASK_ID;
+  static constexpr Event TEST_EVENT =
+      event::makeEvent(subsystemId, 0, severity::INFO);
+};
+
+#endif /* EXAMPLE_COMMON_EXAMPLE_TEST_FSFWTESTTASK_H_ */

example/test/MutexExample.cpp

@@ -1,47 +1,30 @@
 #include "MutexExample.h"
 
 #include <fsfw/ipc/MutexFactory.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
+void MutexExample::example() {
+  MutexIF *mutex = MutexFactory::instance()->createMutex();
+  MutexIF *mutex2 = MutexFactory::instance()->createMutex();
 
-void MutexExample::example(){
-	MutexIF* mutex = MutexFactory::instance()->createMutex();
-	MutexIF* mutex2 = MutexFactory::instance()->createMutex();
-
-	ReturnValue_t result = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
-			2 * 60 * 1000);
+  ReturnValue_t result =
+      mutex->lockMutex(MutexIF::TimeoutType::WAITING, 2 * 60 * 1000);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;
-#else
-		sif::printError("MutexExample::example: Lock Failed with %hu\n", result);
-#endif
+    FSFW_LOGET("MutexExample::example: Lock Failed with {}\n", result);
   }
 
   result = mutex2->lockMutex(MutexIF::TimeoutType::BLOCKING);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "MutexExample::example: Lock Failed with " << result << std::endl;
-#else
-        sif::printError("MutexExample::example: Lock Failed with %hu\n", result);
-#endif
+    FSFW_LOGET("MutexExample::example: Lock Failed with {}\n", result);
   }
 
   result = mutex->unlockMutex();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "MutexExample::example: Unlock Failed with " << result << std::endl;
-#else
-        sif::printError("MutexExample::example: Unlock Failed with %hu\n", result);
-#endif
+    FSFW_LOGET("MutexExample::example: Unlock Failed with {}\n", result);
   }
 
   result = mutex2->unlockMutex();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "MutexExample::example: Unlock Failed with " << result << std::endl;
-#else
-        sif::printError("MutexExample::example: Unlock Failed with %hu\n", result);
-#endif
+    FSFW_LOGET("MutexExample::example: Unlock Failed with {}\n", result);
   }
 }

example/test/MutexExample.h

@@ -1,8 +1,8 @@
-#ifndef MISSION_DEMO_MUTEXEXAMPLE_H_
-#define MISSION_DEMO_MUTEXEXAMPLE_H_
+#ifndef EXAMPLE_COMMON_MUTEXEXAMPLE_H_
+#define EXAMPLE_COMMON_MUTEXEXAMPLE_H_
 
 namespace MutexExample {
-	void example();
+void example();
 };
 
-#endif /* MISSION_DEMO_MUTEXEXAMPLE_H_ */
+#endif /* EXAMPLE_COMMON_MUTEXEXAMPLE_H_ */

example/test/testFmt.cpp

@@ -0,0 +1,20 @@
+#include "fsfw/serviceinterface/fmtWrapper.h"
+
+void fmtTests() {
+  sif::initialize();
+  sif::debug_s(__FILENAME__, __LINE__, "Hello {}", "World\n");
+  sif::debug_st(__FILENAME__, __LINE__, "Hallo\n");
+  FSFW_LOGD("{}", "Hallo\n");
+  sif::info_t("Hallo\n");
+  sif::info("Hallo\n");
+  sif::warning_s(__FILENAME__, __LINE__, "Hello\n");
+  sif::warning_st(__FILENAME__, __LINE__, "Hello\n");
+  FSFW_LOGW("Hello World\n");
+  FSFW_LOGW("{} World\n", "Hello");
+  uint8_t test0 = 5;
+  float test1 = 12.0;
+  uint32_t test2 = 0x00ff11ff;
+  FSFW_LOGW("Test 0 {} | Test 1 {:.3f} | Test 2 {:#010x}\n", test0, test1, test2);
+  sif::error_s(__FILENAME__, __LINE__, "Hello\n");
+  sif::error_st(__FILENAME__, __LINE__, "Hello\n");
+}

example/test/testFmt.h

@@ -0,0 +1,3 @@
+#pragma once
+
+void fmtTests();

example/test/testdefinitions/demoDefinitions.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_DEMO_DEMODEFINITIONS_H_
 #define MISSION_DEMO_DEMODEFINITIONS_H_
 
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 
 /**
  * @brief 	This demo set showcases the local data pool functionality of the
@@ -11,27 +11,23 @@
  * Each demo object will have an own instance of this set class, which contains
  * pool variables (for read and write access respectively).
  */
-class FsfwDemoSet: public StaticLocalDataSet<3> {
+class FsfwDemoSet : public StaticLocalDataSet<3> {
 public:
-
   static constexpr uint32_t DEMO_SET_ID = 0;
 
-	enum PoolIds {
-		VARIABLE,
-		VARIABLE_LIMIT
-	};
+  enum PoolIds { VARIABLE, VARIABLE_LIMIT };
 
-	FsfwDemoSet(HasLocalDataPoolIF* hkOwner):
-			StaticLocalDataSet(hkOwner, DEMO_SET_ID) {}
+  FsfwDemoSet(HasLocalDataPoolIF *hkOwner)
+      : StaticLocalDataSet(hkOwner, DEMO_SET_ID) {}
+
+  lp_var_t<uint32_t> variableRead = lp_var_t<uint32_t>(
+      sid.objectId, PoolIds::VARIABLE, this, pool_rwm_t::VAR_READ);
+  lp_var_t<uint32_t> variableWrite = lp_var_t<uint32_t>(
+      sid.objectId, PoolIds::VARIABLE, this, pool_rwm_t::VAR_WRITE);
+  lp_var_t<uint16_t> variableLimit =
+      lp_var_t<uint16_t>(sid.objectId, PoolIds::VARIABLE_LIMIT, this);
 
-	lp_var_t<uint32_t> variableRead = lp_var_t<uint32_t>(sid.objectId,
-			PoolIds::VARIABLE, this, pool_rwm_t::VAR_READ);
-	lp_var_t<uint32_t> variableWrite = lp_var_t<uint32_t>(sid.objectId,
-			PoolIds::VARIABLE, this, pool_rwm_t::VAR_WRITE);
-	lp_var_t<uint16_t> variableLimit = lp_var_t<uint16_t>(sid.objectId,
-			PoolIds::VARIABLE_LIMIT, this);
 private:
-
 };
 
 /**
@@ -39,25 +35,22 @@ private:
  * above. An example application would be a consumer object like a controller
  * which reads multiple sensor values at once.
  */
-class CompleteDemoReadSet: public StaticLocalDataSet<3> {
+class CompleteDemoReadSet : public StaticLocalDataSet<3> {
 public:
   static constexpr uint32_t DEMO_SET_ID = 0;
 
-	CompleteDemoReadSet(object_id_t owner, gp_id_t variable1,
-			gp_id_t variable2, gp_id_t variable3):
-			StaticLocalDataSet(sid_t(owner, DEMO_SET_ID)),
+  CompleteDemoReadSet(object_id_t owner, gp_id_t variable1, gp_id_t variable2,
+                      gp_id_t variable3)
+      : StaticLocalDataSet(sid_t(owner, DEMO_SET_ID)),
         variable1(variable1, this, pool_rwm_t::VAR_READ),
         variable2(variable2, this, pool_rwm_t::VAR_READ),
         variable3(variable3, this, pool_rwm_t::VAR_READ) {}
 
-
   lp_var_t<uint32_t> variable1;
   lp_var_t<uint32_t> variable2;
   lp_var_t<uint32_t> variable3;
+
 private:
 };
 
-
-
-
 #endif /* MISSION_DEMO_DEMODEFINITIONS_H_ */

example/utility/CMakeLists.txt

@@ -1,4 +1 @@
-target_sources(${TARGET_NAME} PRIVATE
-	utility.cpp
-    TmFunnel.cpp
-)
+target_sources(${TARGET_NAME} PRIVATE utility.cpp TmFunnel.cpp)

example/utility/PusPacketCreator.cpp

@@ -1,10 +1,9 @@
-#include <fsfw/tmtcpacket/pus/tc.h>
-#include <fsfw/tmtcpacket/pus/tm.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/tmtcpacket/pus/tc.h>
+#include <fsfw/tmtcpacket/pus/tm.h>
 #include <mission/utility/PusPacketCreator.h>
 
 void PusPacketCreator::createPusPacketAndPrint() {
   // TODO: use TC packet stored here instead..
-
 }

example/utility/TaskCreation.h

@@ -2,21 +2,14 @@
 #define MISSION_UTILITY_TASKCREATION_H_
 
 #include <fsfw/objectmanager/SystemObjectIF.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/serviceinterface.h>
 
 namespace task {
 
 void printInitError(const char* objName, object_id_t objectId) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::error << "InitMission: Adding object " << objName << "("
-			<< std::setw(8) << std::setfill('0') << std::hex << objectId
-			<< std::dec << ") failed." << std::endl;
-#else
-	sif::printError("InitMission: Adding object %s (0x%08x) failed.\n",
-			objName, static_cast<unsigned int>(objectId));
-#endif
+  FSFW_LOGW("InitMission: Adding object {} ({:#010x}) failed\n", objName, objectId);
 }
 
-}
+} // namespace task
 
 #endif /* MISSION_UTILITY_TASKCREATION_H_ */

example/utility/TmFunnel.cpp

@@ -2,22 +2,21 @@
 
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/serviceinterface.h>
 #include <fsfw/tmtcpacket/pus/tm.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
 
 object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
 object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
 
-TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth):
-                SystemObject(objectId), messageDepth(messageDepth) {
-    tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
-            MessageQueueMessage::MAX_MESSAGE_SIZE);
-    storageQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
-            MessageQueueMessage::MAX_MESSAGE_SIZE);
+TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth)
+    : SystemObject(objectId), messageDepth(messageDepth) {
+  tmQueue = QueueFactory::instance()->createMessageQueue(
+      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
+  storageQueue = QueueFactory::instance()->createMessageQueue(
+      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
-TmFunnel::~TmFunnel() {
-}
+TmFunnel::~TmFunnel() {}
 
 MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
   return tmQueue->getId();
@@ -26,10 +25,9 @@ MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
 ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
   TmTcMessage currentMessage;
   ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
-    while(status == HasReturnvaluesIF::RETURN_OK)
-    {
+  while (status == HasReturnvaluesIF::RETURN_OK) {
     status = handlePacket(&currentMessage);
-        if(status != HasReturnvaluesIF::RETURN_OK){
+    if (status != HasReturnvaluesIF::RETURN_OK) {
       break;
     }
     status = tmQueue->receiveMessage(&currentMessage);
@@ -37,43 +35,38 @@ ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
 
   if (status == MessageQueueIF::EMPTY) {
     return HasReturnvaluesIF::RETURN_OK;
-    }
-    else {
+  } else {
     return status;
   }
 }
 
-ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
-    uint8_t* packetData = nullptr;
+ReturnValue_t TmFunnel::handlePacket(TmTcMessage *message) {
+  uint8_t *packetData = nullptr;
   size_t size = 0;
-    ReturnValue_t result = tmPool->modifyData(message->getStorageId(),
-            &packetData, &size);
-    if(result != HasReturnvaluesIF::RETURN_OK){
+  ReturnValue_t result =
+      tmPool->modifyData(message->getStorageId(), &packetData, &size);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
   TmPacketPusC packet(packetData);
   packet.setPacketSequenceCount(this->sourceSequenceCount);
   sourceSequenceCount++;
-    sourceSequenceCount = sourceSequenceCount %
-            SpacePacketBase::LIMIT_SEQUENCE_COUNT;
+  sourceSequenceCount =
+      sourceSequenceCount % SpacePacketBase::LIMIT_SEQUENCE_COUNT;
   packet.setErrorControl();
 
   result = tmQueue->sendToDefault(message);
-    if(result != HasReturnvaluesIF::RETURN_OK){
+  if (result != HasReturnvaluesIF::RETURN_OK) {
     tmPool->deleteData(message->getStorageId());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmFunnel::handlePacket: Error sending to downlink handler" << std::endl;
-#endif
+    FSFW_LOGET("handlePacket: Error sending to downlink handler\n");
     return result;
   }
 
-    if(storageDestination != objects::NO_OBJECT) {
+  if (storageDestination != objects::NO_OBJECT) {
     result = storageQueue->sendToDefault(message);
-        if(result != HasReturnvaluesIF::RETURN_OK){
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       tmPool->deleteData(message->getStorageId());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "TmFunnel::handlePacket: Error sending to storage handler" << std::endl;
-#endif
+      FSFW_LOGET("handlePacket: Error sending to storage handler\n");
       return result;
     }
   }
@@ -81,37 +74,33 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
 }
 
 ReturnValue_t TmFunnel::initialize() {
-
   tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-    if(tmPool == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
-        sif::error << "Make sure the tm store is set up properly and implements StorageManagerIF" <<
-                std::endl;
-#endif
+  if (tmPool == nullptr) {
+    FSFW_LOGE("{}",
+              "initialize: TM store not set\n"
+              "Make sure the tm store is set up properly and implements StorageManagerIF");
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-    AcceptsTelemetryIF* tmTarget = ObjectManager::instance()->
-            get<AcceptsTelemetryIF>(downlinkDestination);
-    if(tmTarget == nullptr){
+  auto* tmTarget = ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
+  if (tmTarget == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
-        sif::error << "Make sure the downlink destination object is set up properly and implements "
-                "AcceptsTelemetryIF" << std::endl;
+    FSFW_LOGE("{}",
+              "initialize: Downlink Destination not set. Make sure the downlink destination "
+              "object is set up properly and implements AcceptsTelemetryIF\n");
 #endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue());
 
   // Storage destination is optional.
-    if(storageDestination == objects::NO_OBJECT) {
+  if (storageDestination == objects::NO_OBJECT) {
     return SystemObject::initialize();
   }
 
-    AcceptsTelemetryIF* storageTarget = ObjectManager::instance()->
-            get<AcceptsTelemetryIF>(storageDestination);
-    if(storageTarget != nullptr) {
+  AcceptsTelemetryIF *storageTarget =
+      ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
+  if (storageTarget != nullptr) {
     storageQueue->setDefaultDestination(
         storageTarget->getReportReceptionQueue());
   }

example/utility/TmFunnel.h

@@ -1,13 +1,13 @@
 #ifndef MISSION_UTILITY_TMFUNNEL_H_
 #define MISSION_UTILITY_TMFUNNEL_H_
 
+#include <fsfw/ipc/MessageQueueIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
-#include <fsfw/ipc/MessageQueueIF.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
 
-namespace Factory{
+namespace Factory {
 void setStaticFrameworkObjectIds();
 }
 
@@ -19,17 +19,17 @@ void setStaticFrameworkObjectIds();
  * @ingroup     utility
  * @author      J. Meier
  */
-class TmFunnel:
-        public AcceptsTelemetryIF,
+class TmFunnel : public AcceptsTelemetryIF,
                  public ExecutableObjectIF,
                  public SystemObject {
-    friend void (Factory::setStaticFrameworkObjectIds)();
+  friend void(Factory::setStaticFrameworkObjectIds)();
+
 public:
   TmFunnel(object_id_t objectId, uint32_t messageDepth = 20);
   virtual ~TmFunnel();
 
-    virtual MessageQueueId_t getReportReceptionQueue(
-            uint8_t virtualChannel = 0) override;
+  virtual MessageQueueId_t
+  getReportReceptionQueue(uint8_t virtualChannel = 0) override;
   virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
   virtual ReturnValue_t initialize() override;
 
@@ -39,13 +39,13 @@ protected:
 
 private:
   uint16_t sourceSequenceCount = 0;
-    MessageQueueIF* tmQueue = nullptr;
-    MessageQueueIF* storageQueue = nullptr;
+  MessageQueueIF *tmQueue = nullptr;
+  MessageQueueIF *storageQueue = nullptr;
 
-    StorageManagerIF* tmPool = nullptr;
+  StorageManagerIF *tmPool = nullptr;
   uint32_t messageDepth = 0;
 
-    ReturnValue_t handlePacket(TmTcMessage* message);
+  ReturnValue_t handlePacket(TmTcMessage *message);
 };
 
 #endif /* MISSION_UTILITY_TMFUNNEL_H_ */

example/utility/compile_time.h

@@ -5,16 +5,21 @@
  * Authors:
  *
  * Assembled from the code released on Stackoverflow by:
- *   Dennis (instructable.com/member/nqtronix)    |   https://stackoverflow.com/questions/23032002/c-c-how-to-get-integer-unix-timestamp-of-build-time-not-string
+ *   Dennis (instructable.com/member/nqtronix)    |
+ * https://stackoverflow.com/questions/23032002/c-c-how-to-get-integer-unix-timestamp-of-build-time-not-string
  * and
- *   Alexis Wilke                                 |   https://stackoverflow.com/questions/10538444/do-you-know-of-a-c-macro-to-compute-unix-time-and-date
+ *   Alexis Wilke                                 |
+ * https://stackoverflow.com/questions/10538444/do-you-know-of-a-c-macro-to-compute-unix-time-and-date
  *
  * Assembled by Jean Rabault
  *
- * UNIX_TIMESTAMP gives the UNIX timestamp (unsigned long integer of seconds since 1st Jan 1970) of compilation from macros using the compiler defined __TIME__ macro.
- * This should include Gregorian calendar leap days, in particular the 29ths of February, 100 and 400 years modulo leaps.
+ * UNIX_TIMESTAMP gives the UNIX timestamp (unsigned long integer of seconds
+ * since 1st Jan 1970) of compilation from macros using the compiler defined
+ * __TIME__ macro. This should include Gregorian calendar leap days, in
+ * particular the 29ths of February, 100 and 400 years modulo leaps.
  *
- * Careful: __TIME__ is the local time of the computer, NOT the UTC time in general!
+ * Careful: __TIME__ is the local time of the computer, NOT the UTC time in
+ * general!
  *
  */
 
@@ -25,27 +30,29 @@
 #define SEC_PER_MIN 60UL
 #define SEC_PER_HOUR 3600UL
 #define SEC_PER_DAY 86400UL
-#define SEC_PER_YEAR            (SEC_PER_DAY*365)
+#define SEC_PER_YEAR (SEC_PER_DAY * 365)
 
 // extracts 1..4 characters from a string and interprets it as a decimal value
-#define CONV_STR2DEC_1(str, i)  (str[i]>'0'?str[i]-'0':0)
-#define CONV_STR2DEC_2(str, i)  (CONV_STR2DEC_1(str, i)*10 + str[i+1]-'0')
-#define CONV_STR2DEC_3(str, i)  (CONV_STR2DEC_2(str, i)*10 + str[i+2]-'0')
-#define CONV_STR2DEC_4(str, i)  (CONV_STR2DEC_3(str, i)*10 + str[i+3]-'0')
+#define CONV_STR2DEC_1(str, i) (str[i] > '0' ? str[i] - '0' : 0)
+#define CONV_STR2DEC_2(str, i) (CONV_STR2DEC_1(str, i) * 10 + str[i + 1] - '0')
+#define CONV_STR2DEC_3(str, i) (CONV_STR2DEC_2(str, i) * 10 + str[i + 2] - '0')
+#define CONV_STR2DEC_4(str, i) (CONV_STR2DEC_3(str, i) * 10 + str[i + 3] - '0')
 
 // Custom "glue logic" to convert the month name to a usable number
-#define GET_MONTH(str, i)      (str[i]=='J' && str[i+1]=='a' && str[i+2]=='n' ? 1 :     \
-                                str[i]=='F' && str[i+1]=='e' && str[i+2]=='b' ? 2 :     \
-                                str[i]=='M' && str[i+1]=='a' && str[i+2]=='r' ? 3 :     \
-                                str[i]=='A' && str[i+1]=='p' && str[i+2]=='r' ? 4 :     \
-                                str[i]=='M' && str[i+1]=='a' && str[i+2]=='y' ? 5 :     \
-                                str[i]=='J' && str[i+1]=='u' && str[i+2]=='n' ? 6 :     \
-                                str[i]=='J' && str[i+1]=='u' && str[i+2]=='l' ? 7 :     \
-                                str[i]=='A' && str[i+1]=='u' && str[i+2]=='g' ? 8 :     \
-                                str[i]=='S' && str[i+1]=='e' && str[i+2]=='p' ? 9 :     \
-                                str[i]=='O' && str[i+1]=='c' && str[i+2]=='t' ? 10 :    \
-                                str[i]=='N' && str[i+1]=='o' && str[i+2]=='v' ? 11 :    \
-                                str[i]=='D' && str[i+1]=='e' && str[i+2]=='c' ? 12 : 0)
+#define GET_MONTH(str, i)                                                      \
+  (str[i] == 'J' && str[i + 1] == 'a' && str[i + 2] == 'n'   ? 1               \
+   : str[i] == 'F' && str[i + 1] == 'e' && str[i + 2] == 'b' ? 2               \
+   : str[i] == 'M' && str[i + 1] == 'a' && str[i + 2] == 'r' ? 3               \
+   : str[i] == 'A' && str[i + 1] == 'p' && str[i + 2] == 'r' ? 4               \
+   : str[i] == 'M' && str[i + 1] == 'a' && str[i + 2] == 'y' ? 5               \
+   : str[i] == 'J' && str[i + 1] == 'u' && str[i + 2] == 'n' ? 6               \
+   : str[i] == 'J' && str[i + 1] == 'u' && str[i + 2] == 'l' ? 7               \
+   : str[i] == 'A' && str[i + 1] == 'u' && str[i + 2] == 'g' ? 8               \
+   : str[i] == 'S' && str[i + 1] == 'e' && str[i + 2] == 'p' ? 9               \
+   : str[i] == 'O' && str[i + 1] == 'c' && str[i + 2] == 't' ? 10              \
+   : str[i] == 'N' && str[i + 1] == 'o' && str[i + 2] == 'v' ? 11              \
+   : str[i] == 'D' && str[i + 1] == 'e' && str[i + 2] == 'c' ? 12              \
+                                                             : 0)
 
 // extract the information from the time string given by __TIME__ and __DATE__
 #define __TIME_SECONDS__ CONV_STR2DEC_2(__TIME__, 6)
@@ -57,41 +64,36 @@
 
 // Days in February
 #define _UNIX_TIMESTAMP_FDAY(year)                                             \
-    (((year) % 400) == 0UL ? 29UL : \
-        (((year) % 100) == 0UL ? 28UL : \
-            (((year) % 4) == 0UL ? 29UL : \
-                28UL)))
+  (((year) % 400) == 0UL                                                       \
+       ? 29UL                                                                  \
+       : (((year) % 100) == 0UL ? 28UL : (((year) % 4) == 0UL ? 29UL : 28UL)))
 
