Merge branch 'mueller/tc-packet-pus-improvement' into develop

Merge remote-tracking branch 'upstream/development' into mueller/tc-packet-pus-improvement
re-ordered absstract methods a bit
2022-07-05 17:55:31 +02:00 · 2022-07-05 17:55:23 +02:00 · 2022-07-05 17:04:24 +02:00 · 2022-07-05 15:12:30 +02:00 · 2022-07-05 15:12:19 +02:00 · 2022-06-13 16:45:45 +02:00
774 changed files with 8158 additions and 11136 deletions
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
+    <method v="2">
+      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+    </method>
+  </configuration>
+</component>
@@ -8,24 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-# [v6.0.0]
-
-## Added
-
- Add new `UnsignedByteField` class
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
-
-## Changes
-
- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
-  constants.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
- Overhaul of the TMTC stack, including various changes and improvements
-  for other modules
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/655
-  which also includes a migration guide
-
-# [v5.0.0] 25.07.2022
+# [v5.0.0]

 ## Changes

@@ -36,13 +19,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
  compiler supports it
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
+- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
+  and mode
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
+- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
+  name clashes with Windows defines.
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
-  Buffer and rejects such writeData calls with `returnvalue::FAILED`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
 - Major update for version handling, using `git describe` to fetch version information with git.
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
  - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
@@ -60,9 +46,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
  creation call. It allows passing context information and an arbitrary user argument into
  the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
-  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653

 ### Task Module Refactoring

@@ -137,8 +120,6 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593

 ## Additions

- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
-  This is also the new default constructor for scalar value with 0 as an initial value
 - Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
  whether it is running in CI/CD
  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################

-set(FSFW_VERSION_IF_GIT_FAILS 5)
+set(FSFW_VERSION_IF_GIT_FAILS 4)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)

@@ -67,7 +67,6 @@ endif()
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")

 set(FSFW_ETL_LIB_NAME etl)
-set(FSFW_ETL_LINK_TARGET etl::etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION
    20
    CACHE STRING "ETL library major version requirement")
@@ -80,7 +79,7 @@ set(FSFW_CATCH2_LIB_MAJOR_VERSION
    3
    CACHE STRING "Catch2 library major version requirement")
 set(FSFW_CATCH2_LIB_VERSION
-    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.1.0
+    v${FSFW_CATCH2_LIB_MAJOR_VERSION}.0.0-preview5
    CACHE STRING "Catch2 library exact version requirement")

 # Keep this off by default for now. See PR:
@@ -104,11 +103,11 @@ if(FSFW_GENERATE_SECTIONS)
  option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()

-option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
-       OFF)
+option(FSFW_BUILD_UNITTESTS
+       "Build unittest binary in addition to static library" OFF)
 option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
  option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()

@@ -118,12 +117,6 @@ option(FSFW_ADD_INTERNAL_TESTS "Add internal unit tests" ON)
 option(FSFW_ADD_UNITTESTS "Add regular unittests. Requires Catch2" OFF)
 option(FSFW_ADD_HAL "Add Hardware Abstraction Layer" ON)

-if(UNIX)
-  option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add Linux peripheral drivers"
-         OFF)
-  option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Attempt to add Linux GPIOD drivers" OFF)
-endif()
-
 # Optional sources
 option(FSFW_ADD_PUS "Compile with PUS sources" ON)
 option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
@@ -146,7 +139,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                TRUE)
 endif()

-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
  message(
    STATUS
      "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
@@ -169,9 +162,10 @@ if(FSFW_BUILD_TESTS)
    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
  endif()

-  set(FSFW_CONFIG_PATH unittests/testcfg)
-  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
+                 tests/TestsConfig.h)

  project(${FSFW_TEST_TGT} CXX C)
  add_executable(${FSFW_TEST_TGT})
@@ -189,10 +183,7 @@ if(FSFW_BUILD_TESTS)
  endif()
 endif()

-message(
-  STATUS
-    "${MSG_PREFIX} Finding and/or providing etl library with version ${FSFW_ETL_LIB_MAJOR_VERSION}"
-)
+message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")

 # Check whether the user has already installed ETL first
 find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
@@ -200,7 +191,7 @@ find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
 if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
  message(
    STATUS
-      "${MSG_PREFIX} No ETL installation was found with find_package. Installing and providing "
+      "No ETL installation was found with find_package. Installing and providing "
      "etl with FindPackage")
  include(FetchContent)

@@ -290,15 +281,16 @@ message(
 )

 add_subdirectory(src)
-add_subdirectory(contrib)
-if(FSFW_BUILD_TESTS)
-  add_subdirectory(unittests)
+add_subdirectory(tests)
+if(FSFW_ADD_HAL)
+  add_subdirectory(hal)
 endif()
+add_subdirectory(contrib)
 if(FSFW_BUILD_DOCS)
  add_subdirectory(docs)
 endif()

-if(FSFW_BUILD_TESTS)
+if(FSFW_BUILD_UNITTESTS)
  if(FSFW_TESTS_GEN_COV)
    if(CMAKE_COMPILER_IS_GNUCXX)
      include(CodeCoverage)
@@ -360,8 +352,7 @@ if(NOT FSFW_CONFIG_PATH)
  if(NOT FSFW_BUILD_DOCS)
    message(
      WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set"
-    )
+        "${MSG_PREFIX} Flight Software Framework configuration path not set")
    message(
      WARNING
        "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")
@@ -456,8 +447,8 @@ target_include_directories(
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                ${COMPILER_FLAGS})

-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
-target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
+                                               ${FSFW_ADDITIONAL_LINK_LIBS})

 string(
  CONCAT
@@ -132,14 +132,14 @@ You can use the following commands inside the `fsfw` folder to set up the build

 ```sh
 mkdir build-tests && cd build-tests
-cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```

 You can also use `-DFSFW_OSAL=linux` on Linux systems.

 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generate the coverage data in this format,
+To build the unittests, run them and then generare the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up

 ```sh
@@ -188,10 +188,7 @@ and open the documentation conveniently. Try `helper.py -h for more information.

 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
-````sh
-sudo pip install cmakelang
-````
+can run the `apply-clang-format.sh` helper script to format all source files consistently.

