added includes

2021-07-19 13:08:40 +02:00
820 changed files with 1529 additions and 3807 deletions
--- a/68
+++ b/68
@@ -1,81 +1,17 @@
-# Changed from ASTP 1.1.0 to 1.2.0
-
-## API Changes
-
-### FSFW Architecture
-
- New src folder which contains all source files except the HAL, contributed code and test code
- External and internal API mostly stayed the same
- Folder names are now all smaller case: internalError was renamed to internalerror and
-  FreeRTOS was renamed to freertos
- Warning if optional headers are used but the modules was not added to the source files to compile
-
-### HAL
-
- HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library
-  made using it more complicated than necessary
-
-## Bugfixes
-
-### FreeRTOS QueueMapManager
-
- Fixed a bug which causes the first generated Queue ID to be invalid
-
-## Enhancements
-
-### FSFW Architecture
-
- See API changes chapter. This change will keep the internal API consistent in the future
-
-# Changes from ASTP 1.0.0 to 1.1.0
-
-## API Changes
+## Changes from ASTP 1.0.0 to 1.1.0

 ### PUS

 - Added PUS C support
- SUBSYSTEM_IDs added for PUS Services
- Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE
-
-### ObjectManager
-
- - ObjectManager is now a singelton
-

 ### Configuration

 - Additional configuration option fsfwconfig::FSFW_MAX_TM_PACKET_SIZE which 
  need to be specified in FSFWConfig.h

-### CMake
-
- Changed Cmake FSFW_ADDITIONAL_INC_PATH to FSFW_ADDITIONAL_INC_PATHS
-
-## Bugfixes 
-
- timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
- TCP server fixes
-
-## Enhancements
-
-### FreeRTOS Queue Handles
-
- Fixed an internal issue how FreeRTOS MessageQueues were handled
-
-### Linux OSAL
-
- Better printf error messages
-
-### CMake
-
- Check for C++11 as mininimum required Version
-
-### Debug Output
-
- Changed Warning color to magenta, which is well readable on both dark and light mode IDEs


-# Changes from ASTP 0.0.1 to 1.0.0
+## Changes from ASTP 0.0.1 to 1.0.0

 ### Host OSAL

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.13)
 option(FSFW_GENERATE_SECTIONS
    "Generate function and data sections. Required to remove unused code" ON
 )
+
 if(FSFW_GENERATE_SECTIONS)
    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
@@ -10,20 +11,9 @@ endif()
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 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)
-
-# Optional sources
-option(FSFW_ADD_PUS "Compile with PUS sources" ON)
-option(FSFW_ADD_MONITORING "Compile with monitoring components" ON)
-
-option(FSFW_ADD_RMAP "Compile with RMAP" OFF)
-option(FSFW_ADD_DATALINKLAYER "Compile with Data Link Layer" OFF)
-option(FSFW_ADD_COORDINATES "Compile with coordinate components" OFF)
-option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
-
-# Contrib sources
-option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
+option(FSFW_USE_RMAP "Compile with RMAP" ON)
+option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
+option(FSFW_ADD_SPG4_PROPAGATOR "Add SPG4 propagator code" ON)

 set(LIB_FSFW_NAME fsfw)
 add_library(${LIB_FSFW_NAME})
@@ -39,7 +29,7 @@ elseif(${CMAKE_CXX_STANDARD} LESS 11)
 endif()

 # Backwards comptability
-if(OS_FSFW AND NOT FSFW_OSAL)
+if(OS_FSFW)
    message(WARNING "Please pass the FSFW OSAL as FSFW_OSAL instead of OS_FSFW")
    set(FSFW_OSAL OS_FSFW)
 endif()
@@ -63,35 +53,40 @@ endif()
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)

 if(FSFW_OSAL MATCHES host)
-    set(OS_FSFW_NAME "Host")
-    set(FSFW_OSAL_HOST ON)
+	set(OS_FSFW_NAME "Host")
 elseif(FSFW_OSAL MATCHES linux)
-    set(OS_FSFW_NAME "Linux")
-    set(FSFW_OSAL_LINUX ON)
+	set(OS_FSFW_NAME "Linux")
+	set(FSFW_OSAL_DEFINITION FSFW_OSAL_LINUX)
 elseif(FSFW_OSAL MATCHES freertos)
-    set(OS_FSFW_NAME "FreeRTOS")
-    set(FSFW_OSAL_FREERTOS ON)
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+	set(OS_FSFW_NAME "FreeRTOS")
+	set(FSFW_OSAL_DEFINITION FSFW_OSAL_FREERTOS)
+	target_link_libraries(${LIB_FSFW_NAME} PRIVATE
        ${LIB_OS_NAME}
-    )
+	)
 elseif(FSFW_OSAL STREQUAL rtems)
-    set(OS_FSFW_NAME "RTEMS")
-    set(FSFW_OSAL_RTEMS ON)
+	set(OS_FSFW_NAME "RTEMS")
+    set(FSFW_OSAL_DEFINITION FSFW_OSAL_RTEMS)
 else()
-    message(WARNING
-        "Invalid operating system for FSFW specified! Setting to host.."
-    )
-    set(OS_FSFW_NAME "Host")
-    set(OS_FSFW "host")
+	message(WARNING 
+		"Invalid operating system for FSFW specified! Setting to host.."
+	)
+	set(OS_FSFW_NAME "Host")
+	set(OS_FSFW "host")
 endif()

+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_OSAL_DEFINITION}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
+    ${FSFW_OSAL_DEFINITION}
+)
+
 message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")

 add_subdirectory(src)
 add_subdirectory(tests)
-if(FSFW_ADD_HAL)
-    add_subdirectory(hal)
-endif()
+add_subdirectory(hal)
 add_subdirectory(contrib)

 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-![FSFW Logo](misc/logo/FSFW_Logo_V3_bw.png)
+![FSFW Logo](logo/FSFW_Logo_V3_bw.png)

 # Flight Software Framework (FSFW)

--- a/contrib/CMakeLists.txt
+++ b/contrib/CMakeLists.txt
@@ -1,9 +1,11 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-add_subdirectory(fsfw_contrib)
+if(FSFW_ADD_SPG4_PROPAGATOR)
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        sgp4/sgp4unit.cpp
+    )
+    target_include_directories(${LIB_FSFW_NAME} PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
+    )
+    target_include_directories(${LIB_FSFW_NAME} INTERFACE
+        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
+    )
+endif()
--- a/contrib/fsfw_contrib/CMakeLists.txt
+++ b/contrib/fsfw_contrib/CMakeLists.txt
@@ -1,11 +0,0 @@
-if(FSFW_ADD_SGP4_PROPAGATOR)
-    target_sources(${LIB_FSFW_NAME} PRIVATE
-        sgp4/sgp4unit.cpp
-    )
-    target_include_directories(${LIB_FSFW_NAME} PRIVATE
-        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
-    )
-    target_include_directories(${LIB_FSFW_NAME} INTERFACE
-        ${CMAKE_CURRENT_SOURCE_DIR}/sgp4
-    )
-endif()
--- a/contrib/fsfw_contrib/sgp4/LICENSE
+++ b/contrib/fsfw_contrib/sgp4/LICENSE
--- a/contrib/fsfw_contrib/sgp4/sgp4unit.cpp
+++ b/contrib/fsfw_contrib/sgp4/sgp4unit.cpp
--- a/contrib/fsfw_contrib/sgp4/sgp4unit.h
+++ b/contrib/fsfw_contrib/sgp4/sgp4unit.h
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -12,6 +12,7 @@ set(LINUX_HAL_PATH_NAME linux)
 set(STM32H7_PATH_NAME stm32h7)

 add_subdirectory(src)
+add_subdirectory(inc)

 foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
    if(IS_ABSOLUTE ${INCLUDE_PATH})
--- a/hal/inc/CMakeLists.txt
+++ b/hal/inc/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
--- a/hal/inc/fsfw/hal/common/gpio/GpioCookie.h
+++ b/hal/inc/fsfw/hal/common/gpio/GpioCookie.h
--- a/hal/inc/fsfw/hal/common/gpio/GpioIF.h
+++ b/hal/inc/fsfw/hal/common/gpio/GpioIF.h
--- a/hal/inc/fsfw/hal/common/gpio/gpioDefinitions.h
+++ b/hal/inc/fsfw/hal/common/gpio/gpioDefinitions.h
@@ -26,8 +26,7 @@ enum GpioOperation {

 enum GpioTypes {
    NONE,
-    GPIO_REGULAR_BY_CHIP,
-    GPIO_REGULAR_BY_LABEL,
+    GPIO_REGULAR,
    CALLBACK
 };

@@ -69,57 +68,28 @@ public:
    int initValue = 0;
 };

-class GpiodRegularBase: public GpioBase {
+class GpiodRegular: public GpioBase {
 public:
-    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
-            lineNum(lineNum) {
+    GpiodRegular() :
+            GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
    }
+    ;
+
+    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_) :
+            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
+            chipname(chipname_), lineNum(lineNum_) {
+    }
+
+    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
+            GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
+            chipname(chipname_), lineNum(lineNum_) {
+    }
+    std::string chipname;
    int lineNum = 0;
    struct gpiod_line* lineHandle = nullptr;
 };

-class GpiodRegularByChip: public GpiodRegularBase {
-public:
-    GpiodRegularByChip() :
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
-                    std::string(), gpio::Direction::IN, gpio::LOW, 0) {
-    }
-
-    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
-                    consumer_, direction_, initValue_, lineNum_),
-            chipname(chipname_){
-    }
-
-    GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
-            chipname(chipname_) {
-    }
-
-    std::string chipname;
-};
-
-class GpiodRegularByLabel: public GpiodRegularBase {
-public:
-    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
-                    direction_, initValue_, lineNum_),
-            label(label_) {
-    }
-
-    GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
-            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
-                    gpio::Direction::IN, gpio::LOW, lineNum_),
-            label(label_) {
-    }
-
-    std::string label;
-};
-
 class GpioCallback: public GpioBase {
 public:
    GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
--- a/hal/inc/fsfw/hal/common/spi/spiCommon.h
+++ b/hal/inc/fsfw/hal/common/spi/spiCommon.h
--- a/hal/inc/fsfw/hal/devicehandlers/GyroL3GD20Handler.h
+++ b/hal/inc/fsfw/hal/devicehandlers/GyroL3GD20Handler.h
@@ -1,12 +1,16 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_

-#include "fsfw/FSFW.h"
+#include "OBSWConfig.h"
 #include "devicedefinitions/GyroL3GD20Definitions.h"