 // Days in the year
 #define _UNIX_TIMESTAMP_YDAY(year, month, day)                                 \
-    ( \
-        /* January */    day \
-        /* February */ + (month >=  2 ? 31UL : 0UL) \
-        /* March */    + (month >=  3 ? _UNIX_TIMESTAMP_FDAY(year) : 0UL) \
-        /* April */    + (month >=  4 ? 31UL : 0UL) \
-        /* May */      + (month >=  5 ? 30UL : 0UL) \
-        /* June */     + (month >=  6 ? 31UL : 0UL) \
-        /* July */     + (month >=  7 ? 30UL : 0UL) \
-        /* August */   + (month >=  8 ? 31UL : 0UL) \
-        /* September */+ (month >=  9 ? 31UL : 0UL) \
-        /* October */  + (month >= 10 ? 30UL : 0UL) \
-        /* November */ + (month >= 11 ? 31UL : 0UL) \
-        /* December */ + (month >= 12 ? 30UL : 0UL) \
-    )
+  (/* January */ day /* February */ + (month >= 2 ? 31UL : 0UL) /* March */ +  \
+   (month >= 3 ? _UNIX_TIMESTAMP_FDAY(year) : 0UL) /* April */ +               \
+   (month >= 4 ? 31UL : 0UL) /* May */ +                                       \
+   (month >= 5 ? 30UL : 0UL) /* June */ +                                      \
+   (month >= 6 ? 31UL : 0UL) /* July */ +                                      \
+   (month >= 7 ? 30UL : 0UL) /* August */ +                                    \
+   (month >= 8 ? 31UL : 0UL) /* September */ +                                 \
+   (month >= 9 ? 31UL : 0UL) /* October */ +                                   \
+   (month >= 10 ? 30UL : 0UL) /* November */ +                                 \
+   (month >= 11 ? 31UL : 0UL) /* December */ + (month >= 12 ? 30UL : 0UL))
 
 // get the UNIX timestamp from a digits representation
 #define _UNIX_TIMESTAMP(year, month, day, hour, minute, second)                \
-    ( /* time */ second \
-                + minute * SEC_PER_MIN \
-                + hour * SEC_PER_HOUR \
-    + /* year day (month + day) */ (_UNIX_TIMESTAMP_YDAY(year, month, day) - 1) * SEC_PER_DAY \
-    + /* year */ (year - 1970UL) * SEC_PER_YEAR \
-                + ((year - 1969UL) / 4UL) * SEC_PER_DAY \
-                - ((year - 1901UL) / 100UL) * SEC_PER_DAY \
-                + ((year - 1601UL) / 400UL) * SEC_PER_DAY \
-    )
+  (/* time */ second + minute * SEC_PER_MIN + hour * SEC_PER_HOUR +            \
+   /* year day (month + day) */ (_UNIX_TIMESTAMP_YDAY(year, month, day) - 1) * \
+       SEC_PER_DAY +                                                           \
+   /* year */ (year - 1970UL) * SEC_PER_YEAR +                                 \
+   ((year - 1969UL) / 4UL) * SEC_PER_DAY -                                     \
+   ((year - 1901UL) / 100UL) * SEC_PER_DAY +                                   \
+   ((year - 1601UL) / 400UL) * SEC_PER_DAY)
 
 // the UNIX timestamp
-#define UNIX_TIMESTAMP (_UNIX_TIMESTAMP(__TIME_YEARS__, __TIME_MONTH__, __TIME_DAYS__, __TIME_HOURS__, __TIME_MINUTES__, __TIME_SECONDS__))
+#define UNIX_TIMESTAMP                                                         \
+  (_UNIX_TIMESTAMP(__TIME_YEARS__, __TIME_MONTH__, __TIME_DAYS__,              \
+                   __TIME_HOURS__, __TIME_MINUTES__, __TIME_SECONDS__))
 
 #endif

example/utility/utility.cpp

@@ -1,22 +1,16 @@
 #include "utility.h"
-#include <FSFWConfig.h>
+
 #include <OBSWVersion.h>
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include "fsfw/serviceinterface.h"
 
-void utility::commonInitPrint(const char *const os, const char* const board) {
-    if(os == nullptr or board == nullptr) {
+void utility::commonInitPrint(const char *const os, const char *const board) {
+  if (os == nullptr or board == nullptr) {
     return;
   }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    std::cout << "-- FSFW Example (" << os<< ") v" << FSFW_EXAMPLE_VERSION << "." <<
-            FSFW_EXAMPLE_SUBVERSION << "." << FSFW_EXAMPLE_REVISION  << " --" << std::endl;
-    std::cout << "-- Compiled for " << board << " --" << std::endl;
-    std::cout << "-- Compiled on " << __DATE__ << " " << __TIME__ << " --" << std::endl;
-#else
-    printf("\n\r-- FSFW Example (%s) v%d.%d.%d --\n", os, FSFW_EXAMPLE_VERSION,
+  fmt::print("-- FSFW Example ({}) v{}.{}.{} --\n", os, FSFW_EXAMPLE_VERSION,
              FSFW_EXAMPLE_SUBVERSION, FSFW_EXAMPLE_REVISION);
-    printf("-- Compiled for %s --\n", board);
-    printf("-- Compiled on %s %s --\n", __DATE__, __TIME__);
-#endif
+  fmt::print("-- Compiled for {}\n", board);
+  fmt::print("-- Compiled on {} {}\n", __DATE__, __TIME__);
+  sif::initialize();
 }

example/utility/utility.h

@@ -3,9 +3,8 @@
 
 namespace utility {
 
-void commonInitPrint(const char *const os, const char* const board);
+void commonInitPrint(const char *const os, const char *const board);
 
 }
 
-
 #endif /* COMMON_UTILITY_UTILITY_H_ */

scripts/auto-formatter.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+counter=0
+common_example_dir="example_common"
+while [ ${counter} -lt 5 ]
+do
+    if [ ! -d ${common_example_dir} ];then
+        break
+    fi
+    counter=$((counter=counter + 1))
+    cd ..
+done
+
+if [ "${counter}" -ge 5 ];then
+    echo "${common_example_dir} not found in upper directories!"
+    exit 1
+fi
+
+folder_list=(
+  "./bsp_hosted"
+  "./example_common"
+)
+
+cmake_fmt="cmake-format"
+file_selectors="-iname CMakeLists.txt"
+if command -v ${cmake_fmt} &> /dev/null; then
+  echo "Auto-formatting all CMakeLists.txt files"
+  ${cmake_fmt} -i CMakeLists.txt
+  for dir in ${folder_list[@]}; do
+    find ${dir} ${file_selectors} | xargs ${cmake_fmt} -i
+  done
+else
+  echo "No ${cmake_fmt} tool found, not formatting CMake files"
+fi
+
+cpp_format="clang-format"
+file_selectors="-iname *.h -o -iname *.cpp -o -iname *.c -o -iname *.tpp"
+if command -v ${cpp_format} &> /dev/null; then
+  for dir in ${folder_list[@]}; do
+    echo "Auto-formatting C/C++ files in ${dir} recursively"
+    find ${dir} ${file_selectors} | xargs ${cpp_format} --style=file -i
+  done
+else
+  echo "No ${cpp_format} tool found, not formatting C++/C files"
+fi

stm32h7/CMakeLists.txt

@@ -1,6 +1,4 @@
-target_sources(${TARGET_NAME} PRIVATE
-	STM32TestTask.cpp
-)
+target_sources(${TARGET_NAME} PRIVATE STM32TestTask.cpp)
 
 option(STM32_ADD_NETWORKING_CODE "Add networking code requiring lwIP" ON)
 

stm32h7/STM32TestTask.cpp

@@ -1,33 +1,34 @@
 #include "STM32TestTask.h"
-#include "stm32h7xx_nucleo.h"
+
 #include "OBSWConfig.h"
+#include "stm32h7xx_nucleo.h"
 
 STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout,
-		bool blinkyLed): TestTask(objectId), blinkyLed(blinkyLed) {
+                             bool blinkyLed)
+    : TestTask(objectId), blinkyLed(blinkyLed) {
   BSP_LED_Init(LED1);
   BSP_LED_Init(LED2);
   BSP_LED_Init(LED3);
 }
 
+ReturnValue_t STM32TestTask::initialize() {
+  if (testSpi) {
+    spiComIF = new SpiComIF(objects::SPI_COM_IF);
+    spiTest = new SpiTest(*spiComIF);
+  }
+  return TestTask::initialize();
+}
+
 ReturnValue_t STM32TestTask::performPeriodicAction() {
-    if(blinkyLed) {
-#if OBSW_ETHERNET_USE_LEDS == 0
+  if (blinkyLed) {
+#if  OBSW_ETHERNET_USE_LED1_LED2 == 0
     BSP_LED_Toggle(LED1);
     BSP_LED_Toggle(LED2);
 #endif
     BSP_LED_Toggle(LED3);
   }
-    if(testSpi) {
+  if (testSpi) {
     spiTest->performOperation();
   }
   return TestTask::performPeriodicAction();
 }
-
-ReturnValue_t STM32TestTask::initialize() {
-    if(testSpi) {
-        spiComIF = new SpiComIF(objects::SPI_COM_IF);
-        spiTest = new SpiTest(*spiComIF);
-
-    }
-    return TestTask::initialize();
-}

stm32h7/STM32TestTask.h

@@ -4,22 +4,20 @@
 #include "bsp_stm32h7_freertos/boardtest/SpiTest.h"
 #include "fsfw_tests/integration/task/TestTask.h"
 
-class STM32TestTask: public TestTask {
+class STM32TestTask : public TestTask {
 public:
-	STM32TestTask(object_id_t objectId, bool enablePrintout, bool blinkyLed = true);
+  STM32TestTask(object_id_t objectId, bool enablePrintout,
+                bool blinkyLed = true);
 
   ReturnValue_t initialize() override;
   ReturnValue_t performPeriodicAction() override;
-private:
 
-	SpiComIF* spiComIF = nullptr;
-	SpiTest* spiTest = nullptr;
+private:
+  SpiComIF *spiComIF = nullptr;
+  SpiTest *spiTest = nullptr;
 
   bool blinkyLed = false;
-	bool testSpi = true;
-
+  bool testSpi = false;
 };
 
-
-
 #endif /* BSP_STM32_BOARDTEST_STM32TESTTASK_H_ */

stm32h7/networking/CMakeLists.txt

@@ -1,14 +1,8 @@
 # These are part of the RTEMS BSP for RTEMS
 if(FSFW_OSAL MATCHES freertos)
-    target_sources(${TARGET_NAME} PRIVATE
-        ethernetif.c
-    )
+  target_sources(${TARGET_NAME} PRIVATE ethernetif.c)
 endif()
 
-target_sources(${TARGET_NAME} PRIVATE
-	UdpTcLwIpPollingTask.cpp
-	TmTcLwIpUdpBridge.cpp
-	networking.cpp
-    app_dhcp.cpp
-    app_ethernet.cpp
-)
+target_sources(
+  ${TARGET_NAME} PRIVATE UdpTcLwIpPollingTask.cpp TmTcLwIpUdpBridge.cpp
+                         networking.cpp app_dhcp.cpp app_ethernet.cpp)

stm32h7/networking/TmTcLwIpUdpBridge.cpp

@@ -1,52 +1,49 @@
 #include "TmTcLwIpUdpBridge.h"
-#include "udp_config.h"
-#include "app_ethernet.h"
-#include "ethernetif.h"
-#include <OBSWConfig.h>
+
 