 ## Index

@@ -5,21 +5,10 @@ RUN apt-get --yes upgrade

 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping python3 pip doxygen graphviz
-
-RUN python3 -m pip install sphinx breathe
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping

 RUN git clone https://github.com/catchorg/Catch2.git && \
-        cd Catch2 && \
-        git checkout v3.1.0 && \
-        cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
-        cmake --build build/ --target install
-
-RUN git clone https://github.com/ETLCPP/etl.git && \
-        cd etl && \
-        git checkout 20.28.0 && \
-        cmake -B build . && \
-        cmake --install build/
-
-#ssh needs a valid user to work
-RUN adduser --uid 114 jenkins
+	cd Catch2 && \
+	git checkout v3.0.0-preview5 && \
+	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+	cmake --build build/ --target install
@@ -1,10 +1,9 @@
 pipeline {
    environment {
-        BUILDDIR = 'cmake-build-tests'
-        DOCDDIR = 'cmake-build-documentation'
+        BUILDDIR = 'build-tests'
    }
    agent {
-        docker { image 'fsfw-ci:d5'}
+        docker { image 'fsfw-ci:d2'}
    }
    stages {
        stage('Clean') {
@@ -15,7 +14,7 @@ pipeline {
        stage('Configure') {
            steps {
                dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
                }
            }
        }
@@ -40,35 +39,5 @@ pipeline {
                }
            }
        }
-        stage('Documentation') {
-            when {
-                branch 'development'
-            }
-            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sh 'cd docs/sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'scp -r ./* buildfix@documents.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/development'
-                    }
-                }
-            }
-        }
-        stage('Master Documentation') {
-            when {
-                branch 'master'
-            }
-            steps {
-                dir(DOCDDIR) {
-                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
-                    sh 'make Sphinx'
-                    sh 'cd docs/sphinx'
-                    sshagent(credentials: ['documentation-buildfix']) {
-                        sh 'scp -r ./* buildfix@documents.intra.irs.uni-stuttgart.de:/mnt/data/www/html/fsfw/master'
-                    }
-                }
-            }
-        }
    }
 }
@@ -14,7 +14,7 @@ FSFW to achieve that. The fsfw uses run-time type information but exceptions are
 # Failure Handling

 Functions should return a defined `ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function `returnvalue::makeCode`
+gone wrong. Returnvalues must be unique. For this the function `HasReturnvaluesIF::makeReturnCode`
 or the macro `MAKE_RETURN` can be used. The `CLASS_ID` is a unique id for that type of object.
 See `returnvalues/FwClassIds` folder. The user can add custom `CLASS_ID`s via the
 `fsfwconfig` folder.
@@ -144,7 +144,7 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDat
 			new PoolEntry<uint8_t>({0}));

 	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-	return returnvalue::OK;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 ```