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>

+#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
+#define FSFW_HAL_L3GD20_GYRO_DEBUG   1
+#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
+
 /**
 * @brief 	Device Handler for the L3GD20H gyroscope sensor
 *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@@ -19,22 +23,10 @@
 class GyroHandlerL3GD20H: public DeviceHandlerBase {
 public:
    GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie, uint32_t transitionDelayMs);
+            CookieIF* comCookie);
    virtual ~GyroHandlerL3GD20H();

-    /**
-     * Set the absolute limit for the values on the axis in degrees per second.
-     * The dataset values will be marked as invalid if that limit is exceeded
-     * @param xLimit
-     * @param yLimit
-     * @param zLimit
-     */
-    void setAbsoluteLimits(float limitX, float limitY, float limitZ);
-
-    /**
-     * @brief   Configure device handler to go to normal mode immediately
-     */
-    void setToGoToNormalMode(bool enable);
+    void setGoNormalModeAtStartup();
 protected:

    /* DeviceHandlerBase overrides */
@@ -49,23 +41,18 @@ protected:
            size_t commandDataLen) override;
    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
            DeviceCommandId_t *foundId, size_t *foundLen) override;
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
            const uint8_t *packet) override;

    void fillCommandAndReplyMap() override;
    void modeChanged() override;
-    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
            LocalDataPoolManager &poolManager) override;

 private:
-    uint32_t transitionDelayMs = 0;
    GyroPrimaryDataset dataset;

-    float absLimitX = L3GD20H::RANGE_DPS_00;
-    float absLimitY = L3GD20H::RANGE_DPS_00;
-    float absLimitZ = L3GD20H::RANGE_DPS_00;
-
    enum class InternalState {
        NONE,
        CONFIGURE,
--- a/hal/inc/fsfw/hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
+++ b/hal/inc/fsfw/hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
--- a/hal/inc/fsfw/hal/linux/UnixFileGuard.h
+++ b/hal/inc/fsfw/hal/linux/UnixFileGuard.h
--- a/hal/inc/fsfw/hal/linux/gpio/LinuxLibgpioIF.h
+++ b/hal/inc/fsfw/hal/linux/gpio/LinuxLibgpioIF.h
@@ -6,7 +6,6 @@
 #include <fsfw/objectmanager/SystemObject.h>

 class GpioCookie;
-class GpiodRegularIF;

 /**
 * @brief	This class implements the GpioIF for a linux based system. The
@@ -48,13 +47,9 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
-	        gpio::Levels logicLevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);

-	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
-	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
-    ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
-            struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput);
+	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);

 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -67,7 +62,7 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);

-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
 	        GpioMap& mapToAdd);
    ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
            GpioMap& mapToAdd);
--- a/hal/inc/fsfw/hal/linux/i2c/I2cComIF.h
+++ b/hal/inc/fsfw/hal/linux/i2c/I2cComIF.h
--- a/hal/inc/fsfw/hal/linux/i2c/I2cCookie.h
+++ b/hal/inc/fsfw/hal/linux/i2c/I2cCookie.h
--- a/hal/inc/fsfw/hal/linux/rpi/GpioRPi.h
+++ b/hal/inc/fsfw/hal/linux/rpi/GpioRPi.h
--- a/hal/inc/fsfw/hal/linux/spi/SpiComIF.h
+++ b/hal/inc/fsfw/hal/linux/spi/SpiComIF.h
@@ -1,13 +1,12 @@
 #ifndef LINUX_SPI_SPICOMIF_H_
 #define LINUX_SPI_SPICOMIF_H_

-#include "fsfw/FSFW.h"
 #include "spiDefinitions.h"
 #include "returnvalues/classIds.h"
-#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "../../common/gpio/GpioIF.h"

-#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>

 #include <vector>
 #include <unordered_map>
--- a/hal/inc/fsfw/hal/linux/spi/SpiCookie.h
+++ b/hal/inc/fsfw/hal/linux/spi/SpiCookie.h
@@ -103,10 +103,10 @@ public:
    void assignReadBuffer(uint8_t* rx);
    void assignWriteBuffer(const uint8_t* tx);
    /**
-     * Set size for the next transfer. Set to 0 for no transfer
+     * Assign size for the next transfer.
     * @param transferSize
     */
-    void setTransferSize(size_t transferSize);
+    void assignTransferSize(size_t transferSize);
    size_t getCurrentTransferSize() const;

    struct UncommonParameters {
@@ -158,6 +158,8 @@ private:
            std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
            spi::send_callback_function_t callback, void* args);

+    size_t currentTransferSize = 0;
+
    address_t spiAddress;
    gpioId_t chipSelectPin;
    std::string spiDevice;
--- a/hal/inc/fsfw/hal/linux/spi/spiDefinitions.h
+++ b/hal/inc/fsfw/hal/linux/spi/spiDefinitions.h
--- a/hal/inc/fsfw/hal/linux/uart/UartComIF.h
+++ b/hal/inc/fsfw/hal/linux/uart/UartComIF.h
@@ -41,21 +41,6 @@ public:
    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
            size_t *size) override;

-    /**
-     * @brief   This function discards all data received but not read in the UART buffer.
-     */
-    ReturnValue_t flushUartRxBuffer(CookieIF *cookie);
-
-    /**
-     * @brief   This function discards all data in the transmit buffer of the UART driver.
-     */
-    ReturnValue_t flushUartTxBuffer(CookieIF *cookie);
-
-    /**
-     * @brief   This function discards both data in the transmit and receive buffer of the UART.
-     */
-    ReturnValue_t flushUartTxAndRxBuf(CookieIF *cookie);
-
 private:

    using UartDeviceFile_t = std::string;
--- a/hal/inc/fsfw/hal/linux/uart/UartCookie.h
+++ b/hal/inc/fsfw/hal/linux/uart/UartCookie.h
--- a/hal/inc/fsfw/hal/linux/utility.h
+++ b/hal/inc/fsfw/hal/linux/utility.h
--- a/hal/inc/fsfw/hal/stm32h7/devicetest/GyroL3GD20H.h
+++ b/hal/inc/fsfw/hal/stm32h7/devicetest/GyroL3GD20H.h
--- a/hal/inc/fsfw/hal/stm32h7/dma.h
+++ b/hal/inc/fsfw/hal/stm32h7/dma.h
--- a/hal/inc/fsfw/hal/stm32h7/gpio/gpio.h
+++ b/hal/inc/fsfw/hal/stm32h7/gpio/gpio.h
@@ -9,4 +9,6 @@ void initializeGpioClock(GPIO_TypeDef* gpioPort);

 }

+
+
 #endif /* FSFW_HAL_STM32H7_GPIO_GPIO_H_ */
--- a/hal/inc/fsfw/hal/stm32h7/interrupts.h
+++ b/hal/inc/fsfw/hal/stm32h7/interrupts.h
--- a/hal/inc/fsfw/hal/stm32h7/spi/SpiComIF.h
+++ b/hal/inc/fsfw/hal/stm32h7/spi/SpiComIF.h
@@ -5,6 +5,7 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"

+#include "fsfw/osal/FreeRTOS/BinarySemaphore.h"
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h743xx.h"
@@ -13,7 +14,6 @@
 #include <map>

 class SpiCookie;
-class BinarySemaphore;

 /**
 * @brief   This communication interface allows using generic device handlers with using
--- a/hal/inc/fsfw/hal/stm32h7/spi/SpiCookie.h
+++ b/hal/inc/fsfw/hal/stm32h7/spi/SpiCookie.h
--- a/hal/inc/fsfw/hal/stm32h7/spi/mspInit.h
+++ b/hal/inc/fsfw/hal/stm32h7/spi/mspInit.h
--- a/hal/inc/fsfw/hal/stm32h7/spi/spiCore.h
+++ b/hal/inc/fsfw/hal/stm32h7/spi/spiCore.h
@@ -1,12 +1,11 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICORE_H_
 #define FSFW_HAL_STM32H7_SPI_SPICORE_H_

-#include "fsfw_hal/stm32h7/dma.h"
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-
+#include <fsfw_hal/stm32h7/dma.h>
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"

+
 #ifdef __cplusplus
 extern "C" {
 #endif
--- a/hal/inc/fsfw/hal/stm32h7/spi/spiDefinitions.h
+++ b/hal/inc/fsfw/hal/stm32h7/spi/spiDefinitions.h
--- a/hal/inc/fsfw/hal/stm32h7/spi/spiInterrupts.h
+++ b/hal/inc/fsfw/hal/stm32h7/spi/spiInterrupts.h
--- a/hal/inc/fsfw/hal/stm32h7/spi/stm32h743ziSpi.h
+++ b/hal/inc/fsfw/hal/stm32h7/spi/stm32h743ziSpi.h
--- a/hal/src/CMakeLists.txt
+++ b/hal/src/CMakeLists.txt
@@ -1,9 +1,10 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+add_subdirectory(devicehandlers)
+add_subdirectory(common)

-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
+if(FSFW_HAL_ADD_LINUX)
+    add_subdirectory(${LINUX_HAL_PATH_NAME})
+endif()

-add_subdirectory(fsfw_hal)
+if(FSFW_HAL_ADD_STM32H7)
+    add_subdirectory(${STM32H7_PATH_NAME})
+endif()
--- a/hal/src/fsfw_hal/common/CMakeLists.txt
+++ b/hal/src/fsfw_hal/common/CMakeLists.txt
--- a/hal/src/fsfw_hal/common/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/common/gpio/CMakeLists.txt
--- a/hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
+++ b/hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
@@ -1,4 +1,4 @@
-#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw/hal/common/gpio/GpioCookie.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"

 GpioCookie::GpioCookie() {
--- a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
+++ b/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
@@ -1,5 +1,3 @@
 target_sources(${LIB_FSFW_NAME} PRIVATE
    GyroL3GD20Handler.cpp
-    MgmRM3100Handler.cpp
-    MgmLIS3MDLHandler.cpp
 )
--- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
@@ -1,15 +1,13 @@
-#include "GyroL3GD20Handler.h"
+#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"

 #include "fsfw/datapool/PoolReadGuard.h"

-#include <cmath>
-
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie, uint32_t transitionDelayMs):
+        CookieIF *comCookie):
        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        transitionDelayMs(transitionDelayMs), dataset(this) {
+        dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
+    debugDivider = new PeriodicOperationDivider(5);
 #endif
 }

@@ -49,7 +47,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
    switch(internalState) {
    case(InternalState::NONE):
    case(InternalState::NORMAL): {
-        return NOTHING_TO_SEND;
+        return HasReturnvaluesIF::RETURN_OK;
    }
    case(InternalState::CONFIGURE): {
        *id = L3GD20H::CONFIGURE_CTRL_REGS;
@@ -68,11 +66,10 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
    default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
        /* Might be a configuration error. */
-        sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state!" << std::endl;
+        sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+        std::endl;
 #else
-        sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state!\n");
+        sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
 #endif
        return HasReturnvaluesIF::RETURN_OK;
    }
@@ -147,7 +144,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(

 ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
        DeviceCommandId_t *foundId, size_t *foundLen) {
-    // For SPI, the ID will always be the one of the last sent command
+    /* For SPI, the ID will always be the one of the last sent command. */
    *foundId = this->getPendingCommand();
    *foundLen = this->rawPacketLen;

@@ -169,7 +166,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
            commandExecuted = true;
        }
        else {
-            // Attempt reconfiguration
+            /* Attempt reconfiguration. */
            internalState = InternalState::CONFIGURE;
            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
        }
@@ -202,12 +199,13 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
        if(debugDivider->checkAndIncrement()) {
            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
-            sif::info << "X: " << angVelocX << std::endl;
-            sif::info << "Y: " << angVelocY << std::endl;
-            sif::info << "Z: " << angVelocZ << std::endl;
+            sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
+                    std::endl;
+            sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
+            sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
+            sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
 #else
-            sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
+            sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
            sif::printInfo("X: %f\n", angVelocX);
            sif::printInfo("Y: %f\n", angVelocY);
            sif::printInfo("Z: %f\n", angVelocZ);
@@ -217,32 +215,11 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,

        PoolReadGuard readSet(&dataset);
        if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(angVelocX) < this->absLimitX) {
-                dataset.angVelocX = angVelocX;
-                dataset.angVelocX.setValid(true);
-            }
-            else {
-                dataset.angVelocX.setValid(false);
-            }
-
-            if(std::abs(angVelocY) < this->absLimitY) {
-                dataset.angVelocY = angVelocY;
-                dataset.angVelocY.setValid(true);
-            }
-            else {
-                dataset.angVelocY.setValid(false);
-            }
-
-            if(std::abs(angVelocZ) < this->absLimitZ) {
-                dataset.angVelocZ = angVelocZ;
-                dataset.angVelocZ.setValid(true);
-            }
-            else {
-                dataset.angVelocZ.setValid(false);
-            }
-
+            dataset.angVelocX = angVelocX;
+            dataset.angVelocY = angVelocY;
+            dataset.angVelocZ = angVelocZ;
            dataset.temperature = temperature;
-            dataset.temperature.setValid(true);
+            dataset.setValidity(true, true);
        }
        break;
    }
@@ -254,19 +231,23 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,


 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return this->transitionDelayMs;
+    return 10000;
 }

-void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
+void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
    this->goNormalModeImmediately = true;
 }

 ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
+            new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
+            new PoolEntry<float>({0.0}));
    return HasReturnvaluesIF::RETURN_OK;
 }