 #include <fsfw/ipc/MutexGuard.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/serialize/EndianConverter.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
+#include "app_ethernet.h"
+#include "udp_config.h"
 
 TmTcLwIpUdpBridge::TmTcLwIpUdpBridge(object_id_t objectId,
-        object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
-        object_id_t tcStoreId):
-        TmTcBridge(objectId, ccsdsPacketDistributor, tmStoreId, tcStoreId) {
+                                     object_id_t ccsdsPacketDistributor,
+                                     object_id_t tmStoreId,
+                                     object_id_t tcStoreId)
+    : TmTcBridge(objectId, ccsdsPacketDistributor, tmStoreId, tcStoreId) {
   TmTcLwIpUdpBridge::lastAdd.addr = IPADDR_TYPE_ANY;
 }
 
-TmTcLwIpUdpBridge::~TmTcLwIpUdpBridge() {}
+TmTcLwIpUdpBridge::~TmTcLwIpUdpBridge() = default;
 
 ReturnValue_t TmTcLwIpUdpBridge::initialize() {
   TmTcBridge::initialize();
   bridgeLock = MutexFactory::instance()->createMutex();
-    if(bridgeLock == nullptr) {
+  if (bridgeLock == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   ReturnValue_t result = udp_server_init();
   return result;
 }
 
-ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
+ReturnValue_t TmTcLwIpUdpBridge::udp_server_init() {
   err_t err;
   /* Create a new UDP control block  */
   TmTcLwIpUdpBridge::upcb = udp_new();
-    if (TmTcLwIpUdpBridge::upcb)
-    {
+  if (TmTcLwIpUdpBridge::upcb) {
+    sif::printInfo("Opening UDP server on port %d\n", UDP_SERVER_PORT);
     /* Bind the upcb to the UDP_PORT port */
     /* Using IP_ADDR_ANY allow the upcb to be used by any local interface */
     err = udp_bind(TmTcLwIpUdpBridge::upcb, IP_ADDR_ANY, UDP_SERVER_PORT);
 
-        if(err == ERR_OK)
-        {
+    if (err == ERR_OK) {
       /* Set a receive callback for the upcb */
       udp_recv(TmTcLwIpUdpBridge::upcb, &udp_server_receive_callback,
-                    (void*) this);
+               (void *)this);
       return RETURN_OK;
-        }
-        else
-        {
+    } else {
       udp_remove(TmTcLwIpUdpBridge::upcb);
       return RETURN_FAILED;
     }
@@ -58,9 +55,9 @@ ReturnValue_t TmTcLwIpUdpBridge::udp_server_init(void) {
 ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
   TmTcBridge::performOperation();
 
-#if TCPIP_RECV_WIRETAPPING == 1
-    if(connectFlag) {
-        uint32_t ipAddress = ((ip4_addr*) &lastAdd)->addr;
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
+  if (connectFlag) {
+    uint32_t ipAddress = ((ip4_addr *)&lastAdd)->addr;
     int ipAddress1 = (ipAddress & 0xFF000000) >> 24;
     int ipAddress2 = (ipAddress & 0xFF0000) >> 16;
     int ipAddress3 = (ipAddress & 0xFF00) >> 8;
@@ -71,8 +68,8 @@ ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
               << ipAddress4 << "." << ipAddress3 << "." << ipAddress2 << "."
               << ipAddress1 << std::endl;
     uint16_t portSwapped = EndianConverter::convertBigEndian(lastPort);
-        sif::info << "TmTcLwIpUdpBridge: Client IP Port "
-                << (int)portSwapped << std::endl;
+    sif::info << "TmTcLwIpUdpBridge: Client IP Port " << (int)portSwapped
+              << std::endl;
 #else
     sif::printInfo("TmTcLwIpUdpBridge: Client IP Address %d.%d.%d.%d\n",
                    ipAddress4, ipAddress3, ipAddress2, ipAddress1);
@@ -87,82 +84,83 @@ ReturnValue_t TmTcLwIpUdpBridge::performOperation(uint8_t operationCode) {
   return RETURN_OK;
 }
 
-ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t * data, size_t dataLen) {
+ReturnValue_t TmTcLwIpUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
   struct pbuf *p_tx = pbuf_alloc(PBUF_TRANSPORT, dataLen, PBUF_RAM);
-    if ((p_tx != nullptr) && (lastAdd.addr != IPADDR_TYPE_ANY) && (upcb != nullptr)) {
+  if ((p_tx != nullptr) && (lastAdd.addr != IPADDR_TYPE_ANY) &&
+      (upcb != nullptr)) {
     /* copy data to pbuf */
-        err_t err  = pbuf_take(p_tx, (char*) data, dataLen);
-        if(err!=ERR_OK){
+    err_t err = pbuf_take(p_tx, (const char *)data, dataLen);
+    if (err != ERR_OK) {
       pbuf_free(p_tx);
       return err;
     }
     /* Connect to the remote client */
-        err = udp_connect(TmTcLwIpUdpBridge::upcb, &lastAdd , lastPort);
-        if(err != ERR_OK){
+    err = udp_connect(TmTcLwIpUdpBridge::upcb, &lastAdd, lastPort);
+    if (err != ERR_OK) {
       pbuf_free(p_tx);
       return err;
     }
     /* Tell the client that we have accepted it */
     err = udp_send(TmTcLwIpUdpBridge::upcb, p_tx);
     pbuf_free(p_tx);
-        if(err!=ERR_OK){
+    if (err != ERR_OK) {
       return err;
     }
 
     /* free the UDP connection, so we can accept new clients */
-        udp_disconnect (TmTcLwIpUdpBridge::upcb);
-    }
-    else{
+    udp_disconnect(TmTcLwIpUdpBridge::upcb);
+  } else {
     return RETURN_FAILED;
   }
   return RETURN_OK;
 }
 
-
-void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg,
-        struct udp_pcb* upcb_, struct pbuf* p, const ip_addr_t* addr,
+void TmTcLwIpUdpBridge::udp_server_receive_callback(void *arg,
+                                                    struct udp_pcb *upcb_,
+                                                    struct pbuf *p,
+                                                    const ip_addr_t *addr,
                                                     u16_t port) {
-    struct pbuf *p_tx = nullptr;
-    auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge*>(arg);
-    if(udpBridge == nullptr) {
+  auto udpBridge = reinterpret_cast<TmTcLwIpUdpBridge *>(arg);
+  if (udpBridge == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!" <<
-                std::endl;
+    sif::warning
+        << "TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!"
+        << std::endl;
 #else
-        sif::printWarning("TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid UDP bridge!\n");
+    sif::printWarning("TmTcLwIpUdpBridge::udp_server_receive_callback: Invalid "
+                      "UDP bridge!\n");
 #endif
   }
   /* allocate pbuf from RAM*/
-    p_tx = pbuf_alloc(PBUF_TRANSPORT,p->len, PBUF_RAM);
+  struct pbuf *p_tx = pbuf_alloc(PBUF_TRANSPORT, p->len, PBUF_RAM);
 
-    if(p_tx != NULL)
-    {
-        if(udpBridge != nullptr) {
+  if (p_tx != nullptr) {
+    if (udpBridge != nullptr) {
       MutexGuard lg(udpBridge->bridgeLock);
       udpBridge->upcb = upcb_;
       udpBridge->lastAdd = *addr;
       udpBridge->lastPort = port;
-            if(not udpBridge->comLinkUp()) {
+      if (not udpBridge->comLinkUp()) {
         udpBridge->registerCommConnect();
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
         udpBridge->connectFlag = true;
 #endif
         /* This should have already been done, but we will still do it */
         udpBridge->physicalConnectStatusChange(true);
       }
     }
-        pbuf_take(p_tx, (char*)p->payload, p->len);
+    pbuf_take(p_tx, (char *)p->payload, p->len);
     /* send the received data to the uart port */
-        char* data = reinterpret_cast<char*>(p_tx->payload);
-        *(data+p_tx->len) = '\0';
+    char *data = reinterpret_cast<char *>(p_tx->payload);
+    *(data + p_tx->len) = '\0';
 
-#if TCPIP_RECV_WIRETAPPING == 1
-        udpBridge->printData(p,data);
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
+    udpBridge->printData(reinterpret_cast<uint8_t *>(p->payload), p->len);
 #endif
 
     store_address_t storeId;
-        ReturnValue_t returnValue = udpBridge->tcStore->addData(&storeId,
-                reinterpret_cast<uint8_t*>(p->payload), p->len);
+    ReturnValue_t returnValue = udpBridge->tcStore->addData(
+        &storeId, reinterpret_cast<uint8_t *>(p->payload), p->len);
     if (returnValue != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UDP Server: Data storage failed" << std::endl;
@@ -171,8 +169,7 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg,
       return;
     }
     TmTcMessage message(storeId);
-        if (udpBridge->tmTcReceptionQueue->sendToDefault(&message)
-                != RETURN_OK) {
+    if (udpBridge->tmTcReceptionQueue->sendToDefault(&message) != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "TmTcLwIpUdpBridgw::udp_server_receive_callback:"
                    << " Sending message to queue failed" << std::endl;
@@ -185,18 +182,15 @@ void TmTcLwIpUdpBridge::udp_server_receive_callback(void* arg,
 }
 
 /* Caller must ensure thread-safety */
-bool TmTcLwIpUdpBridge::comLinkUp() const {
-    return communicationLinkUp;
-}
+bool TmTcLwIpUdpBridge::comLinkUp() const { return communicationLinkUp; }
 
 /* Caller must ensure thread-safety */
 void TmTcLwIpUdpBridge::physicalConnectStatusChange(bool connect) {
-    if(connect) {
-        /* Physical connection does not mean there is a recipient to send packets too.
-        This will be done by the receive callback! */
+  if (connect) {
+    /* Physical connection does not mean there is a recipient to send packets
+    too. This will be done by the receive callback! */
     physicalConnection = true;
-    }
-    else {
+  } else {
     physicalConnection = false;
     /* If there is no physical connection, we can't send anything back */
     registerCommDisconnect();

stm32h7/networking/TmTcLwIpUdpBridge.h

@@ -1,25 +1,25 @@
 #ifndef BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
 #define BSP_STM32_RTEMS_NETWORKING_TMTCUDPBRIDGE_H_
 
-#include <fsfw/tmtcservices/TmTcBridge.h>
+#include "fsfw/tmtcservices/TmTcBridge.h"
+#include "commonConfig.h"
 
-#include <lwip/udp.h>
 #include <lwip/ip_addr.h>
-
-#define TCPIP_RECV_WIRETAPPING 0
+#include <lwip/udp.h>
 
 /**
- * This bridge is used to forward TMTC packets received via LwIP UDP to the internal software bus.
+ * This bridge is used to forward TMTC packets received via LwIP UDP to the
+ * internal software bus.
  */
 class TmTcLwIpUdpBridge : public TmTcBridge {
   friend class UdpTcLwIpPollingTask;
-public:
-    TmTcLwIpUdpBridge(object_id_t objectId,
-            object_id_t ccsdsPacketDistributor, object_id_t tmStoreId,
-            object_id_t tcStoreId);
-    virtual ~TmTcLwIpUdpBridge();
 
-    virtual ReturnValue_t initialize() override;
+public:
+  TmTcLwIpUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
+                    object_id_t tmStoreId, object_id_t tcStoreId);
+  ~TmTcLwIpUdpBridge() override;
+
+  ReturnValue_t initialize() override;
   ReturnValue_t udp_server_init();
 
