Jenkinsfile another typo

Reviewed-on: #548

.clang-format

@@ -0,0 +1,7 @@
+---
+BasedOnStyle: Google
+IndentWidth: 2
+---
+Language: Cpp
+ColumnLimit: 100
+---

.gitignore

@@ -2,3 +2,5 @@
 .project
 .settings
 .metadata
+
+/build*

CMakeLists.txt

@@ -1,5 +1,12 @@
 cmake_minimum_required(VERSION 3.13)
 
+set(FSFW_VERSION 3)
+set(FSFW_SUBVERSION 0)
+set(FSFW_REVISION 1)
+
+# Add the cmake folder so the FindSphinx module is found
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+
 option(FSFW_GENERATE_SECTIONS
     "Generate function and data sections. Required to remove unused code" ON
 )
@@ -7,6 +14,12 @@ if(FSFW_GENERATE_SECTIONS)
     option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
+option(FSFW_BUILD_UNITTESTS "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
+if(FSFW_BUILD_UNITTESTS)
+    option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
+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)
@@ -26,11 +39,67 @@ option(FSFW_ADD_TMSTORAGE "Compile with tm storage components" OFF)
 option(FSFW_ADD_SGP4_PROPAGATOR "Add SGP4 propagator code" OFF)
 
 set(LIB_FSFW_NAME fsfw)
+set(FSFW_TEST_TGT fsfw-tests)
+set(FSFW_DUMMY_TGT fsfw-dummy)
+
+project(${LIB_FSFW_NAME})
 add_library(${LIB_FSFW_NAME})
+
+if(FSFW_BUILD_UNITTESTS)
+    message(STATUS "Building the FSFW unittests in addition to the static library")
+    # Check whether the user has already installed Catch2 first
+    find_package(Catch2 3)
+    # Not installed, so use FetchContent to download and provide Catch2
+    if(NOT Catch2_FOUND)
+        include(FetchContent)
+
+        FetchContent_Declare(
+            Catch2
+            GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+            GIT_TAG        v3.0.0-preview4
+        )
+
+        FetchContent_MakeAvailable(Catch2)
+        #fixes regression -preview4, to be confirmed in later releases
+        set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    endif()
+
+    set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
+    configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in tests/TestsConfig.h)
+
+    project(${FSFW_TEST_TGT} CXX C)
+    add_executable(${FSFW_TEST_TGT})
+
+    if(FSFW_TESTS_GEN_COV)
+        message(STATUS "Generating coverage data for the library")
+        message(STATUS "Targets linking against ${LIB_FSFW_NAME} "
+            "will be compiled with coverage data as well"
+        )
+        include(FetchContent)
+        FetchContent_Declare(
+            cmake-modules
+            GIT_REPOSITORY https://github.com/bilke/cmake-modules.git
+        )
+        FetchContent_MakeAvailable(cmake-modules)
+        set(CMAKE_BUILD_TYPE "Debug")
+        list(APPEND CMAKE_MODULE_PATH ${cmake-modules_SOURCE_DIR})
+        include(CodeCoverage)
+    endif()
+endif()
+
 set(FSFW_CORE_INC_PATH "inc")
 
 set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux rtems freertos)
 
+# For configure files
+target_include_directories(${LIB_FSFW_NAME} PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+target_include_directories(${LIB_FSFW_NAME} INTERFACE
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+
 if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 11)
     set(CMAKE_CXX_STANDARD_REQUIRED True)
@@ -63,29 +132,32 @@ endif()
 set(FSFW_OSAL_DEFINITION FSFW_OSAL_HOST)
 
 if(FSFW_OSAL MATCHES host)
-    set(OS_FSFW_NAME "Host")
+    set(FSFW_OS_NAME "Host")
     set(FSFW_OSAL_HOST ON)
 elseif(FSFW_OSAL MATCHES linux)
-    set(OS_FSFW_NAME "Linux")
+    set(FSFW_OS_NAME "Linux")
     set(FSFW_OSAL_LINUX ON)
 elseif(FSFW_OSAL MATCHES freertos)
-    set(OS_FSFW_NAME "FreeRTOS")
+    set(FSFW_OS_NAME "FreeRTOS")
     set(FSFW_OSAL_FREERTOS ON)
     target_link_libraries(${LIB_FSFW_NAME} PRIVATE
         ${LIB_OS_NAME}
     )
 elseif(FSFW_OSAL STREQUAL rtems)
-    set(OS_FSFW_NAME "RTEMS")
+    set(FSFW_OS_NAME "RTEMS")
     set(FSFW_OSAL_RTEMS ON)
 else()
     message(WARNING
         "Invalid operating system for FSFW specified! Setting to host.."
     )
-    set(OS_FSFW_NAME "Host")
+    set(FSFW_OS_NAME "Host")
     set(OS_FSFW "host")
 endif()
 