@@ -279,9 +260,3 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
 void GyroHandlerL3GD20H::modeChanged() {
    internalState = InternalState::NONE;
 }
-
-void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
-    this->absLimitX = limitX;
-    this->absLimitY = limitY;
-    this->absLimitZ = limitZ;
-}
--- a/hal/src/fsfw_hal/CMakeLists.txt
+++ b/hal/src/fsfw_hal/CMakeLists.txt
@@ -1,10 +0,0 @@
-add_subdirectory(devicehandlers)
-add_subdirectory(common)
-
-if(FSFW_HAL_ADD_LINUX)
-    add_subdirectory(linux)
-endif()
-
-if(FSFW_HAL_ADD_STM32H7)
-    add_subdirectory(stm32h7)
-endif()
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
@@ -1,520 +0,0 @@
-#include "MgmLIS3MDLHandler.h"
-
-#include "fsfw/datapool/PoolReadGuard.h"
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
-#include <cmath>
-
-MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF* comCookie, uint32_t transitionDelay):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        dataset(this), transitionDelay(transitionDelay) {
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
-#endif
-    // Set to default values right away
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-}
-
-MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
-}
-
-
-void MgmLIS3MDLHandler::doStartUp() {
-    switch (internalState) {
-    case(InternalState::STATE_NONE): {
-        internalState = InternalState::STATE_FIRST_CONTACT;
-        break;
-    }
-    case(InternalState::STATE_FIRST_CONTACT): {
-        /* Will be set by checking device ID (WHO AM I register) */
-        if(commandExecuted) {
-            commandExecuted = false;
-            internalState = InternalState::STATE_SETUP;
-        }
-        break;
-    }
-    case(InternalState::STATE_SETUP): {
-        internalState = InternalState::STATE_CHECK_REGISTERS;
-        break;
-    }
-    case(InternalState::STATE_CHECK_REGISTERS): {
-        /* Set up cached registers which will be used to configure the MGM. */
-        if(commandExecuted) {
-            commandExecuted = false;
-            if(goToNormalMode) {
-                setMode(MODE_NORMAL);
-            }
-            else {
-                setMode(_MODE_TO_ON);
-            }
-        }
-        break;
-    }
-    default:
-        break;
-    }
-
-}
-
-void MgmLIS3MDLHandler::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
-        DeviceCommandId_t *id) {
-    switch (internalState) {
-    case(InternalState::STATE_NONE):
-    case(InternalState::STATE_NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(InternalState::STATE_FIRST_CONTACT): {
-        *id = MGMLIS3MDL::IDENTIFY_DEVICE;
-        break;
-    }
-    case(InternalState::STATE_SETUP): {
-        *id = MGMLIS3MDL::SETUP_MGM;
-        break;
-    }
-    case(InternalState::STATE_CHECK_REGISTERS): {
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        break;
-    }
-    default: {
-        /* might be a configuration error. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
-                std::endl;
-#else
-        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    }
-    return buildCommandFromCommand(*id, NULL, 0);
-}
-
-uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
-    command |= (1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
-    return command;
-}
-
-uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
-    command &= ~(1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
-    return command;
-}
-
-void MgmLIS3MDLHandler::setupMgm() {
-
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-    prepareCtrlRegisterWrite();
-}
-
-ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
-        DeviceCommandId_t *id) {
-    // Data/config register will be read in an alternating manner.
-    if(communicationStep == CommunicationStep::DATA) {
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        communicationStep = CommunicationStep::TEMPERATURE;
-        return buildCommandFromCommand(*id, NULL, 0);
-    }
-    else {
-        *id = MGMLIS3MDL::READ_TEMPERATURE;
-        communicationStep = CommunicationStep::DATA;
-        return buildCommandFromCommand(*id, NULL, 0);
-    }
-
-}
-
-ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-        size_t commandDataLen) {
-    switch(deviceCommand) {
-    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
-        std::memset(commandBuffer, 0, sizeof(commandBuffer));
-        commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
-
-        rawPacket = commandBuffer;
-        rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-        return RETURN_OK;
-    }
-    case(MGMLIS3MDL::READ_TEMPERATURE): {
-        std::memset(commandBuffer, 0, 3);
-        commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
-
-        rawPacket = commandBuffer;
-        rawPacketLen = 3;
-        return RETURN_OK;
-    }
-    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
-        return identifyDevice();
-    }
-    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
-        return enableTemperatureSensor(commandData, commandDataLen);
-    }
-    case(MGMLIS3MDL::SETUP_MGM): {
-        setupMgm();
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
-        return setOperatingMode(commandData, commandDataLen);
-    }
-    default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
-    return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
-    uint32_t size = 2;
-    commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
-    commandBuffer[1] = 0x00;
-
-    rawPacket = commandBuffer;
-    rawPacketLen = size;
-
-    return RETURN_OK;
-}
-
-ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
-        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
-    *foundLen = len;
-    if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        // Check validity by checking config registers
-        if (start[1] != registers[0] or start[2] != registers[1] or
-                start[3] != registers[2] or start[4] != registers[3] or
-                start[5] != registers[4]) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
-#else
-            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
-            return DeviceHandlerIF::INVALID_DATA;
-        }
-        if(mode == _MODE_START_UP) {
-            commandExecuted = true;
-        }
-
-    }
-    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::READ_TEMPERATURE;
-    }
-    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::SETUP_MGM;
-    }
-    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
-        *foundLen = len;
-        *foundId = getPendingCommand();
-        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
-            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!" << std::endl;
-#else
-                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!\n");
-#endif
-#endif
-                return DeviceHandlerIF::INVALID_DATA;
-            }
-
-            if(mode == _MODE_START_UP) {
-                commandExecuted = true;
-            }
-        }
-    }
-    else {
-        return DeviceHandlerIF::INVALID_DATA;
-    }
-
-    /* Data with SPI Interface always has this answer */
-    if (start[0] == 0b11111111) {
-        return RETURN_OK;
-    }
-    else {
-        return DeviceHandlerIF::INVALID_DATA;
-    }
-
-}
-ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
-        const uint8_t *packet) {
-
-    switch (id) {
-    case MGMLIS3MDL::IDENTIFY_DEVICE: {
-        break;
-    }
-    case MGMLIS3MDL::SETUP_MGM: {
-        break;
-    }
-    case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
-        // TODO: Store configuration in new local datasets.
-        float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
-
-        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
-        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
-        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
-
-        /* Target value in microtesla */
-        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-        if(debugDivider->checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                    " microtesla:" << std::endl;
-            sif::info << "X: " << mgmX << " uT" << std::endl;
-            sif::info << "Y: " << mgmY << " uT" << std::endl;
-            sif::info << "Z: " << mgmZ << " uT" << std::endl;
-#else
-            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-            sif::printInfo("X: %f uT\n", mgmX);
-            sif::printInfo("Y: %f uT\n", mgmY);
-            sif::printInfo("Z: %f uT\n", mgmZ);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
-        }
-#endif /* OBSW_VERBOSE_LEVEL >= 1 */
-        PoolReadGuard readHelper(&dataset);
-        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            if(std::abs(mgmX) < absLimitX) {
-                dataset.fieldStrengthX = mgmX;
-                dataset.fieldStrengthX.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthX.setValid(false);
-            }
-
-            if(std::abs(mgmY) < absLimitY) {
-                dataset.fieldStrengthY = mgmY;
-                dataset.fieldStrengthY.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthY.setValid(false);
-            }
-
-            if(std::abs(mgmZ) < absLimitZ) {
-                dataset.fieldStrengthZ = mgmZ;
-                dataset.fieldStrengthZ.setValid(true);
-            }
-            else {
-                dataset.fieldStrengthZ.setValid(false);
-            }
-        }
-        break;
-    }
-
-    case MGMLIS3MDL::READ_TEMPERATURE: {
-        int16_t tempValueRaw = packet[2] << 8 | packet[1];
-        float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-    #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-        if(debugDivider->check()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
-                    std::endl;
-#else
-            sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
-#endif
-        }
-#endif
-        ReturnValue_t result = dataset.read();
-        if(result == HasReturnvaluesIF::RETURN_OK) {
-            dataset.temperature = tempValue;
-            dataset.commit();
-        }
-        break;
-    }
-
-    default: {
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
-
-    }
-    return RETURN_OK;
-}
-
-MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
-    bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
-    bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
-
-    if (fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_16;
-    else if (!fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_12;
-    else if (fs0Set && !fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_8;
-    else
-        return MGMLIS3MDL::Sensitivies::GAUSS_4;
-}
-
-float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
-    switch(sens) {
-    case(MGMLIS3MDL::GAUSS_4): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_8): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_12): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_16): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
-    }
-    default: {
-        // Should never happen
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
-    }
-    }
-}
-
-
-ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
-        const uint8_t *commandData, size_t commandDataLen) {
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    uint32_t size = 2;
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
-    if (commandDataLen > 1) {
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-    switch (*commandData) {
-    case (MGMLIS3MDL::ON): {
-        commandBuffer[1] = registers[0] | (1 << 7);
-        break;
-    }
-    case (MGMLIS3MDL::OFF): {
-        commandBuffer[1] = registers[0] & ~(1 << 7);
-        break;
-    }
-    default:
-        return INVALID_COMMAND_PARAMETER;
-    }
-    registers[0] = commandBuffer[1];
-
-    rawPacket = commandBuffer;
-    rawPacketLen = size;
-
-    return RETURN_OK;
-}
-
-ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
-        size_t commandDataLen) {
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    if (commandDataLen != 1) {
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-
-    switch (commandData[0]) {
-    case MGMLIS3MDL::LOW:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
-    case MGMLIS3MDL::MEDIUM:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
-        break;
-
-    case MGMLIS3MDL::HIGH:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
-
-    case MGMLIS3MDL::ULTRA:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
-        break;
-    default:
-        break;
-    }
-
-    return prepareCtrlRegisterWrite();
-}
-
-void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
-}
-
-void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
-    this->goToNormalMode = enable;
-}
-
-ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
-
-    for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
-        commandBuffer[i + 1] = registers[i];
-    }
-    rawPacket = commandBuffer;
-    rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
-
-    // We dont have to check if this is working because we just did i
-    return RETURN_OK;
-}
-
-void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-
-}
-
-uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return transitionDelay;
-}
-
-void MgmLIS3MDLHandler::modeChanged(void) {
-    internalState = InternalState::STATE_NONE;
-}
-
-ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    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) {
-    this->absLimitX = xLimit;
-    this->absLimitY = yLimit;
-    this->absLimitZ = zLimit;
-}
--- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
@@ -1,186 +0,0 @@
-#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
-#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
-
-#include "fsfw/FSFW.h"
-#include "events/subsystemIdRanges.h"
-#include "devicedefinitions/MgmLIS3HandlerDefs.h"
-
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-class PeriodicOperationDivider;
-
-/**
- * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
- *          by STMicroeletronics
- * @details
- * Datasheet can be found online by googling LIS3MDL.
- * Flight manual:
- * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
- * @author  L. Loidold, R. Mueller
- */
-class MgmLIS3MDLHandler: public DeviceHandlerBase {
-public:
-    enum class CommunicationStep {
-        DATA,
-        TEMPERATURE
-    };
-
-    static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
-    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
-    //Notifies a command to change the setup parameters
-    static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
-
-    MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
-            uint32_t transitionDelay);
-    virtual ~MgmLIS3MDLHandler();
-
-    /**
-     * Set the absolute limit for the values on the axis in microtesla. The dataset values will
-     * be marked as invalid if that limit is exceeded
-     * @param xLimit
-     * @param yLimit
-     * @param zLimit
-     */
-    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
-    void setToGoToNormalMode(bool enable);
-
-protected:
-
-    /** DeviceHandlerBase overrides */
-    void doShutDown() override;
-    void doStartUp() override;
-    void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-    ReturnValue_t buildCommandFromCommand(
-            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-            size_t commandDataLen) override;
-    ReturnValue_t buildTransitionDeviceCommand(
-            DeviceCommandId_t *id) override;
-    ReturnValue_t buildNormalDeviceCommand(
-            DeviceCommandId_t *id) override;
-    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-            DeviceCommandId_t *foundId, size_t *foundLen) override;
-    /**
-     * This implementation is tailored towards space applications and will flag values larger
-     * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
-     * @param id
-     * @param packet
-     * @return
-     */
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-            const uint8_t *packet) override;
-    void fillCommandAndReplyMap() override;
-    void modeChanged(void) override;
-    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-            LocalDataPoolManager &poolManager) override;
-
-private:
-    MGMLIS3MDL::MgmPrimaryDataset dataset;
-    //Length a single command SPI answer
-    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
-
-    uint32_t transitionDelay;
-    // Single SPI command has 2 bytes, first for adress, second for content
-    size_t singleComandSize = 2;
-    // Has the size for all adresses of the lis3mdl + the continous write bit
-    uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
-
-    float absLimitX = 100;
-    float absLimitY = 100;
-    float absLimitZ = 150;
-
-    /**
-     * We want to save the registers we set, so we dont have to read the
-     * registers when we want to change something.
-     * --> everytime we change set a register we have to save it
-     */
-    uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
-
-    uint8_t statusRegister = 0;
-    bool goToNormalMode = false;
-
-    enum class InternalState {
-        STATE_NONE,
-        STATE_FIRST_CONTACT,
-        STATE_SETUP,
-        STATE_CHECK_REGISTERS,
-        STATE_NORMAL
-    };
-
-    InternalState internalState = InternalState::STATE_NONE;
-    CommunicationStep communicationStep = CommunicationStep::DATA;
-    bool commandExecuted = false;
-
-    /*------------------------------------------------------------------------*/
-    /* Device specific commands and variables */
-    /*------------------------------------------------------------------------*/
-    /**
-     * Sets the read bit for the command
-     * @param single command to set the read-bit at
-     * @param boolean to select a continuous read bit, default = false
-     */
-    uint8_t readCommand(uint8_t command, bool continuousCom = false);
-
-    /**
-     * Sets the write bit for the command
-     * @param single command to set the write-bit at
-     * @param boolean to select a continuous write bit, default = false
-     */
-    uint8_t writeCommand(uint8_t command, bool continuousCom = false);
-
-    /**
-     * This Method gets the full scale for the measurement range
-     * e.g.: +- 4 gauss. See p.25 datasheet.
-     *  @return The ReturnValue does not contain the sign of the value
-     */
-    MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
-
-    /**
-     * The 16 bit value needs to be multiplied with a sensitivity factor
-     * which depends on the sensitivity configuration
-     *
-     * @param sens Configured sensitivity of the LIS3 device
-     * @return Multiplication factor to get the sensor value from raw data.
-     */
-    float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
-
-    /**
-     * This Command detects the device ID
-     */
-    ReturnValue_t identifyDevice();
-
-    virtual void setupMgm();
-
-    /*------------------------------------------------------------------------*/
-    /* Non normal commands */
-    /*------------------------------------------------------------------------*/
-    /**
-     * Enables/Disables the integrated Temperaturesensor
-     * @param commandData On or Off
-     * @param length of the commandData: has to be 1
-     */
-    virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
-            size_t commandDataLen);
-
-    /**
-     * Sets the accuracy of the measurement of the axis. The noise is changing.
-     * @param commandData LOW, MEDIUM, HIGH, ULTRA
-     * @param length of the command, has to be 1
-     */
-    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
-            size_t commandDataLen);
-
-    /**
-     * We always update all registers together, so this method updates
-     * the rawpacket and rawpacketLen, so we just manipulate the local
-     * saved register
-     *
-     */
-    ReturnValue_t prepareCtrlRegisterWrite();
-
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    PeriodicOperationDivider* debugDivider;
-#endif
-};
-
-#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
@@ -1,376 +0,0 @@
-#include "MgmRM3100Handler.h"
-
-#include "fsfw/datapool/PoolReadGuard.h"
-#include "fsfw/globalfunctions/bitutility.h"
-#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
-
-MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        primaryDataset(this), transitionDelay(transitionDelay) {
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(3);
-#endif
-}
-
-MgmRM3100Handler::~MgmRM3100Handler() {}
-
-void MgmRM3100Handler::doStartUp() {
-    switch(internalState) {
-    case(InternalState::NONE): {
-        internalState = InternalState::CONFIGURE_CMM;
-        break;
-    }
-    case(InternalState::CONFIGURE_CMM): {
-        internalState = InternalState::READ_CMM;
-        break;
-    }
-    case(InternalState::READ_CMM): {
-        if(commandExecuted) {
-            internalState = InternalState::STATE_CONFIGURE_TMRC;
-        }
-        break;
-    }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
-        if(commandExecuted) {
-            internalState = InternalState::STATE_READ_TMRC;
-        }
-        break;
-    }
-    case(InternalState::STATE_READ_TMRC): {
-        if(commandExecuted) {
-            internalState = InternalState::NORMAL;
-            if(goToNormalModeAtStartup) {
-                setMode(MODE_NORMAL);
-            }
-            else {
-                setMode(_MODE_TO_ON);
-            }
-        }
-        break;
-    }
-    default: {
-        break;
-    }
-    }
-}
-
-void MgmRM3100Handler::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
-        DeviceCommandId_t *id) {
-    size_t commandLen = 0;
-    switch(internalState) {
-    case(InternalState::NONE):
-    case(InternalState::NORMAL): {
-        return NOTHING_TO_SEND;
-    }
-    case(InternalState::CONFIGURE_CMM): {
-        *id = RM3100::CONFIGURE_CMM;
-        break;
-    }
-    case(InternalState::READ_CMM): {
-        *id = RM3100::READ_CMM;
-        break;
-    }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
-        commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
-        commandLen = 1;
-        *id = RM3100::CONFIGURE_TMRC;
-        break;
-    }
-    case(InternalState::STATE_READ_TMRC): {
-        *id = RM3100::READ_TMRC;
-        break;
-    }
-    default:
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        // Might be a configuration error
-        sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state" << std::endl;
-#else
-        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state\n");
-#endif
-#endif