   /**
@@ -27,14 +27,14 @@ public:
    * @param operationCode
    * @return
    */
-    virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
 
   /** TM Send implementation uses udp_send function from lwIP stack
    * @param data
    * @param dataLen
    * @return
    */
-    virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
+  ReturnValue_t sendTm(const uint8_t *data, size_t dataLen) override;
 
   /**
    * @brief This function is called when an UDP datagram has been
@@ -45,8 +45,8 @@ public:
    * @param addr Source address which will be bound to TmTcUdpBridge::lastAdd
    * @param port
    */
-    static void udp_server_receive_callback(void *arg,
-            struct udp_pcb *upcb_, struct pbuf *p, const ip_addr_t *addr,
+  static void udp_server_receive_callback(void *arg, struct udp_pcb *upcb_,
+                                          struct pbuf *p, const ip_addr_t *addr,
                                           u16_t port);
 
   /**
@@ -54,24 +54,24 @@ public:
    * Caller must ensure thread-safety by using the bridge lock.
    * @return
    */
-    bool comLinkUp() const;
+  [[nodiscard]] bool comLinkUp() const;
 
 private:
   struct udp_pcb *upcb = nullptr;
-    ip_addr_t lastAdd;
+  ip_addr_t lastAdd{};
   u16_t lastPort = 0;
   bool physicalConnection = false;
-    MutexIF* bridgeLock = nullptr;
+  MutexIF *bridgeLock = nullptr;
 
-#if TCPIP_RECV_WIRETAPPING == 1
+#if OBSW_TCPIP_UDP_WIRETAPPING == 1
   bool connectFlag = false;
 #endif
 
   /**
    * Used to notify bridge about change in the physical ethernet connection.
-     * Connection does not mean that replies are possible (recipient not set yet), but
-     * disconnect means that we can't send anything. Caller must ensure thread-safety
-     * by using the bridge lock.
+   * Connection does not mean that replies are possible (recipient not set yet),
+   * but disconnect means that we can't send anything. Caller must ensure
+   * thread-safety by using the bridge lock.
    */
   void physicalConnectStatusChange(bool connect);
 };

stm32h7/networking/UdpTcLwIpPollingTask.cpp

@@ -1,30 +1,26 @@
 #include "UdpTcLwIpPollingTask.h"
+
 #include "TmTcLwIpUdpBridge.h"
+#include "app_dhcp.h"
 #include "app_ethernet.h"
 #include "ethernetif.h"
-#include "app_dhcp.h"
-#include "networking.h"
-#include <hardware_init.h>
-
 #include "fsfw/ipc/MutexGuard.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-
-
-
+#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "lwip/timeouts.h"
+#include "networking.h"
 
-UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
-            struct netif* gnetif):
-        SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId), gnetif(gnetif) {
-}
+UdpTcLwIpPollingTask::UdpTcLwIpPollingTask(object_id_t objectId,
+                                           object_id_t bridgeId,
+                                           struct netif *gnetif)
+    : SystemObject(objectId), periodicHandleCounter(0), bridgeId(bridgeId),
+      gnetif(gnetif) {}
 
-UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() {
-}
+UdpTcLwIpPollingTask::~UdpTcLwIpPollingTask() = default;
 
 ReturnValue_t UdpTcLwIpPollingTask::initialize() {
   udpBridge = ObjectManager::instance()->get<TmTcLwIpUdpBridge>(bridgeId);
-    if(udpBridge == nullptr) {
+  if (udpBridge == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
   if (netif_is_link_up(gnetif)) {
@@ -33,7 +29,6 @@ ReturnValue_t UdpTcLwIpPollingTask::initialize() {
   return RETURN_OK;
 }
 
-
 /* Poll the EMAC Interface and pass content to the network interface (lwIP) */
 ReturnValue_t UdpTcLwIpPollingTask::performOperation(uint8_t operationCode) {
   /* Read a received packet from the Ethernet buffers and send it
@@ -47,13 +42,13 @@ ReturnValue_t UdpTcLwIpPollingTask::performOperation(uint8_t operationCode) {
   networking::ethernetLinkPeriodicHandle(gnetif);
 #endif
 
-    if(udpBridge != nullptr) {
+  if (udpBridge != nullptr) {
     MutexGuard lg(udpBridge->bridgeLock);
     /* In case ethernet cable is disconnected */
-        if(not networking::getEthCableConnected() and udpBridge->comLinkUp()) {
+    if (not networking::getEthCableConnected() and udpBridge->comLinkUp()) {
       udpBridge->physicalConnectStatusChange(false);
-        }
-        else if(networking::getEthCableConnected() and not udpBridge->comLinkUp()) {
+    } else if (networking::getEthCableConnected() and
+               not udpBridge->comLinkUp()) {
       udpBridge->physicalConnectStatusChange(true);
     }
   }

stm32h7/networking/UdpTcLwIpPollingTask.h

@@ -1,10 +1,8 @@
-#ifndef BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
-#define BSP_STM32_RTEMS_EMACPOLLINGTASK_H_
+#pragma once
 
 #include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
-
+#include <fsfw/tasks/ExecutableObjectIF.h>
 #include <lwip/netif.h>
 
 class TmTcLwIpUdpBridge;
@@ -13,29 +11,27 @@ class TmTcLwIpUdpBridge;
  * @brief Separate task to poll EMAC interface.
  * 		  Polled data is passed to the netif (lwIP)
  */
-class UdpTcLwIpPollingTask:
-        public SystemObject,
+class UdpTcLwIpPollingTask : public SystemObject,
                              public ExecutableObjectIF,
                              public HasReturnvaluesIF {
 public:
-    UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId, struct netif* gnetif);
-    virtual ~UdpTcLwIpPollingTask();
+  UdpTcLwIpPollingTask(object_id_t objectId, object_id_t bridgeId,
+                       struct netif *gnetif);
+  ~UdpTcLwIpPollingTask() override;
 
-    virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
   /**
    * Executed periodically.
    * @param operationCode
    * @return
    */
-    virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+
 private:
   static const uint8_t PERIODIC_HANDLE_TRIGGER = 5;
   uint8_t periodicHandleCounter;
   object_id_t bridgeId = 0;
-    TmTcLwIpUdpBridge* udpBridge = nullptr;
-    struct netif* gnetif = nullptr;
+  TmTcLwIpUdpBridge *udpBridge = nullptr;
+  struct netif *gnetif = nullptr;
 };
-
-
-#endif /* BSP_STM32_RTEMS_EMACPOLLINGTASK_H_ */

stm32h7/networking/app_dhcp.cpp

@@ -1,32 +1,28 @@
-#include "OBSWConfig.h"
-
 #include "app_dhcp.h"
-#include "app_ethernet.h"
-#include "networking.h"
-#include "udp_config.h"
-#include "ethernetif.h"
 
+#include "OBSWConfig.h"
 #include "lwip/dhcp.h"
+#include "networking.h"
 #include "stm32h7xx_nucleo.h"
+#include "udp_config.h"
 
 #if LWIP_DHCP == 1
 
 uint8_t DHCP_state = DHCP_OFF;
 uint32_t DHCPfineTimer = 0;
 
-void handle_dhcp_timeout(struct netif* netif);
-void handle_dhcp_start(struct netif* netif);
-void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp);
-void handle_dhcp_down(struct netif* netif);
+void handle_dhcp_timeout(struct netif *netif);
+void handle_dhcp_start(struct netif *netif);
+void handle_dhcp_wait(struct netif *netif, struct dhcp **dhcp);
+void handle_dhcp_down(struct netif *netif);
 
 /**
  * @brief  DHCP_Process_Handle
  * @param  None
  * @retval None
  */
-void DHCP_Process(struct netif *netif)
-{
-    struct dhcp* dhcp = NULL;
+void DHCP_Process(struct netif *netif) {
+  struct dhcp *dhcp = nullptr;
   switch (DHCP_state) {
   case DHCP_START: {
     handle_dhcp_start(netif);
@@ -47,7 +43,7 @@ void DHCP_Process(struct netif *netif)
   }
 }
 
-void handle_dhcp_timeout(struct netif* netif) {
+void handle_dhcp_timeout(struct netif *netif) {
   ip_addr_t ipaddr;
   ip_addr_t netmask;
   ip_addr_t gw;
@@ -67,7 +63,7 @@ void handle_dhcp_timeout(struct netif* netif) {
   printf("Assigning static IP address: %s\n", iptxt);
 
 #if defined FSFW_OSAL_FREERTOS
-    ETH_HandleTypeDef* handle = getEthernetHandle();
+  ETH_HandleTypeDef *handle = getEthernetHandle();
   handle->gState = HAL_ETH_STATE_READY;
 #endif
 
@@ -84,8 +80,7 @@ void handle_dhcp_timeout(struct netif* netif) {
  * @param  netif
  * @retval None
  */
-void DHCP_Periodic_Handle(struct netif *netif)
-{
+void DHCP_Periodic_Handle(struct netif *netif) {
   /* Fine DHCP periodic process every 500ms */
   if (HAL_GetTick() - DHCPfineTimer >= DHCP_FINE_TIMER_MSECS) {
     DHCPfineTimer = HAL_GetTick();
@@ -94,7 +89,7 @@ void DHCP_Periodic_Handle(struct netif *netif)
   }
 }
 
-void handle_dhcp_start(struct netif* netif) {
+void handle_dhcp_start(struct netif *netif) {
   printf("handle_dhcp_start: Looking for DHCP server ...\n\r");
 #if OBSW_ETHERNET_TMTC_COMMANDING == 1
 #if OBSW_ETHERNET_USE_LED1_LED2 == 1
@@ -109,10 +104,11 @@ void handle_dhcp_start(struct netif* netif) {
   DHCP_state = DHCP_WAIT_ADDRESS;
 }
 
-void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
+void handle_dhcp_wait(struct netif *netif, struct dhcp **dhcp) {
   if (dhcp_supplied_address(netif)) {
     DHCP_state = DHCP_ADDRESS_ASSIGNED;
-        printf("IP address assigned by a DHCP server: %s\n\r", ip4addr_ntoa(netif_ip4_addr(netif)));
+    printf("IP address assigned by a DHCP server: %s\n\r",
+           ip4addr_ntoa(netif_ip4_addr(netif)));
     printf("Listener port: %d\n\r", UDP_SERVER_PORT);
 #if OBSW_ETHERNET_TMTC_COMMANDING == 1
 #if OBSW_ETHERNET_USE_LED1_LED2 == 1
@@ -120,19 +116,19 @@ void handle_dhcp_wait(struct netif* netif, struct dhcp** dhcp) {
     BSP_LED_Off(LED2);
 #endif
 #endif
-    }
-    else {
-        *dhcp = (struct dhcp*) netif_get_client_data(netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP);
+  } else {
+    *dhcp = static_cast<struct dhcp *>(netif_get_client_data(
+        netif, LWIP_NETIF_CLIENT_DATA_INDEX_DHCP));
 
     /* DHCP timeout */
-        if ((*dhcp)->tries > MAX_DHCP_TRIES)
-        {
+    if ((*dhcp)->tries > MAX_DHCP_TRIES) {
       handle_dhcp_timeout(netif);
     }
   }
 }
 
-void handle_dhcp_down(struct netif* netif) {
+void handle_dhcp_down(struct netif *netif) {
+  static_cast<void>(netif);
   DHCP_state = DHCP_OFF;
 #if OBSW_ETHERNET_TMTC_COMMANDING == 1
   printf("DHCP_Process: The network cable is not connected.\n\r");
@@ -146,12 +142,8 @@ void handle_dhcp_down(struct netif* netif) {
   networking::setEthCableConnected(false);
 }
 