-message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
+configure_file(src/fsfw/FSFW.h.in fsfw/FSFW.h)
+configure_file(src/fsfw/FSFWVersion.h.in fsfw/FSFWVersion.h)
+
+message(STATUS "Compiling FSFW for the ${FSFW_OS_NAME} operating system.")
 
 add_subdirectory(src)
 add_subdirectory(tests)
@@ -93,13 +165,87 @@ if(FSFW_ADD_HAL)
     add_subdirectory(hal)
 endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_DOCS)
+    add_subdirectory(docs)
+endif()
+
+if(FSFW_BUILD_UNITTESTS)
+    if(FSFW_TESTS_GEN_COV)
+        if(CMAKE_COMPILER_IS_GNUCXX)
+            include(CodeCoverage)
+
+            # Remove quotes.
+            separate_arguments(COVERAGE_COMPILER_FLAGS
+                NATIVE_COMMAND "${COVERAGE_COMPILER_FLAGS}"
+            )
+
+            # Add compile options manually, we don't want coverage for Catch2
+            target_compile_options(${FSFW_TEST_TGT} PRIVATE
+                "${COVERAGE_COMPILER_FLAGS}"
+            )
+            target_compile_options(${LIB_FSFW_NAME} PRIVATE
+                "${COVERAGE_COMPILER_FLAGS}"
+            )
+
+            # Exclude directories here
+            if(WIN32)
+                set(GCOVR_ADDITIONAL_ARGS
+                    "--exclude-throw-branches"
+                    "--exclude-unreachable-branches"
+                )
+                set(COVERAGE_EXCLUDES
+                    "/c/msys64/mingw64/*" "*/fsfw_hal/*"
+                )
+            elseif(UNIX)
+                set(COVERAGE_EXCLUDES
+                    "/usr/include/*" "/usr/bin/*" "Catch2/*"
+                    "/usr/local/include/*" "*/fsfw_tests/*"
+                    "*/catch2-src/*" "*/fsfw_hal/*"
+                )
+            endif()
+
+            target_link_options(${FSFW_TEST_TGT} PRIVATE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+            target_link_options(${LIB_FSFW_NAME} PRIVATE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+            # Need to specify this as an interface, otherwise there will the compile issues
+            target_link_options(${LIB_FSFW_NAME} INTERFACE
+                -fprofile-arcs
+                -ftest-coverage
+            )
+
+            if(WIN32)
+                setup_target_for_coverage_gcovr_html(
+                    NAME ${FSFW_TEST_TGT}_coverage
+                    EXECUTABLE ${FSFW_TEST_TGT}
+                    DEPENDENCIES ${FSFW_TEST_TGT}
+                )
+            else()
+                setup_target_for_coverage_lcov(
+                    NAME ${FSFW_TEST_TGT}_coverage
+                    EXECUTABLE ${FSFW_TEST_TGT}
+                    DEPENDENCIES ${FSFW_TEST_TGT}
+                )
+            endif()
+        endif()
+    endif()
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2 ${LIB_FSFW_NAME})
+endif()
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
 # If this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
+    set(DEF_CONF_PATH misc/defaultcfg/fsfwconfig)
+    if(NOT FSFW_BUILD_DOCS)
         message(WARNING "Flight Software Framework configuration path not set!")
-	message(WARNING "Setting default configuration!")
-	add_subdirectory(defaultcfg/fsfwconfig)
+        message(WARNING "Setting default configuration from ${DEF_CONF_PATH} ..")
+    endif()
+    add_subdirectory(${DEF_CONF_PATH})
+    set(FSFW_CONFIG_PATH ${DEF_CONF_PATH})
 endif()
 