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    return buildCommandFromCommand(*id, commandBuffer, commandLen);
-}
-
-ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
-    switch(deviceCommand) {
-    case(RM3100::CONFIGURE_CMM): {
-        commandBuffer[0] = RM3100::CMM_REGISTER;
-        commandBuffer[1] = RM3100::CMM_VALUE;
-        rawPacket = commandBuffer;
-        rawPacketLen = 2;
-        break;
-    }
-    case(RM3100::READ_CMM): {
-        commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
-        commandBuffer[1] = 0;
-        rawPacket = commandBuffer;
-        rawPacketLen = 2;
-        break;
-    }
-    case(RM3100::CONFIGURE_TMRC): {
-        return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
-    }
-    case(RM3100::READ_TMRC): {
-        commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
-        commandBuffer[1] = 0;
-        rawPacket = commandBuffer;
-        rawPacketLen = 2;
-        break;
-    }
-    case(RM3100::CONFIGURE_CYCLE_COUNT): {
-        return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
-    }
-    case(RM3100::READ_CYCLE_COUNT): {
-        commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
-        std::memset(commandBuffer + 1, 0, 6);
-        rawPacket = commandBuffer;
-        rawPacketLen = 7;
-        break;
-    }
-    case(RM3100::READ_DATA): {
-        commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
-        std::memset(commandBuffer + 1, 0,  9);
-        rawPacketLen = 10;
-        break;
-    }
-    default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
-    return RETURN_OK;
-}
-
-ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
-        DeviceCommandId_t *id) {
-    *id = RM3100::READ_DATA;
-    return buildCommandFromCommand(*id, nullptr, 0);
-}
-
-ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
-        size_t len, DeviceCommandId_t *foundId,
-        size_t *foundLen) {
-
-    // For SPI, ID will always be the one of the last sent command
-    *foundId = this->getPendingCommand();
-    *foundLen = len;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    switch(id) {
-    case(RM3100::CONFIGURE_CMM):
-    case(RM3100::CONFIGURE_CYCLE_COUNT):
-    case(RM3100::CONFIGURE_TMRC): {
-        // We can only check whether write was successful with read operation
-        if(mode == _MODE_START_UP) {
-            commandExecuted = true;
-        }
-        break;
-    }
-    case(RM3100::READ_CMM): {
-        uint8_t cmmValue = packet[1];
-        // We clear the seventh bit in any case
-        // because this one is zero sometimes for some reason
-        bitutil::bitClear(&cmmValue, 6);
-        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
-            commandExecuted = true;
-        }
-        else {
-            // Attempt reconfiguration
-            internalState = InternalState::CONFIGURE_CMM;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        break;
-    }
-    case(RM3100::READ_TMRC): {
-        if(packet[1] == tmrcRegValue) {
-            commandExecuted = true;
-            // Reading TMRC was commanded. Trigger event to inform ground
-            if(mode != _MODE_START_UP) {
-                triggerEvent(tmrcSet, tmrcRegValue, 0);
-            }
-        }
-        else {
-            // Attempt reconfiguration
-            internalState = InternalState::STATE_CONFIGURE_TMRC;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        break;
-    }
-    case(RM3100::READ_CYCLE_COUNT): {
-        uint16_t cycleCountX = packet[1] << 8 | packet[2];
-        uint16_t cycleCountY = packet[3] << 8 | packet[4];
-        uint16_t cycleCountZ = packet[5] << 8 | packet[6];
-        if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
-                cycleCountZ != cycleCountRegValueZ) {
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        // Reading TMRC was commanded. Trigger event to inform ground
-        if(mode != _MODE_START_UP) {
-            uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
-            triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
-        }
-        break;
-    }
-    case(RM3100::READ_DATA): {
-        result = handleDataReadout(packet);
-        break;
-    }
-    default:
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
-
-    return result;
-}
-
-ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
-    if(commandData == nullptr) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    // Set cycle count
-    if(commandDataLen == 2) {
-        handleCycleCommand(true, commandData, commandDataLen);
-    }
-    else if(commandDataLen == 6) {
-        handleCycleCommand(false, commandData, commandDataLen);
-    }
-    else {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
-    std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
-    std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
-    std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
-    rawPacketLen = 7;
-    rawPacket = commandBuffer;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
-        const uint8_t *commandData, size_t commandDataLen) {
-    RM3100::CycleCountCommand command(oneCycleValue);
-    ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
-            SerializeIF::Endianness::BIG);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-
-    // Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
-    if(command.cycleCountX > 450 ) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    cycleCountRegValueX = command.cycleCountX;
-    cycleCountRegValueY = command.cycleCountY;
-    cycleCountRegValueZ = command.cycleCountZ;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
-    if(commandData == nullptr or commandDataLen != 1) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    commandBuffer[0] = RM3100::TMRC_REGISTER;
-    commandBuffer[1] = commandData[0];
-    tmrcRegValue = commandData[0];
-    rawPacketLen = 2;
-    rawPacket = commandBuffer;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-void MgmRM3100Handler::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
-    insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
-
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
-    insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
-
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
-    insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
-
-    insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
-}
-
-void MgmRM3100Handler::modeChanged(void) {
-    internalState = InternalState::NONE;
-}
-
-ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return this->transitionDelay;
-}
-
-void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
-    goToNormalModeAtStartup = enable;
-}
-
-ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
-    // Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
-    // trickery here to calculate the raw values first
-    int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
-    int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-    int32_t fieldStrengthRawZ  = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
-
-    // Now scale to physical value in microtesla
-    float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-    float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
-    float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
-
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-    if(debugDivider->checkAndIncrement()) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                " microtesla:" << std::endl;
-        sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
-        sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
-        sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
-#else
-        sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
-        sif::printInfo("X: %f uT\n", fieldStrengthX);
-        sif::printInfo("Y: %f uT\n", fieldStrengthY);
-        sif::printInfo("Z: %f uT\n", fieldStrengthZ);
-#endif
-    }
-#endif
-
-    // TODO: Sanity check on values?
-    PoolReadGuard readGuard(&primaryDataset);
-    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-        primaryDataset.fieldStrengthX = fieldStrengthX;
-        primaryDataset.fieldStrengthY = fieldStrengthY;
-        primaryDataset.fieldStrengthZ = fieldStrengthZ;
-        primaryDataset.setValidity(true, true);
-    }
-    return RETURN_OK;
-}
--- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
+++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
@@ -1,110 +0,0 @@
-#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
-#define MISSION_DEVICES_MGMRM3100HANDLER_H_
-
-#include "fsfw/FSFW.h"
-#include "devicedefinitions/MgmRM3100HandlerDefs.h"
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
-/**
- * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
- *          (https://www.pnicorp.com/rm3100/)
- * @details
- * Flight manual:
- * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
- */
-class MgmRM3100Handler: public DeviceHandlerBase {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
-
-	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
-	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
-			0x00, severity::INFO);
-
-	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
-	//! P1: Second two bytes new Cycle Count Y
-	//! P2: New cycle count Z
-	static constexpr Event cycleCountersSet = event::makeEvent(
-			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
-
-	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
-	        CookieIF* comCookie, uint32_t transitionDelay);
-	virtual ~MgmRM3100Handler();
-
-	/**
-	 * Configure device handler to go to normal mode after startup immediately
-	 * @param enable
-	 */
-	void setToGoToNormalMode(bool enable);
-
-protected:
-
-	/* DeviceHandlerBase overrides */
-	ReturnValue_t buildTransitionDeviceCommand(
-	        DeviceCommandId_t *id) override;
-	void doStartUp() override;
-	void doShutDown() override;
-	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-	        const uint8_t *commandData, size_t commandDataLen) override;
-	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-			DeviceCommandId_t *foundId, size_t *foundLen) override;
-	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
-
-	void fillCommandAndReplyMap() override;
-	void modeChanged(void) override;
-	virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-			LocalDataPoolManager &poolManager) override;
-
-private:
-
-	enum class InternalState {
-	    NONE,
-		CONFIGURE_CMM,
-		READ_CMM,
-		// The cycle count states are propably not going to be used because
-		// the default cycle count will be used.
-		STATE_CONFIGURE_CYCLE_COUNT,
-		STATE_READ_CYCLE_COUNT,
-		STATE_CONFIGURE_TMRC,
-		STATE_READ_TMRC,
-		NORMAL
-	};
-	InternalState internalState = InternalState::NONE;
-	bool commandExecuted = false;
-	RM3100::Rm3100PrimaryDataset primaryDataset;
-
-	uint8_t commandBuffer[10];
-	uint8_t commandBufferLen = 0;
-
-	uint8_t cmmRegValue = RM3100::CMM_VALUE;
-	uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
-	uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
-	uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
-	uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
-	float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
-	float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
-	float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
-
-	bool goToNormalModeAtStartup = false;
-	uint32_t transitionDelay;
-
-	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-			const uint8_t *commandData,size_t commandDataLen);
-	ReturnValue_t handleCycleCommand(bool oneCycleValue,
-			const uint8_t *commandData, size_t commandDataLen);
-
-	ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
-			const uint8_t *commandData,size_t commandDataLen);
-
-	ReturnValue_t handleDataReadout(const uint8_t* packet);
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-	PeriodicOperationDivider* debugDivider;
-#endif
-};
-
-#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
@@ -1,178 +0,0 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <cstdint>
-
-namespace MGMLIS3MDL {
-
-enum Set {
-    ON, OFF
-};
-enum OpMode {
-    LOW, MEDIUM, HIGH, ULTRA
-};
-
-enum Sensitivies: uint8_t {
-    GAUSS_4 = 4,
-    GAUSS_8 = 8,
-    GAUSS_12 = 12,
-    GAUSS_16 = 16
-};
-
-/* Actually 15, we just round up a bit */
-static constexpr size_t MAX_BUFFER_SIZE = 16;
-
-/* Field data register scaling */
-static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
-static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0;
-static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0;
-static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0;
-static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0;
-
-static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
-static const DeviceCommandId_t SETUP_MGM = 0x01;
-static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
-static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
-static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
-static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
-
-/* Number of all control registers */
-static const uint8_t NR_OF_CTRL_REGISTERS = 5;
-/* Number of registers in the MGM */
-static const uint8_t NR_OF_REGISTERS = 19;
-/* Total number of adresses for all registers */
-static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
-static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
-static const uint8_t TEMPERATURE_REPLY_LEN = 3;
-static const uint8_t SETUP_REPLY_LEN = 6;
-
-/*------------------------------------------------------------------------*/
-/* Register adresses */
-/*------------------------------------------------------------------------*/
-/* Register adress returns identifier of device with default 0b00111101 */
-static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
-static const uint8_t DEVICE_ID = 0b00111101;            // Identifier for Device
-
-/* Register adress to access register 1 */
-static const uint8_t CTRL_REG1 = 0b00100000;
-/* Register adress to access register 2 */
-static const uint8_t CTRL_REG2 = 0b00100001;
-/* Register adress to access register 3 */
-static const uint8_t CTRL_REG3 = 0b00100010;
-/* Register adress to access register 4 */
-static const uint8_t CTRL_REG4 = 0b00100011;
-/* Register adress to access register 5 */
-static const uint8_t CTRL_REG5 = 0b00100100;
-
-/* Register adress to access status register */
-static const uint8_t STATUS_REG_IDX = 8;
-static const uint8_t STATUS_REG = 0b00100111;
-
-/* Register adress to access low byte of x-axis */
-static const uint8_t X_LOWBYTE_IDX = 9;
-static const uint8_t X_LOWBYTE = 0b00101000;
-/* Register adress to access high byte of x-axis */
-static const uint8_t X_HIGHBYTE_IDX = 10;
-static const uint8_t X_HIGHBYTE = 0b00101001;
-/* Register adress to access low byte of y-axis */
-static const uint8_t Y_LOWBYTE_IDX = 11;
-static const uint8_t Y_LOWBYTE = 0b00101010;
-/* Register adress to access high byte of y-axis */
-static const uint8_t Y_HIGHBYTE_IDX = 12;
-static const uint8_t Y_HIGHBYTE = 0b00101011;
-/* Register adress to access low byte of z-axis */
-static const uint8_t Z_LOWBYTE_IDX = 13;
-static const uint8_t Z_LOWBYTE = 0b00101100;
-/* Register adress to access high byte of z-axis */
-static const uint8_t Z_HIGHBYTE_IDX = 14;
-static const uint8_t Z_HIGHBYTE = 0b00101101;
-
-/* Register adress to access low byte of temperature sensor */
-static const uint8_t TEMP_LOWBYTE = 0b00101110;
-/* Register adress to access high byte of temperature sensor */
-static const uint8_t TEMP_HIGHBYTE = 0b00101111;
-
-/*------------------------------------------------------------------------*/
-/* Initialize Setup Register set bits                                     */
-/*------------------------------------------------------------------------*/
-/* General transfer bits */
-// Read=1 / Write=0 Bit
-static const uint8_t RW_BIT = 7;
-// Continous Read/Write Bit, increment adress
-static const uint8_t MS_BIT = 6;
-
-/* CTRL_REG1 bits */
-static const uint8_t ST = 0;        // Self test enable bit, enabled = 1
-// Enable rates higher than 80 Hz enabled = 1
-static const uint8_t FAST_ODR = 1;
-static const uint8_t DO0 = 2;       // Output data rate bit 2
-static const uint8_t DO1 = 3;       // Output data rate bit 3
-static const uint8_t DO2 = 4;       // Output data rate bit 4
-static const uint8_t OM0 = 5;       // XY operating mode bit 5
-static const uint8_t OM1 = 6;       // XY operating mode bit 6
-static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1
-static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
-        (1 << DO0) | (1 << DO1) | (1 << DO2);
-
-/* CTRL_REG2 bits */
-//reset configuration registers and user registers
-static const uint8_t SOFT_RST = 2;
-static const uint8_t REBOOT = 3;    //reboot memory content
-static const uint8_t FSO = 5;       //full-scale selection bit 5
-static const uint8_t FS1 = 6;       //full-scale selection bit 6
-static const uint8_t CTRL_REG2_DEFAULT = 0;
-
-/* CTRL_REG3 bits */
-static const uint8_t MD0 = 0;       //Operating mode bit 0
-static const uint8_t MD1 = 1;       //Operating mode bit 1
-//SPI serial interface mode selection enabled = 3-wire-mode
-static const uint8_t SIM = 2;
-static const uint8_t LP = 5;        //low-power mode
-static const uint8_t CTRL_REG3_DEFAULT = 0;
-
-/* CTRL_REG4 bits */
-//big/little endian data selection enabled = MSb at lower adress
-static const uint8_t BLE = 1;
-static const uint8_t OMZ0 = 2;      //Z operating mode bit 2
-static const uint8_t OMZ1 = 3;      //Z operating mode bit 3
-static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
-
-/* CTRL_REG5 bits */
-static const uint8_t BDU = 6;       //Block data update
-static const uint8_t FAST_READ = 7; //Fast read enabled = 1
-static const uint8_t CTRL_REG5_DEFAULT = 0;
-
-static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
-
-enum MgmPoolIds: lp_id_t {
-    FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
-    TEMPERATURE_CELCIUS
-};
-
-class MgmPrimaryDataset: public StaticLocalDataSet<4> {
-public:
-    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
-
-    MgmPrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
-
-    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);
-};
-
-}
-
-
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */
--- a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
+++ b/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
@@ -1,132 +0,0 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <fsfw/serialize/SerialLinkedListAdapter.h>
-#include <cstdint>
-
-namespace RM3100 {
-
-/* Actually 10, we round up a little bit */
-static constexpr size_t MAX_BUFFER_SIZE = 12;
-
-static constexpr uint8_t READ_MASK = 0x80;
-
-/*----------------------------------------------------------------------------*/
-/* CMM Register */
-/*----------------------------------------------------------------------------*/
-static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
-static constexpr uint8_t SET_CMM_CMY = 1 << 5;
-static constexpr uint8_t SET_CMM_CMX = 1 << 4;
-static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
-static constexpr uint8_t SET_CMM_START = 1;
-static constexpr uint8_t CMM_REGISTER = 0x01;
-
-static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
-		SET_CMM_DRDM | SET_CMM_START;
-
-/*----------------------------------------------------------------------------*/
-/* Cycle count register */
-/*----------------------------------------------------------------------------*/
-// Default value (200)
-static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
-
-static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
-		100 * 38;
-static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
-
-/*----------------------------------------------------------------------------*/
-/* TMRC register */
-/*----------------------------------------------------------------------------*/
-static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
-static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
-static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
-
-static constexpr uint8_t TMRC_REGISTER = 0x0B;
-static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
-
-static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
-static constexpr uint8_t BIST_REGISTER = 0x33;
-static constexpr uint8_t DATA_READY_VAL = 0b10000000;
-static constexpr uint8_t STATUS_REGISTER = 0x34;
-static constexpr uint8_t REVID_REGISTER = 0x36;
-
-// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
-static constexpr uint16_t RANGE = 800;
-
-static constexpr DeviceCommandId_t READ_DATA = 0;
-
-static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
-static constexpr DeviceCommandId_t READ_CMM = 2;
-
-static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
-static constexpr DeviceCommandId_t READ_TMRC = 4;
-
-static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
-static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
-
-class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
-public:
-	CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
-		setLinks(oneCycleCount);
-	}
-
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override {
-		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
-				size, streamEndianness);
-		if(oneCycleCount) {
-			cycleCountY = cycleCountX;
-			cycleCountZ = cycleCountX;
-		}
-		return result;
-	}
-
-	SerializeElement<uint16_t> cycleCountX;
-	SerializeElement<uint16_t> cycleCountY;
-	SerializeElement<uint16_t> cycleCountZ;
-
-private:
-	void setLinks(bool oneCycleCount) {
-		setStart(&cycleCountX);
-		if(not oneCycleCount) {
-			cycleCountX.setNext(&cycleCountY);
-			cycleCountY.setNext(&cycleCountZ);
-		}
-	}
-
-	bool oneCycleCount;
-};
-
-static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
-
-enum MgmPoolIds: lp_id_t {
-    FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
-};
-
-class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
-public:
-	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
-        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
-
-	Rm3100PrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
-
-	// 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);
-};
-
-}
-
-
-
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */
--- a/hal/src/fsfw_hal/host/CMakeLists.txt
+++ b/hal/src/fsfw_hal/host/CMakeLists.txt
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/CMakeLists.txt
--- a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp
+++ b/hal/src/fsfw_hal/linux/UnixFileGuard.cpp
@@ -1,9 +1,4 @@
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
-
-#include <cerrno>
-#include <cstring>
+#include "fsfw/hal/linux/UnixFileGuard.h"

 UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
        std::string diagnosticPrefix):
@@ -15,11 +10,12 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
    if (*fileDescriptor < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
-                errno << ": " << strerror(errno) << std::endl;
+        sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
+                "." << std::endl;
+        sif::warning << "Error description: " << strerror(errno) << std::endl;
 #else
-        sif::printWarning("%s: Opening device failed with error code %d: %s\n",
-                diagnosticPrefix, errno, strerror(errno));
+        sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
+        sif::printWarning("Error description: %s\n", strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
        openStatus = OPEN_FILE_FAILED;
--- a/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
--- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
+++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
@@ -1,6 +1,6 @@
-#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw/hal/common/gpio/gpioDefinitions.h"
+#include "fsfw/hal/common/gpio/GpioCookie.h"

 #include <fsfw/serviceinterface/ServiceInterface.h>

@@ -20,7 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
 ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
    ReturnValue_t result;
    if(gpioCookie == nullptr) {
-        sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
+        sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
        return RETURN_FAILED;
    }

@@ -45,25 +45,16 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {

 ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
    for(auto& gpioConfig: mapToAdd) {
-        auto& gpioType = gpioConfig.second->gpioType;
-        switch(gpioType) {
+        switch(gpioConfig.second->gpioType) {
        case(gpio::GpioTypes::NONE): {
            return GPIO_INVALID_INSTANCE;
        }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
-            auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR): {
+            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
            if(regularGpio == nullptr) {
                return GPIO_INVALID_INSTANCE;
            }
-            configureGpioByChip(gpioConfig.first, *regularGpio);
-            break;
-        }
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
-            auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
-            if(regularGpio == nullptr) {
-                return GPIO_INVALID_INSTANCE;
-            }
-            configureGpioByLabel(gpioConfig.first, *regularGpio);
+            configureRegularGpio(gpioConfig.first, regularGpio);
            break;
        }
        case(gpio::GpioTypes::CALLBACK): {
@@ -79,59 +70,41 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
    return RETURN_OK;
 }

-ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
-        GpiodRegularByLabel &gpioByLabel) {
-    std::string& label = gpioByLabel.label;
-    struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
-    if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
-                << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
-
-    }
-    std::string failOutput = "label: " + label;
-    return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput);
-}
-
-ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
-        GpiodRegularByChip &gpioByChip) {
-    std::string& chipname = gpioByChip.chipname;
-    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
-    if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
-                << chipname << ". Gpio ID: " << gpioId << std::endl;
-        return RETURN_FAILED;
-    }
-    std::string failOutput = "chipname: " + chipname;
-    return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
-}
-
-ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
-        struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
+    std::string chipname;
    unsigned int lineNum;
+    struct gpiod_chip *chip;
    gpio::Direction direction;
    std::string consumer;
    struct gpiod_line *lineHandle;
    int result = 0;

-    lineNum = regularGpio.lineNum;
+    chipname = regularGpio->chipname;
+    chip = gpiod_chip_open_by_name(chipname.c_str());
+    if (!chip) {
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+
+    lineNum = regularGpio->lineNum;
    lineHandle = gpiod_chip_get_line(chip, lineNum);
    if (!lineHandle) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
-                ", " << failOutput << std::endl;
-        sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
+        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
+        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
+                ", chipname: " << chipname << std::endl;
+        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
        gpiod_chip_close(chip);
        return RETURN_FAILED;
    }