@@ -154,7 +154,7 @@ in any case:

 ```cpp
 PoolReadGuard readHelper(&gyroData);
-if(readHelper.getReadResult() == returnvalue::OK) {
+if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 	if(not gyroData.isValid()) {
 		gyroData.setValidity(true, true);
 	}
@@ -3,7 +3,7 @@
 Returnvalue API
 ==================

-.. doxygenfile:: returnvalue.h
+.. doxygenfile:: HasReturnvaluesIF.h

 .. _fwclassids:

@@ -75,11 +75,11 @@ and the respective source file with sensible default return values:
 	void TestDeviceHandler::doShutDown() {}

 	ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	void TestDeviceHandler::fillCommandAndReplyMap() {}
@@ -87,17 +87,17 @@ and the respective source file with sensible default return values:
 	ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 	                                                         const uint8_t* commandData,
 	                                                         size_t commandDataLen) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
 	                                              DeviceCommandId_t* foundId, size_t* foundLen) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
 	                                                      const uint8_t* packet) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}

 	uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
@@ -106,5 +106,5 @@ and the respective source file with sensible default return values:

 	ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
 	                                                         LocalDataPoolManager& poolManager) {
-	  return returnvalue::OK;
+	  return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console

   mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..


 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
@@ -18,7 +18,7 @@ Failure Handling
 -----------------

 Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
-gone wrong. Returnvalues must be unique. For this the function :cpp:func:`returnvalue::makeCode`
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
 or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
 See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
 ``fsfwconfig`` folder.
@@ -150,7 +150,7 @@ with a housekeeping service command.
 				new PoolEntry<uint8_t>({0}));

 		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
-		return returnvalue::OK;
+		return HasReturnvaluesIF::RETURN_OK;
 	}

 Now, if we receive some sensor data and converted them into the right format,
@@ -160,7 +160,7 @@ in any case:
 .. code-block:: cpp

 	PoolReadGuard readHelper(&gyroData);
-	if(readHelper.getReadResult() == returnvalue::OK) {
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
 		if(not gyroData.isValid()) {
 			gyroData.setValidity(true, true);
 		}
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.13)
+
+# Can also be changed by upper CMakeLists.txt file
+find_library(LIB_FSFW_NAME fsfw REQUIRED)
+
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
+
+option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
+option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
+option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
+
+set(LINUX_HAL_PATH_NAME linux)
+set(STM32H7_PATH_NAME stm32h7)
+
+add_subdirectory(src)
+
+foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
+
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
+
+    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+endforeach()
+
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_ADD_INC_PATHS_ABS}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_DEFINES}
+)
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_HAL_LINK_LIBS}
+)
@@ -0,0 +1,9 @@
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+add_subdirectory(fsfw_hal)
@@ -2,9 +2,9 @@ add_subdirectory(devicehandlers)
 add_subdirectory(common)

 if(UNIX)
-  add_subdirectory(linux)
+    add_subdirectory(linux)
 endif()

 if(FSFW_HAL_ADD_STM32H7)
-  add_subdirectory(stm32h7)
+    add_subdirectory(stm32h7)
 endif()
@@ -0,0 +1 @@
+add_subdirectory(gpio)
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GpioCookie.cpp
+)
@@ -11,7 +11,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
 #else
    sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  auto gpioMapIter = gpioMap.find(gpioId);
  if (gpioMapIter == gpioMap.end()) {
@@ -25,9 +25,9 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
      sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
 #endif
 #endif
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -36,7 +36,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
  sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
 #endif
 #endif
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }

 GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
@@ -2,7 +2,7 @@
 #define COMMON_GPIO_GPIOCOOKIE_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "GpioIF.h"
 #include "gpioDefinitions.h"
@@ -2,7 +2,7 @@
 #define COMMON_GPIO_GPIOIF_H_

 #include <fsfw/devicehandlers/CookieIF.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "gpioDefinitions.h"

@@ -13,7 +13,7 @@ class GpioCookie;
 * 			over GPIOs.
 * @author	J. Meier
 */
-class GpioIF {
+class GpioIF : public HasReturnvaluesIF {
 public:
  virtual ~GpioIF(){};

@@ -29,7 +29,7 @@ class GpioIF {
   * 			functionality to pull a certain GPIO to high logic level.
   *
   * @param gpioId	A unique number which specifies the GPIO to drive.
-   * @return  Returns returnvalue::OK for success. This should never return returnvalue::FAILED.
+   * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
   */
  virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;

@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20Handler.cpp
+    MgmRM3100Handler.cpp
+    MgmLIS3MDLHandler.cpp
+)
@@ -70,9 +70,9 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
          "Unknown internal state!\n");
 #endif
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
@@ -135,7 +135,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
@@ -144,12 +144,12 @@ ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
  *foundId = this->getPendingCommand();
  *foundLen = this->rawPacketLen;

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
                                                       const uint8_t *packet) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  switch (id) {
    case (L3GD20H::CONFIGURE_CTRL_REGS): {
      commandExecuted = true;
@@ -207,7 +207,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
      }

      PoolReadGuard readSet(&dataset);
-      if (readSet.getReadResult() == returnvalue::OK) {
+      if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
        if (std::abs(angVelocX) < this->absLimitX) {
          dataset.angVelocX = angVelocX;
          dataset.angVelocX.setValid(true);
@@ -252,7 +252,7 @@ ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &l
  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
@@ -82,7 +82,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
 #else
      sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
    }
  }
  return buildCommandFromCommand(*id, NULL, 0);
@@ -137,7 +137,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic

      rawPacket = commandBuffer;
      rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-      return returnvalue::OK;
+      return RETURN_OK;
    }
    case (MGMLIS3MDL::READ_TEMPERATURE): {
      std::memset(commandBuffer, 0, 3);
@@ -145,7 +145,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic

      rawPacket = commandBuffer;
      rawPacketLen = 3;
-      return returnvalue::OK;
+      return RETURN_OK;
    }
    case (MGMLIS3MDL::IDENTIFY_DEVICE): {
      return identifyDevice();
@@ -155,7 +155,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
    }
    case (MGMLIS3MDL::SETUP_MGM): {
      setupMgm();
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
    }
    case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
      return setOperatingMode(commandData, commandDataLen);
@@ -163,7 +163,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }

 ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
@@ -174,7 +174,7 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
  rawPacket = commandBuffer;
  rawPacketLen = size;

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
@@ -234,7 +234,7 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,

  /* Data with SPI Interface always has this answer */
  if (start[0] == 0b11111111) {
-    return returnvalue::OK;
+    return RETURN_OK;
  } else {
    return DeviceHandlerIF::INVALID_DATA;
  }
@@ -285,23 +285,27 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      }

      PoolReadGuard readHelper(&dataset);
-      if (readHelper.getReadResult() == returnvalue::OK) {
-        if (std::abs(mgmX) > absLimitX or std::abs(mgmY) > absLimitY or
-            std::abs(mgmZ) > absLimitZ) {
-          dataset.fieldStrengths.setValid(false);
-        }
+      if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
        if (std::abs(mgmX) < absLimitX) {
-          dataset.fieldStrengths[0] = mgmX;
+          dataset.fieldStrengthX = mgmX;
+          dataset.fieldStrengthX.setValid(true);
+        } else {
+          dataset.fieldStrengthX.setValid(false);
        }

        if (std::abs(mgmY) < absLimitY) {
-          dataset.fieldStrengths[1] = mgmY;
+          dataset.fieldStrengthY = mgmY;
+          dataset.fieldStrengthY.setValid(true);
+        } else {
+          dataset.fieldStrengthY.setValid(false);
        }

        if (std::abs(mgmZ) < absLimitZ) {
-          dataset.fieldStrengths[2] = mgmZ;
+          dataset.fieldStrengthZ = mgmZ;
+          dataset.fieldStrengthZ.setValid(true);
+        } else {
+          dataset.fieldStrengthZ.setValid(false);
        }
-        dataset.fieldStrengths.setValid(true);
      }
      break;
    }
@@ -320,7 +324,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      }

      ReturnValue_t result = dataset.read();
-      if (result == returnvalue::OK) {
+      if (result == HasReturnvaluesIF::RETURN_OK) {
        dataset.temperature = tempValue;
        dataset.commit();
      }
@@ -331,7 +335,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
@@ -394,7 +398,7 @@ ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandD
  rawPacket = commandBuffer;
  rawPacketLen = size;

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
@@ -451,7 +455,7 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
  rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;

  // We dont have to check if this is working because we just did i
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
@@ -464,10 +468,11 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE

 ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                         LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
-  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
-  poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
-  return returnvalue::OK;
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_

 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
+#include "events/subsystemIdRanges.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"

@@ -102,8 +103,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
  CommunicationStep communicationStep = CommunicationStep::DATA;
  bool commandExecuted = false;

-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
-  PoolEntry<float> temperature = PoolEntry<float>();
  /*------------------------------------------------------------------------*/
  /* Device specific commands and variables */
  /*------------------------------------------------------------------------*/
@@ -4,7 +4,7 @@
 #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
 #include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
                                   CookieIF *comCookie, uint32_t transitionDelay)
@@ -93,7 +93,7 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
          "Unknown internal state\n");
 #endif
 #endif
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
  }

  return buildCommandFromCommand(*id, commandBuffer, commandLen);
@@ -146,7 +146,7 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
@@ -159,11 +159,11 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
  // For SPI, ID will always be the one of the last sent command
  *foundId = this->getPendingCommand();
  *foundLen = len;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  switch (id) {
    case (RM3100::CONFIGURE_CMM):
    case (RM3100::CONFIGURE_CYCLE_COUNT):
@@ -250,7 +250,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
  std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
  rawPacketLen = 7;
  rawPacket = commandBuffer;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
@@ -258,7 +258,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uin
  RM3100::CycleCountCommand command(oneCycleValue);
  ReturnValue_t result =
      command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

@@ -274,7 +274,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uin
  cycleCountRegValueX = command.cycleCountX;
  cycleCountRegValueY = command.cycleCountY;
  cycleCountRegValueZ = command.cycleCountZ;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
@@ -289,7 +289,7 @@ ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t device
  tmrcRegValue = commandData[0];
  rawPacketLen = 2;
  rawPacket = commandBuffer;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void MgmRM3100Handler::fillCommandAndReplyMap() {
@@ -305,13 +305,14 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
  insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
 }

-void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
+void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }

 ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                        LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
-  poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
-  return returnvalue::OK;
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
+  return HasReturnvaluesIF::RETURN_OK;
 }

 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
@@ -352,13 +353,13 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {

  // TODO: Sanity check on values?
  PoolReadGuard readGuard(&primaryDataset);
-  if (readGuard.getReadResult() == returnvalue::OK) {
-    primaryDataset.fieldStrengths[0] = fieldStrengthX;
-    primaryDataset.fieldStrengths[1] = fieldStrengthY;
-    primaryDataset.fieldStrengths[2] = fieldStrengthZ;
+  if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+    primaryDataset.fieldStrengthX = fieldStrengthX;
+    primaryDataset.fieldStrengthY = fieldStrengthY;
+    primaryDataset.fieldStrengthZ = fieldStrengthZ;
    primaryDataset.setValidity(true, true);
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
@@ -85,7 +85,6 @@ class MgmRM3100Handler : public DeviceHandlerBase {

  bool goToNormalModeAtStartup = false;
  uint32_t transitionDelay;
-  PoolEntry<float> mgmXYZ = PoolEntry<float>(3);

  ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
                                              const uint8_t *commandData, size_t commandDataLen);
@@ -139,7 +139,12 @@ static const uint8_t CTRL_REG5_DEFAULT = 0;

 static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;

-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS, TEMPERATURE_CELCIUS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+  TEMPERATURE_CELCIUS
+};

 class MgmPrimaryDataset : public StaticLocalDataSet<4> {
 public:
@@ -147,10 +152,9 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {

  MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}

-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
 };

@@ -101,7 +101,11 @@ class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {

 static constexpr uint32_t MGM_DATASET_ID = READ_DATA;

-enum MgmPoolIds : lp_id_t { FIELD_STRENGTHS };
+enum MgmPoolIds : lp_id_t {
+  FIELD_STRENGTH_X,
+  FIELD_STRENGTH_Y,
+  FIELD_STRENGTH_Z,
+};

 class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
 public:
@@ -109,10 +113,10 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {

  Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}

-  /**
-   * Field strenghts in uT
-   */
-  lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
+  // Field strengths in micro Tesla.
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
 };

 }  // namespace RM3100
@@ -0,0 +1,25 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+    add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE
+	UnixFileGuard.cpp
+	CommandExecutor.cpp
+	utility.cpp
+)
+
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
+	add_subdirectory(gpio)
+endif()
+	add_subdirectory(uart)
+	# Adding those does not really make sense on Apple systems which
+	# are generally host systems. It won't even compile as the headers
+	# are missing
+	if(NOT APPLE)
+		add_subdirectory(i2c)
+		add_subdirectory(spi)
+	endif()
+endif()
+
+add_subdirectory(uio)
@@ -23,7 +23,7 @@ ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool pri
  if (state == States::IDLE) {
    state = States::COMMAND_LOADED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t CommandExecutor::execute() {
@@ -35,7 +35,7 @@ ReturnValue_t CommandExecutor::execute() {
  currentCmdFile = popen(currentCmd.c_str(), "r");
  if (currentCmdFile == nullptr) {
    lastError = errno;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  if (blocking) {
    ReturnValue_t result = executeBlocking();
@@ -46,7 +46,7 @@ ReturnValue_t CommandExecutor::execute() {
    waiter.fd = currentFd;
  }
  state = States::PENDING;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t CommandExecutor::close() {
@@ -56,7 +56,7 @@ ReturnValue_t CommandExecutor::close() {
      pclose(currentCmdFile);
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void CommandExecutor::printLastError(std::string funcName) const {
@@ -79,7 +79,7 @@ void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,

 ReturnValue_t CommandExecutor::check(bool& replyReceived) {
  if (blocking) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }
  switch (state) {
    case (States::IDLE):
@@ -94,7 +94,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
  int result = poll(&waiter, 1, 0);
  switch (result) {
    case (0): {
-      return returnvalue::OK;
+      return HasReturnvaluesIF::RETURN_OK;
      break;
    }
    case (1): {
@@ -151,7 +151,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
        ReturnValue_t retval = EXECUTION_FINISHED;
        if (result != 0) {
          lastError = result;
-          retval = returnvalue::FAILED;
+          retval = HasReturnvaluesIF::RETURN_FAILED;
        }
        state = States::IDLE;
        currentCmdFile = nullptr;
@@ -161,7 +161,7 @@ ReturnValue_t CommandExecutor::check(bool& replyReceived) {
      break;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void CommandExecutor::reset() {
@@ -201,7 +201,7 @@ ReturnValue_t CommandExecutor::executeBlocking() {
  int result = pclose(currentCmdFile);
  if (result != 0) {
    lastError = result;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
@@ -7,7 +7,7 @@
 #include <vector>

 #include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 class SimpleRingBuffer;
 template <typename T>
@@ -31,25 +31,27 @@ class CommandExecutor {
  static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;

  //! [EXPORT] : [COMMENT] Execution of the current command has finished
-  static constexpr ReturnValue_t EXECUTION_FINISHED = returnvalue::makeCode(CLASS_ID, 0);
+  static constexpr ReturnValue_t EXECUTION_FINISHED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);

  //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
  //! to load another command but a command is still pending
-  static constexpr ReturnValue_t COMMAND_PENDING = returnvalue::makeCode(CLASS_ID, 1);
+  static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
  //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
-  static constexpr ReturnValue_t BYTES_READ = returnvalue::makeCode(CLASS_ID, 2);
+  static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
  //! [EXPORT] : [COMMENT] Command execution failed
-  static constexpr ReturnValue_t COMMAND_ERROR = returnvalue::makeCode(CLASS_ID, 3);
+  static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
  //! [EXPORT] : [COMMENT]
-  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING = returnvalue::makeCode(CLASS_ID, 4);
-  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = returnvalue::makeCode(CLASS_ID, 6);
+  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);