-uint8_t get_dhcp_state() {
-    return DHCP_state;
-}
+uint8_t get_dhcp_state() { return DHCP_state; }
 
-void set_dhcp_state(uint8_t new_state) {
-    DHCP_state = new_state;
-}
+void set_dhcp_state(uint8_t new_state) { DHCP_state = new_state; }
 
 #endif /* LWIP_DHCP == 1 */

stm32h7/networking/app_dhcp.h

@@ -12,12 +12,12 @@ extern "C" {
 #include "lwip/netif.h"
 
 /* DHCP process states */
-#define DHCP_OFF                   (uint8_t) 0
-#define DHCP_START                 (uint8_t) 1
-#define DHCP_WAIT_ADDRESS          (uint8_t) 2
-#define DHCP_ADDRESS_ASSIGNED      (uint8_t) 3
-#define DHCP_TIMEOUT               (uint8_t) 4
-#define DHCP_LINK_DOWN             (uint8_t) 5
+#define DHCP_OFF (uint8_t)0
+#define DHCP_START (uint8_t)1
+#define DHCP_WAIT_ADDRESS (uint8_t)2
+#define DHCP_ADDRESS_ASSIGNED (uint8_t)3
+#define DHCP_TIMEOUT (uint8_t)4
+#define DHCP_LINK_DOWN (uint8_t)5
 
 uint8_t get_dhcp_state();
 void set_dhcp_state(uint8_t new_state);

stm32h7/networking/app_ethernet.cpp

@@ -1,17 +1,18 @@
 /* Includes ------------------------------------------------------------------*/
 #include "app_ethernet.h"
+
 #include "ethernetif.h"
-#include "udp_config.h"
 #include "networking.h"
+#include "udp_config.h"
 
 #if LWIP_DHCP
 #include "app_dhcp.h"
 #endif
 
-#include <lwipopts.h>
-#include <lwip/netif.h>
-#include <stm32h7xx_nucleo.h>
 #include <OBSWConfig.h>
+#include <lwip/netif.h>
+#include <lwipopts.h>
+#include <stm32h7xx_nucleo.h>
 
 /* Private typedef -----------------------------------------------------------*/
 /* Private define ------------------------------------------------------------*/
@@ -20,8 +21,7 @@
 uint32_t ethernetLinkTimer = 0;
 
 /* Private function prototypes -----------------------------------------------*/
-void handle_status_change(struct netif* netif, bool link_up);
-
+void handle_status_change(struct netif *netif, bool link_up);
 
 /* Private functions ---------------------------------------------------------*/
 /**
@@ -29,37 +29,32 @@ void handle_status_change(struct netif* netif, bool link_up);
  * @param  netif: the network interface
  * @retval None
  */
-void networking::ethernetLinkStatusUpdated(struct netif *netif)
-{
-	if (netif_is_link_up(netif))
-	{
+void networking::ethernetLinkStatusUpdated(struct netif *netif) {
+  if (netif_is_link_up(netif)) {
     networking::setEthCableConnected(true);
     handle_status_change(netif, true);
-	}
-	else
-	{
+  } else {
     networking::setEthCableConnected(false);
     handle_status_change(netif, false);
   }
 }
 
-void handle_status_change(struct netif* netif, bool link_up) {
-	if(link_up) {
+void handle_status_change(struct netif *netif, bool link_up) {
+  if (link_up) {
 #if LWIP_DHCP
     /* Update DHCP state machine */
     set_dhcp_state(DHCP_START);
 #else
     uint8_t iptxt[20];
     sprintf((char *)iptxt, "%s", ip4addr_ntoa(netif_ip4_addr(netif)));
-		printf("\rNetwork cable connected. Static IP address: %s | Port: %d\n\r", iptxt,
-		        UDP_SERVER_PORT);
+    printf("\rNetwork cable connected. Static IP address: %s | Port: %d\n\r",
+           iptxt, UDP_SERVER_PORT);
 #if OBSW_ETHERNET_USE_LED1_LED2 == 1
     BSP_LED_On(LED1);
     BSP_LED_Off(LED2);
 #endif
 #endif /* LWIP_DHCP */
-	}
-	else {
+  } else {
     printf("Network cable disconnected\n\r");
 #if LWIP_DHCP
     /* Update DHCP state machine */
@@ -80,11 +75,9 @@ void handle_status_change(struct netif* netif, bool link_up) {
  * @param  netif
  * @retval None
  */
-void networking::ethernetLinkPeriodicHandle(struct netif *netif)
-{
+void networking::ethernetLinkPeriodicHandle(struct netif *netif) {
   /* Ethernet Link every 100ms */
-	if (HAL_GetTick() - ethernetLinkTimer >= 100)
-	{
+  if (HAL_GetTick() - ethernetLinkTimer >= 100) {
     ethernetLinkTimer = HAL_GetTick();
     ethernet_link_check_state(netif);
   }

stm32h7/networking/app_ethernet.h

@@ -48,7 +48,7 @@
 #define EXAMPLE_COMMON_APP_ETHERNET_H
 
 #ifdef __cplusplus
- extern "C" {
+extern "C" {
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -65,7 +65,7 @@ namespace networking {
 void ethernetLinkStatusUpdated(struct netif *netif);
 void ethernetLinkPeriodicHandle(struct netif *netif);
 
-}
+} // namespace networking
 
 #ifdef __cplusplus
 }
@@ -73,6 +73,4 @@ void ethernetLinkPeriodicHandle(struct netif *netif);
 
 #endif /* EXAMPLE_COMMON_APP_ETHERNET_H */
 
-
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
-

stm32h7/networking/ethernetif.c

@@ -44,16 +44,17 @@
  */
 
 /* Includes ------------------------------------------------------------------*/
-#include "fsfw/FSFW.h"
+#include "stm32h7xx_hal.h"
+#include "lwip/opt.h"
+#include "lwip/timeouts.h"
+#include "lwip/netif.h"
+#include "netif/etharp.h"
 #include "ethernetif.h"
-
+#include "lan8742.h"
 #include <string.h>
-#include <lan8742.h>
-#include <stm32h7xx_hal.h>
-#include <lwip/netif.h>
-#include <lwip/opt.h>
-#include <lwip/timeouts.h>
-#include <netif/etharp.h>
+
+#include <stdbool.h>
+#include "fsfw/FSFW.h"
 
 #ifdef FSFW_OSAL_RTEMS
 #include <rtems.h>
@@ -65,14 +66,20 @@
 #define IFNAME0 's'
 #define IFNAME1 't'
 
+#define ETH_DMA_TRANSMIT_TIMEOUT                (20U)
+
+#define ETH_RX_BUFFER_SIZE            1536U
+#define ETH_RX_BUFFER_CNT             12U
+#define ETH_TX_BUFFER_MAX             ((ETH_TX_DESC_CNT) * 2U)
+
 #define DMA_DESCRIPTOR_ALIGNMENT 0x20
 
 /* Private macro -------------------------------------------------------------*/
 /* Private variables ---------------------------------------------------------*/
 /*
 @Note: This interface is implemented to operate in zero-copy mode only:
-        - Rx buffers are allocated statically and passed directly to the LwIP stack
-          they will return back to DMA after been processed by the stack.
+        - Rx buffers are allocated statically and passed directly to the LwIP
+stack they will return back to DMA after been processed by the stack.
         - Tx Buffers will be allocated from LwIP stack memory heap,
           then passed to ETH HAL driver.
 
@@ -86,68 +93,97 @@
   2.b. Rx Buffers must have the same size: ETH_RX_BUFFER_SIZE, this value must
        passed to ETH DMA in the init field (EthHandle.Init.RxBuffLen)
 */
+typedef enum
+{
+  RX_ALLOC_OK       = 0x00,
+  RX_ALLOC_ERROR    = 0x01
+} RxAllocStatusTypeDef;
 
-#if defined ( __ICCARM__ ) /*!< IAR Compiler */
+typedef struct
+{
+  struct pbuf_custom pbuf_custom;
+  uint8_t buff[(ETH_RX_BUFFER_SIZE + 31) & ~31] __ALIGNED(32);
+} RxBuff_t;
 
-#pragma location=0x30040000
+#if defined(__ICCARM__) /*!< IAR Compiler */
+
+#pragma location=0x30000000
 ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
-#pragma location=0x30040060
+#pragma location=0x30000200
 ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
-#pragma location=0x30040200
-uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffers */
 
-#elif defined ( __CC_ARM )  /* MDK ARM Compiler */
+
+#elif defined(__CC_ARM) /* MDK ARM Compiler */
 
 __attribute__((section(".RxDecripSection"))) ETH_DMADescTypeDef  DMARxDscrTab[ETH_RX_DESC_CNT]; /* Ethernet Rx DMA Descriptors */
 __attribute__((section(".TxDecripSection"))) ETH_DMADescTypeDef  DMATxDscrTab[ETH_TX_DESC_CNT]; /* Ethernet Tx DMA Descriptors */
-__attribute__((section(".RxArraySection"))) uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE]; /* Ethernet Receive Buffer */
 
-#elif defined ( __GNUC__ ) /* GNU Compiler */ 
+#elif defined(__GNUC__) /* GNU Compiler */
 
 #ifdef FSFW_OSAL_RTEMS
 /* Put into special RTEMS section and align correctly */
-ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".bsp_nocache"), __aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Rx DMA Descriptors */
+ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((
+    section(".bsp_nocache"),
+    __aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Rx DMA Descriptors */
 /* Put into special RTEMS section and align correctly */
-ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT]  __attribute__((section(".bsp_nocache"), __aligned__(DMA_DESCRIPTOR_ALIGNMENT)));  /* Ethernet Tx DMA Descriptors */
-/* Ethernet Receive Buffers. Just place somewhere is BSS instead of explicitely placing it */
+ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((
+    section(".bsp_nocache"),
+    __aligned__(DMA_DESCRIPTOR_ALIGNMENT))); /* Ethernet Tx DMA Descriptors */
+/* Ethernet Receive Buffers. Just place somewhere is BSS instead of explicitely
+ * placing it */
 uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
 #elif defined FSFW_OSAL_FREERTOS
-/* Placement and alignment specified in linker script here */
+
 ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT] __attribute__((section(".RxDecripSection"))); /* Ethernet Rx DMA Descriptors */
 ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT] __attribute__((section(".TxDecripSection")));   /* Ethernet Tx DMA Descriptors */
-uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE] __attribute__((section(".RxArraySection"))); /* Ethernet Receive Buffers */
-#endif /* FSFW_FREERTOS */
+
+#endif /* FSFW_OSAL_RTEMS */
 
 #endif /* defined ( __GNUC__ ) */
 
+/* Memory Pool Declaration */
+LWIP_MEMPOOL_DECLARE(RX_POOL, ETH_RX_BUFFER_CNT, sizeof(RxBuff_t), "Zero-copy RX PBUF pool");
+
+#if defined ( __ICCARM__ ) /*!< IAR Compiler */
+#pragma location = 0x30000400
+extern u8_t memp_memory_RX_POOL_base[];
+
+#elif defined ( __CC_ARM )  /* MDK ARM Compiler */
+__attribute__((section(".Rx_PoolSection"))) extern u8_t memp_memory_RX_POOL_base[];
+
+#elif defined ( __GNUC__ ) /* GNU Compiler */
+__attribute__((section(".Rx_PoolSection"))) extern u8_t memp_memory_RX_POOL_base[];
+
+#endif
+
 /* Global boolean to track ethernet connection */
 bool ethernet_cable_connected;
 