-    direction = regularGpio.direction;
-    consumer = regularGpio.consumer;
+    direction = regularGpio->direction;
+    consumer = regularGpio->consumer;
    /* Configure direction and add a description to the GPIO */
    switch (direction) {
    case(gpio::OUT): {
        result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                regularGpio.initValue);
+                regularGpio->initValue);
        if (result < 0) {
            sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
                    " from GPIO instance with ID: " << gpioId << std::endl;
@@ -161,7 +134,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTy
     * Write line handle to GPIO configuration instance so it can later be used to set or
     * read states of GPIOs.
     */
-    regularGpio.lineHandle = lineHandle;
+    regularGpio->lineHandle = lineHandle;
    return RETURN_OK;
 }

@@ -172,14 +145,8 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
        return UNKNOWN_GPIO_ID;
    }

-    auto gpioType = gpioMapIter->second->gpioType;
-    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(regularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
-        }
-        return driveGpio(gpioId, *regularGpio, gpio::HIGH);
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
    }
    else {
        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -200,14 +167,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
        return UNKNOWN_GPIO_ID;
    }

-    auto& gpioType = gpioMapIter->second->gpioType;
-    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(regularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
-        }
-        return driveGpio(gpioId, *regularGpio, gpio::LOW);
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
    }
    else {
        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@@ -222,8 +183,12 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
 }

 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
-        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
-    int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
+        GpiodRegular* regularGpio, unsigned int logicLevel) {
+    if(regularGpio == nullptr) {
+        return GPIO_TYPE_FAILURE;
+    }
+
+    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
    if (result < 0) {
        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
                " to logic level " << logicLevel << std::endl;
@@ -239,10 +204,9 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
        sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
        return UNKNOWN_GPIO_ID;
    }
-    auto gpioType = gpioMapIter->second->gpioType;
-    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
-        auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
+        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
        if(regularGpio == nullptr) {
            return GPIO_TYPE_FAILURE;
        }
@@ -261,14 +225,13 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    for(auto& gpioConfig: mapToAdd) {
        switch(gpioConfig.second->gpioType) {
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
-            auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
+        case(gpio::GpioTypes::GPIO_REGULAR): {
+            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
            if(regularGpio == nullptr)  {
                return GPIO_TYPE_FAILURE;
            }
            /* Check for conflicts and remove duplicates if necessary */
-            result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
+            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
            if(result != HasReturnvaluesIF::RETURN_OK) {
                status = result;
            }
@@ -296,19 +259,17 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){


 ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
-        GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
+        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
    /* Cross check with private map */
    gpioMapIter = gpioMap.find(gpioIdToCheck);
    if(gpioMapIter != gpioMap.end()) {
-        auto& gpioType = gpioMapIter->second->gpioType;
-        if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
-                gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
            mapToAdd.erase(gpioIdToCheck);
            return HasReturnvaluesIF::RETURN_OK;
        }
-        auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
        if(ownRegularGpio == nullptr) {
            return GPIO_TYPE_FAILURE;
        }
--- a/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
--- a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
+++ b/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
@@ -1,6 +1,6 @@
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw/hal/linux/i2c/I2cComIF.h"
+#include "fsfw/hal/linux/utility.h"
+#include "fsfw/hal/linux/UnixFileGuard.h"

 #include "fsfw/serviceinterface/ServiceInterface.h"

--- a/hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
+++ b/hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
@@ -1,4 +1,4 @@
-#include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw/hal/linux/i2c/I2cCookie.h"

 I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
 		std::string deviceFile_) :
--- a/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
--- a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
+++ b/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
@@ -1,7 +1,7 @@
 #include "fsfw/FSFW.h"

-#include "fsfw_hal/linux/rpi/GpioRPi.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw/hal/linux/rpi/GpioRPi.h"
+#include "fsfw/hal/common/gpio/GpioCookie.h"

 #include <fsfw/serviceinterface/ServiceInterface.h>

@@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
        return HasReturnvaluesIF::RETURN_FAILED;
    }

-    auto config = new GpiodRegularByChip();
+    GpiodRegular* config = new GpiodRegular();
    /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
    will not need this */
    config->chipname = "gpiochip0";
--- a/hal/src/fsfw_hal/linux/spi/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/spi/CMakeLists.txt
--- a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
@@ -1,8 +1,8 @@
 #include "fsfw/FSFW.h"
-#include "fsfw_hal/linux/spi/SpiComIF.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw/hal/linux/spi/SpiComIF.h"
+#include "fsfw/hal/linux/spi/SpiCookie.h"
+#include "fsfw/hal/linux/utility.h"
+#include "fsfw/hal/linux/UnixFileGuard.h"

 #include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
@@ -15,6 +15,11 @@
 #include <cerrno>
 #include <cstring>

+/* Can be used for low-level debugging of the SPI bus */
+#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING                  0
+#endif
+
 SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
        SystemObject(objectId), gpioComIF(gpioComIF) {
    if(gpioComIF == nullptr) {
@@ -77,7 +82,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
        gpioComIF->pullHigh(gpioId);
    }

-    uint32_t spiSpeed = 0;
+    size_t spiSpeed = 0;
    spi::SpiModes spiMode = spi::SpiModes::MODE_0;

    SpiCookie::UncommonParameters params;
@@ -85,7 +90,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {

    int fileDescriptor = 0;
    UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
-            "SpiComIF::initializeInterface");
+            "SpiComIF::initializeInterface: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return fileHelper.getOpenResult();
    }
@@ -141,8 +146,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
    if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
-                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
+                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
 #else
        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@@ -179,7 +184,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
    /* Prepare transfer */
    int fileDescriptor = 0;
    std::string device = spiCookie->getSpiDevice();
-    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return OPENING_FILE_FAILED;
    }
@@ -188,7 +193,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
    spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
    spiCookie->assignWriteBuffer(sendData);
-    spiCookie->setTransferSize(sendLen);
+    spiCookie->assignTransferSize(sendLen);

    bool fullDuplex = spiCookie->isFullDuplex();
    gpioId_t gpioId = spiCookie->getChipSelectPin();
@@ -197,26 +202,12 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
    if(gpioId != gpio::NO_GPIO) {
        result = spiMutex->lockMutex(timeoutType, timeoutMs);
        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;
-#else
-            sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
-#endif
-#endif
-            return result;
-        }
-        ReturnValue_t result = gpioComIF->pullLow(gpioId);
-        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;
-#else
-            sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
-#endif
 #endif
            return result;
        }
+        gpioComIF->pullLow(gpioId);
    }

    /* Execute transfer */
@@ -227,7 +218,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
            utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
            result = FULL_DUPLEX_TRANSFER_FAILED;
        }
-#if FSFW_HAL_SPI_WIRETAPPING == 1
+#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
        performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
    }
@@ -282,7 +273,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
    std::string device = spiCookie->getSpiDevice();
    int fileDescriptor = 0;
    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
-            "SpiComIF::requestReceiveMessage");
+            "SpiComIF::requestReceiveMessage: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return OPENING_FILE_FAILED;
    }
@@ -344,7 +335,6 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,

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

@@ -398,11 +388,11 @@ GpioIF* SpiComIF::getGpioInterface() {
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
    if(retval != 0) {
-        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
    }

    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
    if(retval != 0) {
-        utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
    }
 }
--- a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
+++ b/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
@@ -1,4 +1,4 @@
-#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw/hal/linux/spi/SpiCookie.h"

 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
        const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
@@ -121,7 +121,7 @@ bool SpiCookie::isFullDuplex() const {
    return not this->halfDuplex;
 }

-void SpiCookie::setTransferSize(size_t transferSize) {
+void SpiCookie::assignTransferSize(size_t transferSize) {
    spiTransferStruct.len = transferSize;
 }

--- a/hal/src/fsfw_hal/linux/uart/CMakeLists.txt
+++ b/hal/src/fsfw_hal/linux/uart/CMakeLists.txt
--- a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartComIF.cpp
@@ -1,7 +1,6 @@
-#include "UartComIF.h"
+#include "fsfw/hal/linux/uart/UartComIF.h"
 #include "OBSWConfig.h"

-#include "fsfw_hal/linux/utility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"

 #include <cstring>
@@ -61,13 +60,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
    struct termios options = {};

    std::string deviceFile = uartCookie->getDeviceFile();
-    int flags = O_RDWR;
-    if(uartCookie->getUartMode() == UartModes::CANONICAL) {
-        // In non-canonical mode, don't specify O_NONBLOCK because these properties will be
-        // controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
-        flags |= O_NONBLOCK;
-    }
-    int fd = open(deviceFile.c_str(), flags);
+    int fd = open(deviceFile.c_str(), O_RDWR);

    if (fd < 0) {
        sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
@@ -266,22 +259,23 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki

 ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
        const uint8_t *sendData, size_t sendLen) {
+
    int fd = 0;
    std::string deviceFile;
    UartDeviceMapIter uartDeviceMapIter;

+    if(sendData == nullptr) {
+        sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
+        return RETURN_FAILED;
+    }
+
    if(sendLen == 0) {
        return RETURN_OK;
    }

-    if(sendData == nullptr) {
-        sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
-        return RETURN_FAILED;
-    }
-
    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
    if(uartCookie == nullptr) {
-        sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+        sif::debug << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
        return NULLPOINTER;
    }

@@ -353,13 +347,12 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
    size_t maxReplySize = uartCookie.getMaxReplyLen();
    int fd = iter->second.fileDescriptor;
    auto bufferPtr = iter->second.replyBuffer.data();
-    iter->second.replyLen = 0;
    do {
        size_t allowedReadSize = 0;
        if(currentBytesRead >= maxReplySize) {
            // Overflow risk. Emit warning, trigger event and break. If this happens,
            // the reception buffer is not large enough or data is not polled often enough.
-#if FSFW_VERBOSE_LEVEL >= 1
+#if OBSW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                    << std::endl;
@@ -377,20 +370,7 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM

        bytesRead = read(fd, bufferPtr, allowedReadSize);
        if (bytesRead < 0) {
-            // EAGAIN: No data available in non-blocking mode
-            if(errno != EAGAIN) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::warning << "UartComIF::handleCanonicalRead: read failed with code" <<
-                        errno << ": " << strerror(errno) << std::endl;
-#else
-                sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n",
-                        errno, strerror(errno));
-#endif
-#endif
-                return RETURN_FAILED;
-            }
-
+            return RETURN_FAILED;
        }
        else if(bytesRead > 0) {
            iter->second.replyLen += bytesRead;
@@ -463,60 +443,6 @@ ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
    return RETURN_OK;
 }

-ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
-    std::string deviceFile;
-    UartDeviceMapIter uartDeviceMapIter;
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
-        sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-    deviceFile = uartCookie->getDeviceFile();
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
-        int fd = uartDeviceMapIter->second.fileDescriptor;
-        tcflush(fd, TCIFLUSH);
-        return RETURN_OK;
-    }
-    return RETURN_FAILED;
-}
-
-ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
-    std::string deviceFile;
-    UartDeviceMapIter uartDeviceMapIter;
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
-        sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-    deviceFile = uartCookie->getDeviceFile();
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
-        int fd = uartDeviceMapIter->second.fileDescriptor;
-        tcflush(fd, TCOFLUSH);
-        return RETURN_OK;
-    }
-    return RETURN_FAILED;
-}
-
-ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
-    std::string deviceFile;
-    UartDeviceMapIter uartDeviceMapIter;
-    UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
-    if(uartCookie == nullptr) {
-        sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
-        return NULLPOINTER;
-    }
-    deviceFile = uartCookie->getDeviceFile();
-    uartDeviceMapIter = uartDeviceMap.find(deviceFile);
-    if(uartDeviceMapIter != uartDeviceMap.end()) {
-        int fd = uartDeviceMapIter->second.fileDescriptor;
-        tcflush(fd, TCIOFLUSH);
-        return RETURN_OK;
-    }
-    return RETURN_FAILED;
-}
-
 void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
    UartModes uartMode = uartCookie.getUartMode();
    if(uartMode == UartModes::NON_CANONICAL) {
--- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
+++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp
@@ -1,11 +1,11 @@
-#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "fsfw/hal/linux/uart/UartCookie.h"

 #include <fsfw/serviceinterface/ServiceInterface.h>

 UartCookie::UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
        uint32_t baudrate, size_t maxReplyLen):
-        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode),
-        baudrate(baudrate), maxReplyLen(maxReplyLen) {
+        handlerId(handlerId), deviceFile(deviceFile), uartMode(uartMode), baudrate(baudrate),
+        maxReplyLen(maxReplyLen) {
 }

 UartCookie::~UartCookie() {}
--- a/hal/src/fsfw_hal/linux/utility.cpp
+++ b/hal/src/fsfw_hal/linux/utility.cpp
@@ -1,6 +1,6 @@
 #include "fsfw/FSFW.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw_hal/linux/utility.h"
+#include "fsfw/hal/linux/utility.h"

 #include <cerrno>
 #include <cstring>
--- a/hal/src/fsfw_hal/stm32h7/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/CMakeLists.txt
--- a/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
--- a/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
+++ b/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
@@ -1,14 +1,15 @@
-#include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
+#include "GyroL3GD20H.h"

-#include "fsfw_hal/stm32h7/spi/mspInit.h"
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw_hal/stm32h7/spi/stm32h743ziSpi.h"
+#include "../spi/mspInit.h"
+#include "../spi/spiDefinitions.h"
+#include "../spi/spiCore.h"
+#include "../spi/spiInterrupts.h"
+#include "../spi/stm32h743ziSpi.h"

 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"

+#include "stm32h7xx_nucleo.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h7xx_hal_rcc.h"

--- a/hal/src/fsfw_hal/stm32h7/dma.cpp
+++ b/hal/src/fsfw_hal/stm32h7/dma.cpp
@@ -1,7 +1,6 @@
 #include <fsfw_hal/stm32h7/dma.h>
-
-#include <cstdint>
-#include <cstddef>
+#include <stdint.h>
+#include <stddef.h>

 user_handler_t DMA_1_USER_HANDLERS[8];
 user_args_t DMA_1_USER_ARGS[8];
--- a/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
--- a/hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
+++ b/hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
@@ -1,4 +1,4 @@
-#include "fsfw_hal/stm32h7/gpio/gpio.h"
+#include "gpio.h"

 #include "stm32h7xx_hal_rcc.h"

--- a/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
--- a/hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
--- a/hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
@@ -1,22 +1,13 @@
-#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
-#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
+#include "SpiComIF.h"
+#include "SpiCookie.h"

 #include "fsfw/tasks/SemaphoreFactory.h"
+#include "fsfw/osal/FreeRTOS/TaskManagement.h"
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
 #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
 #include "fsfw_hal/stm32h7/spi/mspInit.h"
 #include "fsfw_hal/stm32h7/gpio/gpio.h"

-// FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
-// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
-// and it is not trivial to add a releaseFromISR to the SemaphoreIF
-#if defined FSFW_OSAL_RTEMS
-#include "fsfw/osal/rtems/BinarySemaphore.h"
-#elif defined FSFW_OSAL_FREERTOS
-#include "fsfw/osal/freertos/TaskManagement.h"
-#include "fsfw/osal/freertos/BinarySemaphore.h"
-#endif
-
 #include "stm32h7xx_hal_gpio.h"

 SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) {
@@ -430,14 +421,10 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
    HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
            GPIO_PIN_SET);

-#if defined FSFW_OSAL_FREERTOS
    // Release the task semaphore
    BaseType_t taskWoken = pdFALSE;
    ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
            &taskWoken);
-#elif defined FSFW_OSAL_RTEMS
-    ReturnValue_t result = comIF->spiSemaphore->release();
-#endif
    if(result != HasReturnvaluesIF::RETURN_OK) {
        // Configuration error
        printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
@@ -449,13 +436,11 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
        SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
                comIF->currentRecvBuffSize);
    }
-#if defined FSFW_OSAL_FREERTOS
    /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
    than the currently running task */
    if(taskWoken == pdTRUE) {
        TaskManagement::requestContextSwitch(CallContext::ISR);
    }
-#endif
 }

 void SpiComIF::printCfgError(const char *const type) {
--- a/hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
@@ -1,4 +1,4 @@
-#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
+#include "SpiCookie.h"


 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
--- a/hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp
@@ -1,14 +1,13 @@
-#include "fsfw_hal/stm32h7/dma.h"
-#include "fsfw_hal/stm32h7/spi/mspInit.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-
+#include <fsfw_hal/stm32h7/dma.h>
+#include "mspInit.h"
+#include "spiCore.h"
+#include "spiInterrupts.h"
 #include "stm32h743xx.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h7xx_hal_dma.h"
 #include "stm32h7xx_hal_def.h"

-#include <cstdio>
+#include <stdio.h>

 spi::msp_func_t mspInitFunc = nullptr;
 spi::MspCfgBase* mspInitArgs = nullptr;
--- a/hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp
@@ -1,6 +1,5 @@
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-
+#include "spiDefinitions.h"
+#include "spiCore.h"
 #include <cstdio>

 SPI_HandleTypeDef* spiHandle = nullptr;
--- a/hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp
@@ -1,4 +1,4 @@
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "spiDefinitions.h"

 void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef& spiHandle) {
    switch(spiMode) {
--- a/hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp
@@ -1,5 +1,5 @@
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "spiInterrupts.h"
+#include "spiCore.h"

 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"
--- a/hal/src/fsfw_hal/stm32h7/spi/stm32h743ziSpi.cpp
+++ b/hal/src/fsfw_hal/stm32h7/spi/stm32h743ziSpi.cpp
@@ -1,7 +1,6 @@
-#include "fsfw_hal/stm32h7/spi/stm32h743ziSpi.h"
-#include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
-
+#include "stm32h743ziSpi.h"
+#include "spiCore.h"
+#include "spiInterrupts.h"
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_rcc.h"

--- a/hal/src/fsfw_hal/stm32h7/uart/CMakeLists.txt
+++ b/hal/src/fsfw_hal/stm32h7/uart/CMakeLists.txt
--- a/inc/fsfw/FSFW.h
+++ b/inc/fsfw/FSFW.h
@@ -0,0 +1,7 @@
+#ifndef FSFW_FSFW_H_
+#define FSFW_FSFW_H_
+
+#include "FSFWConfig.h"
+
+
+#endif /* FSFW_FSFW_H_ */
--- a/inc/fsfw/FSFWVersion.h
+++ b/inc/fsfw/FSFWVersion.h
@@ -0,0 +1,12 @@
+#ifndef FSFW_DEFAULTCFG_VERSION_H_
+#define FSFW_DEFAULTCFG_VERSION_H_
+
+const char* const FSFW_VERSION_NAME = "ASTP";
+
+#define FSFW_VERSION        1
+#define	FSFW_SUBVERSION     0
+#define	FSFW_REVISION       0
+
+
+
+#endif /* FSFW_DEFAULTCFG_VERSION_H_ */
--- a/inc/fsfw/action.h
+++ b/inc/fsfw/action.h
@@ -0,0 +1,11 @@
+#ifndef FSFW_INC_FSFW_ACTION_H_
+#define FSFW_INC_FSFW_ACTION_H_
+
+#include "action/ActionHelper.h"
+#include "action/ActionMessage.h"
+#include "action/CommandActionHelper.h"
+#include "action/HasActionsIF.h"
+#include "action/CommandsActionsIF.h"
+#include "action/SimpleActionHelper.h"
+
+#endif /* FSFW_INC_FSFW_ACTION_H_ */
--- a/inc/fsfw/action/ActionHelper.h
+++ b/inc/fsfw/action/ActionHelper.h
--- a/inc/fsfw/action/ActionMessage.h
+++ b/inc/fsfw/action/ActionMessage.h
--- a/inc/fsfw/action/CommandActionHelper.h
+++ b/inc/fsfw/action/CommandActionHelper.h
--- a/inc/fsfw/action/CommandsActionsIF.h
+++ b/inc/fsfw/action/CommandsActionsIF.h
--- a/inc/fsfw/action/HasActionsIF.h
+++ b/inc/fsfw/action/HasActionsIF.h
--- a/inc/fsfw/action/SimpleActionHelper.h
+++ b/inc/fsfw/action/SimpleActionHelper.h
--- a/inc/fsfw/container/ArrayList.h
+++ b/inc/fsfw/container/ArrayList.h
--- a/inc/fsfw/container/BinaryTree.h
+++ b/inc/fsfw/container/BinaryTree.h
--- a/inc/fsfw/container/DynamicFIFO.h
+++ b/inc/fsfw/container/DynamicFIFO.h
--- a/inc/fsfw/container/FIFO.h
+++ b/inc/fsfw/container/FIFO.h
--- a/inc/fsfw/container/FIFOBase.h
+++ b/inc/fsfw/container/FIFOBase.h
--- a/inc/fsfw/container/FIFOBase.tpp
+++ b/inc/fsfw/container/FIFOBase.tpp
--- a/inc/fsfw/container/FixedArrayList.h
+++ b/inc/fsfw/container/FixedArrayList.h
--- a/Show More
+++ b/Show More