  /**
   * Constructor. Is initialized with maximum size of internal buffer to read data from the
   * executed process.
   * @param maxSize
   */
-  explicit CommandExecutor(size_t maxSize);
+  CommandExecutor(const size_t maxSize);

  /**
   * Load a new command which should be executed
@@ -62,11 +64,11 @@ class CommandExecutor {
  /**
   * Execute the loaded command.
   * @return
-   *  - In blocking mode, it will return returnvalue::FAILED if
+   *  - In blocking mode, it will return RETURN_FAILED if
   *    the result of the system call was not 0. The error value can be accessed using
   *    getLastError
   *  - In non-blocking mode, this call will start
-   *    the execution and then return returnvalue::OK
+   *    the execution and then return RETURN_OK
   */
  ReturnValue_t execute();
  /**
@@ -75,8 +77,8 @@ class CommandExecutor {
   * @return
   *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
   *    check again after this
-   *  - returnvalue::OK execution is pending, but no bytes have been read from the executing process
-   *  - returnvalue::FAILED if execution has failed, error value can be accessed using getLastError
+   *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+   *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
   *  - EXECUTION_FINISHED if the process was executed successfully
   *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
   *  - COMMAND_ERROR internal poll error
@@ -85,7 +87,7 @@ class CommandExecutor {
  /**
   * Abort the current command. Should normally not be necessary, check can be used to find
   * out whether command execution was successful
-   * @return returnvalue::OK
+   * @return RETURN_OK
   */
  ReturnValue_t close();

@@ -2,7 +2,7 @@
 #define LINUX_UTILITY_UNIXFILEGUARD_H_

 #include <fcntl.h>
-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <unistd.h>

 #include <string>
@@ -24,7 +24,7 @@ class UnixFileGuard {

 private:
  int* fileDescriptor = nullptr;
-  ReturnValue_t openStatus = returnvalue::OK;
+  ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };

 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */
@@ -0,0 +1,16 @@
+# This abstraction layer requires the gpiod library. You can install this library
+# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
+# to install the package before syncing the sysroot to your host computer.
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_GPIO}
+    )
+endif()
+
@@ -23,30 +23,30 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  GpioMap mapToAdd = gpioCookie->getGpioMap();

  /* Check whether this ID already exists in the map and remove duplicates */
  result = checkForConflicts(mapToAdd);
-  if (result != returnvalue::OK) {
+  if (result != RETURN_OK) {
    return result;
  }

  result = configureGpios(mapToAdd);
-  if (result != returnvalue::OK) {
-    return returnvalue::FAILED;
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
  }

  /* Register new GPIOs in gpioMap */
  gpioMap.insert(mapToAdd.begin(), mapToAdd.end());

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = RETURN_OK;
  for (auto& gpioConfig : mapToAdd) {
    auto& gpioType = gpioConfig.second->gpioType;
    switch (gpioType) {
@@ -86,7 +86,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
                               gpioCallback->initValue, gpioCallback->callbackArgs);
      }
    }
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
      return GPIO_INIT_FAILED;
    }
  }
@@ -102,7 +102,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "label: " + label;
  return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
@@ -116,7 +116,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId, GpiodRegularB
    sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip " << chipname
                 << ". Gpio ID: " << gpioId << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "chipname: " + chipname;
  return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
@@ -132,7 +132,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
      gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
  if (result != LINE_FOUND) {
    parseFindeLineResult(result, lineName);
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  gpioByLineName.lineNum = static_cast<int>(lineOffset);
@@ -143,7 +143,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
                 << ". <Gpio ID: " << gpioId << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }
  std::string failOutput = "line name: " + lineName;
  return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
@@ -168,7 +168,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
    sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
 #endif
    gpiod_chip_close(chip);
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  direction = regularGpio.direction;
@@ -202,7 +202,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
            lineNum, gpioId);
 #endif
        gpiod_line_release(lineHandle);
-        return returnvalue::FAILED;
+        return RETURN_FAILED;
      }
  }
  /**
@@ -210,7 +210,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
   * read states of GPIOs.
   */
  regularGpio.lineHandle = lineHandle;
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
@@ -238,7 +238,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
  return GPIO_TYPE_FAILURE;
 }
@@ -270,7 +270,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
  return GPIO_TYPE_FAILURE;
 }
@@ -291,7 +291,7 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regul
    return DRIVE_GPIO_FAILURE;
  }

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
@@ -321,14 +321,14 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
    }
    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
                           gpioCallback->callbackArgs);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
-  ReturnValue_t status = returnvalue::OK;
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  for (auto& gpioConfig : mapToAdd) {
    switch (gpioConfig.second->gpioType) {
      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
@@ -340,7 +340,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
        }
        // Check for conflicts and remove duplicates if necessary
        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
          status = result;
        }
        break;
@@ -352,7 +352,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
        }
        // Check for conflicts and remove duplicates if necessary
        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
-        if (result != returnvalue::OK) {
+        if (result != HasReturnvaluesIF::RETURN_OK) {
          status = result;
        }
        break;
@@ -426,7 +426,7 @@ ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
    mapToAdd.erase(gpioIdToCheck);
    return GPIO_DUPLICATE_DETECTED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
@@ -19,12 +19,18 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
 public:
  static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;

-  static constexpr ReturnValue_t UNKNOWN_GPIO_ID = returnvalue::makeCode(gpioRetvalId, 1);
-  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE = returnvalue::makeCode(gpioRetvalId, 2);
-  static constexpr ReturnValue_t GPIO_TYPE_FAILURE = returnvalue::makeCode(gpioRetvalId, 3);
-  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE = returnvalue::makeCode(gpioRetvalId, 4);
-  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED = returnvalue::makeCode(gpioRetvalId, 5);
-  static constexpr ReturnValue_t GPIO_INIT_FAILED = returnvalue::makeCode(gpioRetvalId, 6);
+  static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+  static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
+  static constexpr ReturnValue_t GPIO_INIT_FAILED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6);

  LinuxLibgpioIF(object_id_t objectId);
  virtual ~LinuxLibgpioIF();
@@ -65,7 +71,7 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject {
   *
   * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
   *
-   * @return	returnvalue::OK if successful, otherwise returnvalue::FAILED
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
   */
  ReturnValue_t checkForConflicts(GpioMap& mapToAdd);

@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    I2cComIF.cpp
+    I2cCookie.cpp
+)
+
+
+
+
@@ -52,16 +52,16 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
                 << i2cAddress << "to I2C device "
                 << "map" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }

 #if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
             << "already in use" << std::endl;
 #endif
-  return returnvalue::FAILED;
+  return HasReturnvaluesIF::RETURN_FAILED;
 }

 ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
@@ -73,11 +73,11 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  if (sendLen == 0) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }

  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
@@ -95,16 +95,16 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
    sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
               << "registered in i2cDeviceMap" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  deviceFile = i2cCookie->getDeviceFile();
  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return fileHelper.getOpenResult();
  }
  result = openDevice(deviceFile, i2cAddress, &fd);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

@@ -114,17 +114,17 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
                  "device with error code "
               << errno << ". Error description: " << strerror(errno) << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

 #if FSFW_HAL_I2C_WIRETAPPING == 1
  sif::info << "Sent I2C data to bus " << deviceFile << ":" << std::endl;
  arrayprinter::print(sendData, sendLen);
 #endif
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

-ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }

 ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
  ReturnValue_t result;
@@ -132,7 +132,7 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
  std::string deviceFile;

  if (requestLen == 0) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }

  I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