-struct pbuf_custom rx_pbuf[ETH_RX_DESC_CNT];
-uint32_t current_pbuf_idx =0;
+/* Variable Definitions */
+static uint8_t RxAllocStatus;
 
+/* Global Ethernet handle*/
 ETH_HandleTypeDef EthHandle;
 ETH_TxPacketConfig TxConfig;
 
-lan8742_Object_t LAN8742;
-
 /* Private function prototypes -----------------------------------------------*/
 u32_t sys_now(void);
-void pbuf_free_custom(struct pbuf *p);
-
+extern void Error_Handler(void);
 int32_t ETH_PHY_IO_Init(void);
 int32_t ETH_PHY_IO_DeInit (void);
 int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal);
 int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal);
 int32_t ETH_PHY_IO_GetTick(void);
 
-
+lan8742_Object_t LAN8742;
 lan8742_IOCtx_t  LAN8742_IOCtx = {ETH_PHY_IO_Init,
                                  ETH_PHY_IO_DeInit,
                                  ETH_PHY_IO_WriteReg,
                                  ETH_PHY_IO_ReadReg,
                                  ETH_PHY_IO_GetTick};
+
 /* Private functions ---------------------------------------------------------*/
+void pbuf_free_custom(struct pbuf *p);
 /*******************************************************************************
                        LL Driver Interface ( LwIP stack --> ETH)
 *******************************************************************************/
@@ -158,9 +194,7 @@ lan8742_IOCtx_t  LAN8742_IOCtx = {ETH_PHY_IO_Init,
  * @param netif the already initialized lwip network interface structure
  *        for this ethernetif
  */
-static void low_level_init(struct netif *netif)
-{
-  uint32_t idx = 0;
+static void low_level_init(struct netif *netif) {
   uint8_t macaddress[6]= {ETH_MAC_ADDR0, ETH_MAC_ADDR1, ETH_MAC_ADDR2, ETH_MAC_ADDR3, ETH_MAC_ADDR4, ETH_MAC_ADDR5};
 
   EthHandle.Instance = ETH;
@@ -174,15 +208,15 @@ static void low_level_init(struct netif *netif)
   HAL_ETH_Init(&EthHandle);
 
   /* set MAC hardware address length */
-  netif->hwaddr_len = ETHARP_HWADDR_LEN;
+  netif->hwaddr_len = ETH_HWADDR_LEN;
 
   /* set MAC hardware address */
-  netif->hwaddr[0] =  0x02;
-  netif->hwaddr[1] =  0x00;
-  netif->hwaddr[2] =  0x00;
-  netif->hwaddr[3] =  0x00;
-  netif->hwaddr[4] =  0x00;
-  netif->hwaddr[5] =  0x00;
+  netif->hwaddr[0] =  ETH_MAC_ADDR0;
+  netif->hwaddr[1] =  ETH_MAC_ADDR1;
+  netif->hwaddr[2] =  ETH_MAC_ADDR2;
+  netif->hwaddr[3] =  ETH_MAC_ADDR3;
+  netif->hwaddr[4] =  ETH_MAC_ADDR4;
+  netif->hwaddr[5] =  ETH_MAC_ADDR5;
 
   /* maximum transfer unit */
   netif->mtu = ETH_MAX_PAYLOAD;
@@ -191,13 +225,8 @@ static void low_level_init(struct netif *netif)
   /* don't set NETIF_FLAG_ETHARP if this device is not an ethernet one */
   netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
 
-  for(idx = 0; idx < ETH_RX_DESC_CNT; idx ++)
-  {
-    HAL_ETH_DescAssignMemory(&EthHandle, idx, Rx_Buff[idx], NULL);
-    
-    /* Set Custom pbuf free function */
-    rx_pbuf[idx].custom_free_function = pbuf_free_custom;
-  }
+  /* Initialize the RX POOL */
+  LWIP_MEMPOOL_INIT(RX_POOL);
 
   /* Set Tx packet config common parameters */
   memset(&TxConfig, 0 , sizeof(ETH_TxPacketConfig));
@@ -212,16 +241,16 @@ static void low_level_init(struct netif *netif)
   LAN8742_Init(&LAN8742);
 
   ethernet_link_check_state(netif);
-
 }
 
 /**
-  * @brief This function should do the actual transmission of the packet. The packet is
-  * contained in the pbuf that is passed to the function. This pbuf
+ * @brief This function should do the actual transmission of the packet. The
+ * packet is contained in the pbuf that is passed to the function. This pbuf
  * might be chained.
  *
  * @param netif the lwip network interface structure for this ethernetif
-  * @param p the MAC packet to send (e.g. IP packet including MAC addresses and type)
+ * @param p the MAC packet to send (e.g. IP packet including MAC addresses and
+ * type)
  * @return ERR_OK if the packet could be sent
  *         an err_t value if the packet couldn't be sent
  *
@@ -230,12 +259,13 @@ static void low_level_init(struct netif *netif)
  *       to become availale since the stack doesn't retry to send a packet
  *       dropped because of memory failure (except for the TCP timers).
  */
-static err_t low_level_output(struct netif *netif, struct pbuf *p)
-{
-  uint32_t i=0, framelen = 0;
-  struct pbuf *q;
+static err_t low_level_output(struct netif *netif, struct pbuf *p) {
+  uint32_t i = 0U;
+  struct pbuf *q = NULL;
   err_t errval = ERR_OK;
-  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT];
+  ETH_BufferTypeDef Txbuffer[ETH_TX_DESC_CNT] = {0};
+
+  memset(Txbuffer, 0 , ETH_TX_DESC_CNT*sizeof(ETH_BufferTypeDef));
 
   for(q = p; q != NULL; q = q->next)
   {
@@ -244,7 +274,6 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p)
 
     Txbuffer[i].buffer = q->payload;
     Txbuffer[i].len = q->len;
-    framelen += q->len;
 
     if(i>0)
     {
@@ -259,15 +288,15 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p)
     i++;
   }
 
-  TxConfig.Length = framelen;
+  TxConfig.Length = p->tot_len;
   TxConfig.TxBuffer = Txbuffer;
+  TxConfig.pData = p;
 
-  HAL_StatusTypeDef ret = HAL_ETH_Transmit(&EthHandle, &TxConfig, 20);
-
-  if(ret != HAL_OK) {
-	  printf("low_level_output: Could not transmit ethernet packet, code %d!\n\r", ret);
+  HAL_StatusTypeDef ret = HAL_ETH_Transmit(&EthHandle, &TxConfig, ETH_DMA_TRANSMIT_TIMEOUT);
+  if (ret != HAL_OK) {
+    printf("low_level_output: Could not transmit ethernet packet, code %d!\n\r",
+           ret);
   }
-  
   return errval;
 }
 
@@ -279,69 +308,42 @@ static err_t low_level_output(struct netif *netif, struct pbuf *p)
  * @return a pbuf filled with the received packet (including MAC header)
  *         NULL on memory error
  */
-static struct pbuf * low_level_input(struct netif *netif)
-{
+static struct pbuf *low_level_input(struct netif *netif) {
   struct pbuf *p = NULL;
-  ETH_BufferTypeDef RxBuff;
-  uint32_t framelength = 0;
 
-  if (HAL_ETH_IsRxDataAvailable(&EthHandle))
+  if(RxAllocStatus == RX_ALLOC_OK)
   {
-    HAL_ETH_GetRxDataBuffer(&EthHandle, &RxBuff);
-    HAL_ETH_GetRxDataLength(&EthHandle, &framelength);
-    
-    /* Invalidate data cache for ETH Rx Buffers */
-    SCB_InvalidateDCache_by_Addr((uint32_t *)Rx_Buff, (ETH_RX_DESC_CNT*ETH_RX_BUFFER_SIZE));
-    
-    p = pbuf_alloced_custom(PBUF_RAW, framelength, PBUF_POOL, &rx_pbuf[current_pbuf_idx], RxBuff.buffer, ETH_RX_BUFFER_SIZE);
-    if(current_pbuf_idx < (ETH_RX_DESC_CNT -1))
-    {
-      current_pbuf_idx++;
-    }
-    else
-    {
-      current_pbuf_idx = 0;
+    HAL_ETH_ReadData(&EthHandle, (void **)&p);
   }
 
   return p;
-  }
-  else
-  {
-    return NULL;
-  }
 }
 
 /**
-  * @brief This function is the ethernetif_input task, it is processed when a packet 
-  * is ready to be read from the interface. It uses the function low_level_input() 
-  * that should handle the actual reception of bytes from the network
-  * interface. Then the type of the received packet is determined and
-  * the appropriate input function is called.
+ * @brief This function is the ethernetif_input task, it is processed when a
+ * packet is ready to be read from the interface. It uses the function
+ * low_level_input() that should handle the actual reception of bytes from the
+ * network interface. Then the type of the received packet is determined and the
+ * appropriate input function is called.
  *
  * @param netif the lwip network interface structure for this ethernetif
  */
-void ethernetif_input(struct netif *netif)
-{
-  err_t err;
-  struct pbuf *p;
+void ethernetif_input(struct netif *netif) {
+  struct pbuf *p = NULL;
 
-  /* move received packet into a new pbuf */
-  p = low_level_input(netif);
-
-  /* no packet could be read, silently ignore this */
-  if (p == NULL) return;
-
-  /* entry point to the LwIP stack */
-  err = netif->input(p, netif);
-
-  if (err != ERR_OK)
+  do
+  {
+    p = low_level_input( netif );
+    if (p != NULL)
+    {
+      if (netif->input( p, netif) != ERR_OK )
       {
-    LWIP_DEBUGF(NETIF_DEBUG, ("ethernetif_input: IP input error\n"));
         pbuf_free(p);
-    p = NULL;
+      }
     }
 
-  HAL_ETH_BuildRxDescriptors(&EthHandle);
+  } while(p!=NULL);
+
 }
 
 /**
@@ -356,8 +358,7 @@ void ethernetif_input(struct netif *netif)
  *         ERR_MEM if private data couldn't be allocated
  *         any other err_t on error
  */
-err_t ethernetif_init(struct netif *netif)
-{
+err_t ethernetif_init(struct netif *netif) {
   LWIP_ASSERT("netif != NULL", (netif != NULL));
 
 #if LWIP_NETIF_HOSTNAME
@@ -367,6 +368,7 @@ err_t ethernetif_init(struct netif *netif)
 
   netif->name[0] = IFNAME0;
   netif->name[1] = IFNAME1;
+
   /* We directly use etharp_output() here to save a function call.
    * You can instead declare your own function an call etharp_output()
    * from it if you have to do some checks before sending (e.g. if link
@@ -385,15 +387,14 @@ err_t ethernetif_init(struct netif *netif)
  * @param  pbuf: pbuf to be freed
  * @retval None
  */
-void pbuf_free_custom(struct pbuf *p)
-{
-  if(p != NULL)
+void pbuf_free_custom(struct pbuf *p) {
+  struct pbuf_custom* custom_pbuf = (struct pbuf_custom*)p;
+  LWIP_MEMPOOL_FREE(RX_POOL, custom_pbuf);
+  /* If the Rx Buffer Pool was exhausted, signal the ethernetif_input task to
+   * call HAL_ETH_GetRxDataBuffer to rebuild the Rx descriptors. */
+  if (RxAllocStatus == RX_ALLOC_ERROR)
   {
-    p->flags = 0;
-    p->next = NULL;
-    p->len = p->tot_len = 0;
-    p->ref = 0;
-    p->payload = NULL;
+    RxAllocStatus = RX_ALLOC_OK;
   }
 }
 