@@ -152,16 +152,16 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
               << "registered in i2cDeviceMap" << std::endl;
 #endif
    i2cDeviceMapIter->second.replyLen = 0;
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  deviceFile = i2cCookie->getDeviceFile();
  UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return fileHelper.getOpenResult();
  }
  result = openDevice(deviceFile, i2cAddress, &fd);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    i2cDeviceMapIter->second.replyLen = 0;
    return result;
  }
@@ -182,7 +182,7 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
               << " bytes" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

 #if FSFW_HAL_I2C_WIRETAPPING == 1
@@ -191,7 +191,7 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
 #endif

  i2cDeviceMapIter->second.replyLen = requestLen;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
@@ -210,12 +210,12 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
    sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
               << "found in i2cDeviceMap" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  *buffer = i2cDeviceMapIter->second.replyBuffer.data();
  *size = i2cDeviceMapIter->second.replyLen;

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
@@ -231,7 +231,7 @@ ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
    sif::printWarning("Error description: %s\n", strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
@@ -49,7 +49,7 @@ class I2cComIF : public DeviceCommunicationIF, public SystemObject {
   * @param deviceFile	The name of the device file. E.g. i2c-0
   * @param i2cAddress	The address of the i2c slave device.
   * @param fileDescriptor	Pointer to device descriptor.
-   * @return	returnvalue::OK if successful, otherwise returnvalue::FAILED.
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
   */
  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
 };
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GpioRPi.cpp
+)
@@ -9,7 +9,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
                                        std::string consumer, gpio::Direction direction,
                                        gpio::Levels initValue) {
  if (cookie == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  auto config = new GpiodRegularByChip();
@@ -30,9 +30,9 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
    sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  config->lineNum = bcmPin;
  cookie->addGpio(gpioId, config);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
@@ -1,7 +1,7 @@
 #ifndef BSP_RPI_GPIO_GPIORPI_H_
 #define BSP_RPI_GPIO_GPIORPI_H_

-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 #include "../../common/gpio/gpioDefinitions.h"

@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+    SpiComIF.cpp
+    SpiCookie.cpp
+)
+
+
+
+
@@ -56,7 +56,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    /* Now we emplaced the read buffer in the map, we still need to assign that location
    to the SPI driver transfer struct */
@@ -69,7 +69,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
    sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  /* Pull CS high in any case to be sure that device is inactive */
@@ -87,7 +87,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
  int fileDescriptor = 0;
  UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
                           "SpiComIF::initializeInterface");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return fileHelper.getOpenResult();
  }

@@ -129,12 +129,12 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
          "Could not write bits per word!");
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;

  if (spiCookie == nullptr) {
    return NULLPOINTER;
@@ -178,13 +178,13 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
    spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
  }

-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  int retval = 0;
  /* Prepare transfer */
  int fileDescriptor = 0;
  std::string device = spiCookie->getSpiDevice();
  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return OPENING_FILE_FAILED;
  }
  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
@@ -200,7 +200,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
  /* Pull SPI CS low. For now, no support for active high given  */
  if (gpioId != gpio::NO_GPIO) {
    result = spiMutex->lockMutex(timeoutType, timeoutMs);
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
@@ -211,7 +211,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
      return result;
    }
    result = gpioComIF->pullLow(gpioId);
-    if (result != returnvalue::OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
@@ -251,7 +251,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
  if (gpioId != gpio::NO_GPIO) {
    gpioComIF->pullHigh(gpioId);
    result = spiMutex->unlockMutex();
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
 #endif
@@ -261,7 +261,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
  return result;
 }

-ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }

 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
@@ -270,32 +270,32 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
  }

  if (spiCookie->isFullDuplex()) {
-    return returnvalue::OK;
+    return HasReturnvaluesIF::RETURN_OK;
  }

  return performHalfDuplexReception(spiCookie);
 }

 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  std::string device = spiCookie->getSpiDevice();
  int fileDescriptor = 0;
  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
-  if (fileHelper.getOpenResult() != returnvalue::OK) {
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
    return OPENING_FILE_FAILED;
  }

  uint8_t* rxBuf = nullptr;
  size_t readSize = spiCookie->getCurrentTransferSize();
  result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

  gpioId_t gpioId = spiCookie->getChipSelectPin();
  if (gpioId != gpio::NO_GPIO) {
    result = spiMutex->lockMutex(timeoutType, timeoutMs);
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
 #endif
@@ -318,7 +318,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
  if (gpioId != gpio::NO_GPIO) {
    gpioComIF->pullHigh(gpioId);
    result = spiMutex->unlockMutex();
-    if (result != returnvalue::OK) {
+    if (result != RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
 #endif
@@ -332,18 +332,18 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
  SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
  if (spiCookie == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  uint8_t* rxBuf = nullptr;
  ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }

  *buffer = rxBuf;
  *size = spiCookie->getCurrentTransferSize();
  spiCookie->setTransferSize(0);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
@@ -377,16 +377,16 @@ void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {

 ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
  if (buffer == nullptr) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  auto iter = spiDeviceMap.find(spiAddress);
  if (iter == spiDeviceMap.end()) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  *buffer = iter->second.replyBuffer.data();
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
@@ -23,13 +23,14 @@ class SpiCookie;
 class SpiComIF : public DeviceCommunicationIF, public SystemObject {
 public:
  static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
-  static constexpr ReturnValue_t OPENING_FILE_FAILED = returnvalue::makeCode(spiRetvalId, 0);
+  static constexpr ReturnValue_t OPENING_FILE_FAILED =
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
  /* Full duplex (ioctl) transfer failure */
  static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
-      returnvalue::makeCode(spiRetvalId, 1);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
  /* Half duplex (read/write) transfer failure */
  static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
-      returnvalue::makeCode(spiRetvalId, 2);
+      HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);

  SpiComIF(object_id_t objectId, GpioIF* gpioComIF);

@@ -7,7 +7,7 @@

 #include "../../common/gpio/gpioDefinitions.h"
 #include "../../common/spi/spiCommon.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 class SpiCookie;
 class SpiComIF;
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UartComIF.cpp
+	UartCookie.cpp
+)
@@ -37,7 +37,7 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
  if (uartDeviceMapIter == uartDeviceMap.end()) {
    int fileDescriptor = configureUartPort(uartCookie);
    if (fileDescriptor < 0) {
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
    }
    size_t maxReplyLen = uartCookie->getMaxReplyLen();
    UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
@@ -47,17 +47,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
      sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
                   << "to UART device map" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
    }
  } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
                 << " already in use" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 int UartComIF::configureUartPort(UartCookie* uartCookie) {
@@ -329,14 +329,14 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
  UartDeviceMapIter uartDeviceMapIter;

  if (sendLen == 0) {
-    return returnvalue::OK;
+    return RETURN_OK;
  }

  if (sendData == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
@@ -354,7 +354,7 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
    sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
               << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  fd = uartDeviceMapIter->second.fileDescriptor;
@@ -364,13 +364,13 @@ ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData,
    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
               << ": Error description: " << strerror(errno) << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

-  return returnvalue::OK;
+  return RETURN_OK;
 }

-ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
+ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }

 ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
  std::string deviceFile;
@@ -389,7 +389,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
  uartDeviceMapIter = uartDeviceMap.find(deviceFile);

  if (uartMode == UartModes::NON_CANONICAL and requestLen == 0) {
-    return returnvalue::OK;
+    return RETURN_OK;
  }

  if (uartDeviceMapIter == uartDeviceMap.end()) {
@@ -397,7 +397,7 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
    sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
               << " not in uart map" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  if (uartMode == UartModes::CANONICAL) {
@@ -405,13 +405,13 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestL
  } else if (uartMode == UartModes::NON_CANONICAL) {
    return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
  } else {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
 }

 ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
                                             size_t requestLen) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  uint8_t maxReadCycles = uartCookie.getReadCycles();
  uint8_t currentReadCycles = 0;
  int bytesRead = 0;
@@ -454,7 +454,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
                          strerror(errno));
 #endif
 #endif
-        return returnvalue::FAILED;
+        return RETURN_FAILED;
      }

    } else if (bytesRead > 0) {
@@ -487,18 +487,18 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie& uartCookie, UartDevi
  }
  int bytesRead = read(fd, bufferPtr, requestLen);
  if (bytesRead < 0) {
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  } else if (bytesRead != static_cast<int>(requestLen)) {
    if (uartCookie.isReplySizeFixed()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
                   << requestLen << " bytes" << std::endl;
 #endif
-      return returnvalue::FAILED;
+      return RETURN_FAILED;
    }
  }
  iter->second.replyLen = bytesRead;
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
@@ -520,7 +520,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
    sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
               << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return RETURN_FAILED;
  }

  *buffer = uartDeviceMapIter->second.replyBuffer.data();
@@ -529,7 +529,7 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
  /* Length is reset to 0 to prevent reading the same data twice */
  uartDeviceMapIter->second.replyLen = 0;

-  return returnvalue::OK;
+  return RETURN_OK;
 }

 ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
@@ -547,9 +547,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF* cookie) {
  if (uartDeviceMapIter != uartDeviceMap.end()) {
    int fd = uartDeviceMapIter->second.fileDescriptor;
    tcflush(fd, TCIFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
-  return returnvalue::FAILED;
+  return RETURN_FAILED;
 }

 ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
@@ -567,9 +567,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF* cookie) {
  if (uartDeviceMapIter != uartDeviceMap.end()) {
    int fd = uartDeviceMapIter->second.fileDescriptor;
    tcflush(fd, TCOFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
-  return returnvalue::FAILED;
+  return RETURN_FAILED;
 }

 ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
@@ -587,9 +587,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
  if (uartDeviceMapIter != uartDeviceMap.end()) {
    int fd = uartDeviceMapIter->second.fileDescriptor;
    tcflush(fd, TCIOFLUSH);
-    return returnvalue::OK;
+    return RETURN_OK;
  }
-  return returnvalue::FAILED;
+  return RETURN_FAILED;
 }

 void UartComIF::setUartMode(struct termios* options, UartCookie& uartCookie) {
@@ -22,9 +22,12 @@ class UartComIF : public DeviceCommunicationIF, public SystemObject {
 public:
  static constexpr uint8_t uartRetvalId = CLASS_ID::HAL_UART;

-  static constexpr ReturnValue_t UART_READ_FAILURE = returnvalue::makeCode(uartRetvalId, 1);
-  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH = returnvalue::makeCode(uartRetvalId, 2);
-  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL = returnvalue::makeCode(uartRetvalId, 3);
+  static constexpr ReturnValue_t UART_READ_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 1);
+  static constexpr ReturnValue_t UART_READ_SIZE_MISSMATCH =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 2);
+  static constexpr ReturnValue_t UART_RX_BUFFER_TOO_SMALL =
+      HasReturnvaluesIF::makeReturnCode(uartRetvalId, 3);

  UartComIF(object_id_t objectId);

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC
+	UioMapper.cpp
+)
@@ -18,17 +18,17 @@ UioMapper::UioMapper(std::string uioFile, int mapNum) : uioFile(uioFile), mapNum
 UioMapper::~UioMapper() {}

 ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permissions) {
-  ReturnValue_t result = returnvalue::OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  int fd = open(uioFile.c_str(), O_RDWR);
  if (fd < 1) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "PtmeAxiConfig::initialize: Invalid UIO device file" << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  size_t size = 0;
  result = getMapSize(&size);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  *address = static_cast<uint32_t*>(
@@ -39,9 +39,9 @@ ReturnValue_t UioMapper::getMappedAdress(uint32_t** address, Permissions permiss
    sif::error << "UioMapper::getMappedAdress: Failed to map physical address of uio device "
               << uioFile.c_str() << " and map" << static_cast<int>(mapNum) << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t UioMapper::getMapSize(size_t* size) {
@@ -54,7 +54,7 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "UioMapper::getMapSize: Failed to open file " << namestream.str() << std::endl;
 #endif
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  char hexstring[SIZE_HEX_STRING] = "";
  int items = fscanf(fp, "%s", hexstring);
@@ -66,7 +66,7 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
               << namestream.str() << std::endl;
 #endif
    fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  uint32_t sizeTmp = 0;
  items = sscanf(hexstring, "%x", &sizeTmp);
@@ -79,8 +79,8 @@ ReturnValue_t UioMapper::getMapSize(size_t* size) {
               << "size of map" << mapNum << " to integer" << std::endl;
 #endif
    fclose(fp);
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  fclose(fp);
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }
@@ -5,7 +5,7 @@

 #include <string>

-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"

 /**
 * @brief   Class to help opening uio device files and mapping the physical addresses into the user
@@ -2,4 +2,6 @@ add_subdirectory(spi)
 add_subdirectory(gpio)
 add_subdirectory(devicetest)

-target_sources(${LIB_FSFW_NAME} PRIVATE dma.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    dma.cpp
+)
@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    GyroL3GD20H.cpp
+)
@@ -84,7 +84,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
  spiHandle->Init.Mode = SPI_MODE_MASTER;
  if (HAL_SPI_Init(spiHandle) != HAL_OK) {
    sif::printWarning("Error initializing SPI\n");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  delete mspCfg;
@@ -106,11 +106,11 @@ ReturnValue_t GyroL3GD20H::initialize() {
      return handlePollingTransferInit();
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::performOperation() {
@@ -125,10 +125,10 @@ ReturnValue_t GyroL3GD20H::performOperation() {
      return handleInterruptSensorRead();
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
@@ -162,10 +162,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("Transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@@ -194,10 +194,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@@ -228,13 +228,13 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
@@ -259,13 +259,13 @@ ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
    case (TransferStates::FAILURE): {
      sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
      transferState = TransferStates::FAILURE;
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
@@ -298,14 +298,14 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@@ -323,14 +323,14 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@@ -353,17 +353,17 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
@@ -380,17 +380,17 @@ ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
    }
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (HAL_ERROR): {
      sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
@@ -416,7 +416,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@@ -438,7 +438,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@@ -465,10 +465,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
@@ -489,10 +489,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
    case (HAL_ERROR):
    case (HAL_TIMEOUT): {
      sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void GyroL3GD20H::prepareConfigRegs(uint8_t *configRegs) {
@@ -6,7 +6,7 @@

 #include "../spi/mspInit.h"
 #include "../spi/spiDefinitions.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    gpio.cpp
+)
@@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+)
@@ -0,0 +1,9 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    spiCore.cpp
+    spiDefinitions.cpp
+    spiInterrupts.cpp
+    mspInit.cpp
+    SpiCookie.cpp
+    SpiComIF.cpp
+    stm32h743zi.cpp
+)
@@ -35,7 +35,7 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
  spi::setDmaHandles(txHandle, rxHandle);
 }

-ReturnValue_t SpiComIF::initialize() { return returnvalue::OK; }
+ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }

 ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
  SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
@@ -55,7 +55,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    spi::getDmaHandles(&txHandle, &rxHandle);
    if (txHandle == nullptr or rxHandle == nullptr) {
      sif::printError("SpiComIF::initialize: DMA handles not set!\n");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
  // This semaphore ensures thread-safety for a given bus
@@ -79,7 +79,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
  auto gpioPin = spiCookie->getChipSelectGpioPin();
@@ -98,7 +98,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 #endif
  } else {
    printCfgError("SPI Bus Index");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }

  auto mspCfg = spiCookie->getMspCfg();