@@ -403,10 +404,7 @@ void pbuf_free_custom(struct pbuf *p)
  * @param  None
  * @retval Current Time value
  */
-u32_t sys_now(void)
-{
-  return HAL_GetTick();
-}
+u32_t sys_now(void) { return HAL_GetTick(); }
 
 /*******************************************************************************
                        Ethernet MSP Routines
@@ -415,9 +413,8 @@ u32_t sys_now(void)
  * @brief  Initializes the ETH MSP.
  * @param  heth: ETH handle
  * @retval None
-*/
-void HAL_ETH_MspInit(ETH_HandleTypeDef *heth)
-{
+ */
+void HAL_ETH_MspInit(ETH_HandleTypeDef *heth) {
   GPIO_InitTypeDef GPIO_InitStructure;
 
   /* Ethernett MSP init: RMII Mode */
@@ -428,7 +425,8 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef *heth)
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();
 
-/* Ethernet pins configuration ************************************************/
+  /* Ethernet pins configuration
+   * ************************************************/
   /*
         RMII_REF_CLK ----------------------> PA1
         RMII_MDIO -------------------------> PA2
@@ -482,8 +480,7 @@ void HAL_ETH_MspInit(ETH_HandleTypeDef *heth)
  * @param  None
  * @retval 0 if OK, -1 if ERROR
  */
-int32_t ETH_PHY_IO_Init(void)
-{  
+int32_t ETH_PHY_IO_Init(void) {
   /* We assume that MDIO GPIO configuration is already done
      in the ETH_MspInit() else it should be done here
   */
@@ -499,10 +496,7 @@ int32_t ETH_PHY_IO_Init(void)
  * @param  None
  * @retval 0 if OK, -1 if ERROR
  */
-int32_t ETH_PHY_IO_DeInit (void)
-{
-  return 0;
-}
+int32_t ETH_PHY_IO_DeInit(void) { return 0; }
 
 /**
  * @brief  Read a PHY register through the MDIO interface.
@@ -511,10 +505,10 @@ int32_t ETH_PHY_IO_DeInit (void)
  * @param  pRegVal: pointer to hold the register value
  * @retval 0 if OK -1 if Error
  */
-int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal)
-{
-  if(HAL_ETH_ReadPHYRegister(&EthHandle, DevAddr, RegAddr, pRegVal) != HAL_OK)
-  {
+int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr,
+                           uint32_t *pRegVal) {
+  if (HAL_ETH_ReadPHYRegister(&EthHandle, DevAddr, RegAddr, pRegVal) !=
+      HAL_OK) {
     return -1;
   }
 
@@ -528,10 +522,10 @@ int32_t ETH_PHY_IO_ReadReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t *pRegVal
  * @param  RegVal: Value to be written
  * @retval 0 if OK -1 if Error
  */
-int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal)
-{
-  if(HAL_ETH_WritePHYRegister(&EthHandle, DevAddr, RegAddr, RegVal) != HAL_OK)
-  {
+int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr,
+                            uint32_t RegVal) {
+  if (HAL_ETH_WritePHYRegister(&EthHandle, DevAddr, RegAddr, RegVal) !=
+      HAL_OK) {
     return -1;
   }
 
@@ -542,26 +536,22 @@ int32_t ETH_PHY_IO_WriteReg(uint32_t DevAddr, uint32_t RegAddr, uint32_t RegVal)
  * @brief  Get the time in millisecons used for internal PHY driver process.
  * @retval Time value
  */
-int32_t ETH_PHY_IO_GetTick(void)
-{
-  return HAL_GetTick();
-}
+int32_t ETH_PHY_IO_GetTick(void) { return HAL_GetTick(); }
 
 /**
  * @brief
  * @retval None
  */
-void ethernet_link_check_state(struct netif *netif)
-{
-  ETH_MACConfigTypeDef MACConf;
-  uint32_t PHYLinkState;
-  uint32_t linkchanged = 0, speed = 0, duplex =0;
+void ethernet_link_check_state(struct netif *netif) {
+  ETH_MACConfigTypeDef MACConf = {0};
+  int32_t PHYLinkState = 0U;
+  uint32_t linkchanged = 0U, speed = 0U, duplex = 0U;
 
   PHYLinkState = LAN8742_GetLinkState(&LAN8742);
 
   if(netif_is_link_up(netif) && (PHYLinkState <= LAN8742_STATUS_LINK_DOWN))
   {
-    HAL_ETH_Stop(&EthHandle);
+    HAL_ETH_Stop_IT(&EthHandle);
     netif_set_down(netif);
     netif_set_link_down(netif);
   }
@@ -600,15 +590,74 @@ void ethernet_link_check_state(struct netif *netif)
       MACConf.DuplexMode = duplex;
       MACConf.Speed = speed;
       HAL_ETH_SetMACConfig(&EthHandle, &MACConf);
-      HAL_ETH_Start(&EthHandle);
+      HAL_ETH_Start_IT(&EthHandle);
       netif_set_up(netif);
       netif_set_link_up(netif);
     }
   }
 }
 
-ETH_HandleTypeDef* getEthernetHandle() {
-	return &EthHandle;
+void HAL_ETH_RxAllocateCallback(uint8_t **buff)
+{
+  struct pbuf_custom *p = LWIP_MEMPOOL_ALLOC(RX_POOL);
+  if (p)
+  {
+    /* Get the buff from the struct pbuf address. */
+    *buff = (uint8_t *)p + offsetof(RxBuff_t, buff);
+    p->custom_free_function = pbuf_free_custom;
+    /* Initialize the struct pbuf.
+    * This must be performed whenever a buffer's allocated because it may be
+    * changed by lwIP or the app, e.g., pbuf_free decrements ref. */
+    pbuf_alloced_custom(PBUF_RAW, 0, PBUF_REF, p, *buff, ETH_RX_BUFFER_SIZE);
+  }
+  else
+  {
+    RxAllocStatus = RX_ALLOC_ERROR;
+    *buff = NULL;
+  }
 }
 
+void HAL_ETH_RxLinkCallback(void **pStart, void **pEnd, uint8_t *buff, uint16_t Length)
+{
+  struct pbuf **ppStart = (struct pbuf **)pStart;
+  struct pbuf **ppEnd = (struct pbuf **)pEnd;
+  struct pbuf *p = NULL;
+
+  /* Get the struct pbuf from the buff address. */
+  p = (struct pbuf *)(buff - offsetof(RxBuff_t, buff));
+  p->next = NULL;
+  p->tot_len = 0;
+  p->len = Length;
+
+  /* Chain the buffer. */
+  if (!*ppStart)
+  {
+    /* The first buffer of the packet. */
+    *ppStart = p;
+  }
+  else
+  {
+    /* Chain the buffer to the end of the packet. */
+    (*ppEnd)->next = p;
+  }
+  *ppEnd  = p;
+
+  /* Update the total length of all the buffers of the chain. Each pbuf in the chain should have its tot_len
+   * set to its own length, plus the length of all the following pbufs in the chain. */
+  for (p = *ppStart; p != NULL; p = p->next)
+  {
+    p->tot_len += Length;
+  }
+
+  /* Invalidate data cache because Rx DMA's writing to physical memory makes it stale. */
+  SCB_InvalidateDCache_by_Addr((uint32_t *)buff, Length);
+}
+
+void HAL_ETH_TxFreeCallback(uint32_t * buff)
+{
+  pbuf_free((struct pbuf *)buff);
+}
+
+ETH_HandleTypeDef *getEthernetHandle() { return &EthHandle; }
+
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

stm32h7/networking/ethernetif.h

@@ -46,27 +46,24 @@
 #ifndef __ETHERNETIF_H__
 #define __ETHERNETIF_H__
 
+#include <stm32h7xx_hal.h>
+
 #include "lwip/err.h"
 #include "lwip/netif.h"
-#include <stm32h7xx_hal.h>
-#include <stdbool.h>
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#define ETH_RX_BUFFER_SIZE                     (1536UL)
-
 /* Exported types ------------------------------------------------------------*/
 
-ETH_HandleTypeDef* getEthernetHandle();
+ETH_HandleTypeDef *getEthernetHandle();
 err_t ethernetif_init(struct netif *netif);
 void ethernetif_input(struct netif *netif);
 void ethernet_link_check_state(struct netif *netif);
 
 extern ETH_DMADescTypeDef DMARxDscrTab[ETH_RX_DESC_CNT];
 extern ETH_DMADescTypeDef DMATxDscrTab[ETH_TX_DESC_CNT];
-extern uint8_t Rx_Buff[ETH_RX_DESC_CNT][ETH_RX_BUFFER_SIZE];
 
 #ifdef __cplusplus
 }

stm32h7/networking/networking.cpp

@@ -1,19 +1,18 @@
-#include "udp_config.h"
 #include "networking.h"
 
+#include "udp_config.h"
+
 bool ethernetCableConnected = false;
 
 void networking::setEthCableConnected(bool status) {
   ethernetCableConnected = status;
 }
 
-bool networking::getEthCableConnected() {
-    return ethernetCableConnected;
-}
+bool networking::getEthCableConnected() { return ethernetCableConnected; }
 
-void networking::setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw) {
+void networking::setLwipAddresses(ip_addr_t *ipaddr, ip_addr_t *netmask,
+                                  ip_addr_t *gw) {
   IP4_ADDR(ipaddr, IP_ADDR0, IP_ADDR1, IP_ADDR2, IP_ADDR3);
-    IP4_ADDR(netmask, NETMASK_ADDR0, NETMASK_ADDR1 ,
-            NETMASK_ADDR2, NETMASK_ADDR3);
+  IP4_ADDR(netmask, NETMASK_ADDR0, NETMASK_ADDR1, NETMASK_ADDR2, NETMASK_ADDR3);
   IP4_ADDR(gw, GW_ADDR0, GW_ADDR1, GW_ADDR2, GW_ADDR3);
 }

stm32h7/networking/networking.h

@@ -7,8 +7,8 @@ namespace networking {
 
 void setEthCableConnected(bool status);
 bool getEthCableConnected();
-void setLwipAddresses(ip_addr_t* ipaddr, ip_addr_t* netmask, ip_addr_t* gw);
+void setLwipAddresses(ip_addr_t *ipaddr, ip_addr_t *netmask, ip_addr_t *gw);
 
-}
+} // namespace networking
 
 #endif /* BSP_STM32H7_RTEMS_NETWORKING_NETWORKING_H_ */

stm32h7/networking/udp_config.h

@@ -8,7 +8,8 @@ extern "C" {
 /* UDP local connection port. Client needs to bind to this port */
 #define UDP_SERVER_PORT 7
 
-/*Static DEST IP ADDRESS: DEST_IP_ADDR0.DEST_IP_ADDR1.DEST_IP_ADDR2.DEST_IP_ADDR3 */
+/*Static DEST IP ADDRESS:
+ * DEST_IP_ADDR0.DEST_IP_ADDR1.DEST_IP_ADDR2.DEST_IP_ADDR3 */
 #define DEST_IP_ADDR0 ((uint8_t)169U)
 #define DEST_IP_ADDR1 ((uint8_t)254U)
 #define DEST_IP_ADDR2 ((uint8_t)39U)