@@ -107,21 +107,21 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
    if (typedCfg == nullptr) {
      printCfgError("Polling MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    spi::setSpiPollingMspFunctions(typedCfg);
  } else if (transferMode == spi::TransferModes::INTERRUPT) {
    auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
    if (typedCfg == nullptr) {
      printCfgError("IRQ MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    spi::setSpiIrqMspFunctions(typedCfg);
  } else if (transferMode == spi::TransferModes::DMA) {
    auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
    if (typedCfg == nullptr) {
      printCfgError("DMA MSP");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    // Check DMA handles
    DMA_HandleTypeDef *txHandle = nullptr;
@@ -129,7 +129,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    spi::getDmaHandles(&txHandle, &rxHandle);
    if (txHandle == nullptr or rxHandle == nullptr) {
      printCfgError("DMA Handle");
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    spi::setSpiDmaMspFunctions(typedCfg);
  }
@@ -145,12 +145,12 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {

  if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
    sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  // The MSP configuration struct is not required anymore
  spiCookie->deleteMspCfg();

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
@@ -163,7 +163,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s

  auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
  if (iter == spiDeviceMap.end()) {
-    return returnvalue::FAILED;
+    return HasReturnvaluesIF::RETURN_FAILED;
  }
  iter->second.currentTransferLen = sendLen;

@@ -176,7 +176,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
    case (spi::TransferStates::FAILURE):
    case (spi::TransferStates::SUCCESS):
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

@@ -194,13 +194,13 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
                                    sendData, sendLen);
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }

 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@@ -212,7 +212,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
    case (spi::TransferStates::SUCCESS): {
      auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
      if (iter == spiDeviceMap.end()) {
-        return returnvalue::FAILED;
+        return HasReturnvaluesIF::RETURN_FAILED;
      }
      *buffer = iter->second.replyBuffer.data();
      *size = iter->second.currentTransferLen;
@@ -228,18 +228,18 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 #endif
 #endif
      spiCookie->setTransferState(spi::TransferStates::IDLE);
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
    case (spi::TransferStates::WAIT):
    case (spi::TransferStates::IDLE): {
      break;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }

-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
@@ -252,7 +252,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
  auto gpioPort = spiCookie.getChipSelectGpioPort();
  auto gpioPin = spiCookie.getChipSelectGpioPin();
  auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
-  if (returnval != returnvalue::OK) {
+  if (returnval != HasReturnvaluesIF::RETURN_OK) {
    return returnval;
  }
  spiCookie.setTransferState(spi::TransferStates::WAIT);
@@ -299,7 +299,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleT
      return spi::HAL_ERROR_RETVAL;
    }
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
@@ -318,7 +318,7 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
                                               SpiCookie &spiCookie, const uint8_t *sendData,
                                               size_t sendLen) {
  ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  // yet another HAL driver which is not const-correct..
@@ -366,7 +366,7 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
      return spi::HAL_TIMEOUT_RETVAL;
    }
    default: {
-      return returnvalue::FAILED;
+      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
 }
@@ -379,7 +379,7 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef

  // Take the semaphore which will be released by a callback when the transfer is complete
  ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    // Configuration error
    sif::printWarning(
        "SpiComIF::handleInterruptSendOperation: Semaphore "
@@ -399,7 +399,7 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef
    HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
                      GPIO_PIN_RESET);
  }
-  return returnvalue::OK;
+  return HasReturnvaluesIF::RETURN_OK;
 }

 void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
@@ -445,7 +445,7 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
 #elif defined FSFW_OSAL_RTEMS
  ReturnValue_t result = comIF->spiSemaphore->release();
 #endif
-  if (result != returnvalue::OK) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
    // Configuration error
    printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
  }
@@ -3,16 +3,17 @@

 #include "../../common/spi/spiCommon.h"
 #include "fsfw/returnvalues/FwClassIds.h"
-#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_spi.h"

 namespace spi {

 static constexpr uint8_t HAL_SPI_ID = CLASS_ID::HAL_SPI;
-static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL = returnvalue::makeCode(HAL_SPI_ID, 0);
-static constexpr ReturnValue_t HAL_BUSY_RETVAL = returnvalue::makeCode(HAL_SPI_ID, 1);
-static constexpr ReturnValue_t HAL_ERROR_RETVAL = returnvalue::makeCode(HAL_SPI_ID, 2);
+static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL =
+    HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0);
+static constexpr ReturnValue_t HAL_BUSY_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 1);
+static constexpr ReturnValue_t HAL_ERROR_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 2);

 enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };

@@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+)
@@ -4,10 +4,6 @@
 #include <cstddef>
 #include <cstdint>

-// It is assumed the user has a subsystem and class ID list in some user header files.
-// #include "events/subsystemIdRanges.h"
-// #include "returnvalues/classIds.h"
-
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
@@ -35,8 +35,8 @@ void Factory::produceFsfwObjects(void) {
 }

 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::PUS_DISTRIBUTOR = objects::NO_OBJECT;
-	PusServiceBase::PACKET_DESTINATION = objects::NO_OBJECT;
+	PusServiceBase::packetSource = objects::NO_OBJECT;
+	PusServiceBase::packetDestination = objects::NO_OBJECT;

 	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
 	CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
@@ -11,15 +11,15 @@ ReturnValue_t pst::pollingSequenceInitDefault(

 	/* Add polling sequence table here */

-	if (thisSequence->checkSequence() == returnvalue::OK) {
-		return returnvalue::OK;
+	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_OK;
 	}
 	else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
 		        << std::endl;
 #endif
-		return returnvalue::FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 }

@@ -1,7 +1,7 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_

-#include <fsfw/returnvalues/returnvalue.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>

 class FixedTimeslotTaskIF;

@@ -3,11 +3,6 @@ if [[ ! -f README.md ]]; then
  cd ..
 fi

-folder_list=(
-  "./src"
-  "./unittests"
-)
-
 cmake_fmt="cmake-format"
 file_selectors="-iname CMakeLists.txt"
 if command -v ${cmake_fmt} &> /dev/null; then
@@ -20,10 +15,9 @@ 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 ${dir} recursively"
-    find ${dir} ${file_selectors} | xargs clang-format --style=file -i
-  done
+  find ./src ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./hal ${file_selectors} | xargs ${cpp_format} --style=file -i
+  find ./tests ${file_selectors} | xargs ${cpp_format} --style=file -i
 else
  echo "No ${cpp_format} tool found, not formatting C++/C files"
 fi
Author	SHA1	Message	Date
muellerr	0b17a2e74e	Merge branch 'mueller/tc-packet-pus-improvement' into develop	2022-07-05 17:55:31 +02:00
muellerr	ec1d64e061	Merge remote-tracking branch 'upstream/development' into mueller/tc-packet-pus-improvement fsfw/fsfw/pipeline/pr-development This commit looks good Details	2022-07-05 17:55:23 +02:00
muellerr	a16b77daf0	re-ordered absstract methods a bit	2022-07-05 17:04:24 +02:00
muellerr	830b907910	Merge remote-tracking branch 'upstream/development' into develop	2022-07-05 15:12:30 +02:00
muellerr	b762f97bfb	Merge remote-tracking branch 'upstream/development' into develop	2022-07-05 15:12:19 +02:00
muellerr	5bd3abed8b	Merge branch 'development' into mueller/tc-packet-pus-improvement fsfw/fsfw/pipeline/pr-development This commit looks good Details	2022-06-13 16:45:45 +02:00
muellerr	eb46f0c473	pus version in config is constexpr now	2022-06-13 16:45:09 +02:00
muellerr	15d69e64f3	renamed new class, small tweak fsfw/fsfw/pipeline/pr-development This commit looks good Details	2022-06-13 16:20:37 +02:00
muellerr	d74bcbb1f8	Merge branch 'mueller/tc-packet-pus-improvement' of https://egit.irs.uni-stuttgart.de/KSat/fsfw into mueller/tc-packet-pus-improvement fsfw/fsfw/pipeline/pr-development This commit looks good Details	2022-06-13 16:14:37 +02:00
muellerr	c00cb1680d	removed unneeded function	2022-06-13 16:14:30 +02:00
muellerr	7109422e2c	Merge branch 'development' into mueller/tc-packet-pus-improvement	2022-06-13 16:13:42 +02:00
muellerr	efd12544df	this should get the job done	2022-06-13 16:13:15 +02:00
muellerr	b9fbb4fd4c	Merge branch 'development' into mueller/tc-packet-pus-improvement fsfw/fsfw/pipeline/pr-development This commit looks good Details	2022-05-27 15:15:39 +02:00
muellerr	9368ae81e5	Merge branch 'development' into mueller/tc-packet-pus-improvement fsfw/fsfw/pipeline/pr-development This commit looks good Details	2022-05-23 15:56:26 +02:00
muellerr	618f76ae78	improved TcPacketPus API fsfw/fsfw/pipeline/pr-development This commit looks good Details	2022-05-17 10:14:34 +02:00
muellerr	ee2f8d6956	Merge pull request 'Update FSFW from Upstream' (#27 ) from mueller/update-from-upstream into develop Reviewed-on: KSat/fsfw#27	2022-05-17 10:06:58 +02:00