 # FSFW might be part of a possibly complicated folder structure, so we 
@@ -187,3 +333,16 @@ target_compile_options(${LIB_FSFW_NAME} PRIVATE
 target_link_libraries(${LIB_FSFW_NAME} PRIVATE
     ${FSFW_ADDITIONAL_LINK_LIBS}
 )
+
+string(CONCAT POST_BUILD_COMMENT
+    "######################################################################\n"
+    "Built FSFW v${FSFW_VERSION}.${FSFW_SUBVERSION}.${FSFW_REVISION}, "
+    "Target OSAL: ${FSFW_OS_NAME}\n"
+    "######################################################################\n"
+)
+
+add_custom_command(
+   TARGET ${LIB_FSFW_NAME}
+   POST_BUILD
+   COMMENT ${POST_BUILD_COMMENT}
+)

README.md

@@ -22,28 +22,107 @@ Currently, the FSFW provides the following OSALs:
 - FreeRTOS
 - RTEMS
 
-The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile Memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC. The `fsfw` was also successfully run on the STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active satellite mission Flying Laptop.
+The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
+memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
+ISISPACE IOBC or a Zynq-7020 SoC. The `fsfw` was also successfully run on the
+STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
+satellite mission Flying Laptop.
 
 ## Getting started
 
-The [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example) provides a good starting point and a demo to see the FSFW capabilities and build it with the Make or the CMake build system. It is recommended to evaluate the FSFW by building and playing around with the demo application.
+The [Hosted FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted) provides a
+good starting point and a demo to see the FSFW capabilities.
+It is recommended to get started by building and playing around with the demo application.
+There are also other examples provided for all OSALs using the popular embedded platforms
+Raspberry Pi, Beagle Bone Black and STM32H7.
 
-Generally, the FSFW is included in a project by compiling the FSFW sources and providing
-a configuration folder and adding it to the include path. There are some functions like `printChar` which are different depending on the target architecture and need to be implemented by the mission developer.
+Generally, the FSFW is included in a project by providing
+a configuration folder, building the static library and linking against it. 
+There are some functions like `printChar` which are different depending on the target architecture
+and need to be implemented by the mission developer.
 
 A template configuration folder was provided and can be copied into the project root to have
-a starting point. The [configuration section](doc/README-config.md#top) provides more specific information about the possible options.
+a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
+information about the possible options.
+
+## Adding the library
+
+The following steps show how to add and use FSFW components. It is still recommended to
+try out the example mentioned above to get started, but the following steps show how to
+add and link against the FSFW library in general.
+
+1. Add this repository as a submodule
+
+   ```sh
+   git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw   
+   ```
+
+2. Add the following directive inside the uppermost `CMakeLists.txt` file of your project
+
+   ```cmake
+   add_subdirectory(fsfw)
+   ```
+
+3. Make sure to provide a configuration folder and supply the path to that folder with
+   the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
+   It is also necessary to provide the `printChar` function. You can find an example
+   implementation for a hosted build 
+   [here](https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c).
+
+4. Link against the FSFW library
+
+	```cmake
+	target_link_libraries(<YourProjectName> PRIVATE fsfw)
+	```
+
+5. It should now be possible use the FSFW as a static library from the user code.
+
+## Building the unittests
+
+The FSFW also has unittests which use the [Catch2 library](https://github.com/catchorg/Catch2).
+These are built by setting the CMake option `FSFW_BUILD_UNITTESTS` to `ON` or `TRUE`
+from your project `CMakeLists.txt` file or from the command line.
+
+The fsfw-tests binary will be built as part of the static library and dropped alongside it.
+If the unittests are built, the library and the tests will be built with coverage information by
+default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
+
+You can use the following commands inside the `fsfw` folder to set up the build system
+
+```sh
+mkdir build-Unittest && cd build-Unittest
+cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+```
+
+You can also use `-DFSFW_OSAL=linux` on Linux systems.
+
+Coverage data in HTML format can be generated using the `CodeCoverage`
+[CMake module](https://github.com/bilke/cmake-modules/tree/master).
+To build the unittests, run them and then generare the coverage data in this format,
+the following command can be used inside the build directory after the build system was set up
+
+```sh
+cmake --build . -- fsfw-tests_coverage -j
+```
+
+The `coverage.py` script located in the `script` folder can also be used to do this conveniently.
+
+## Formatting the sources
+
+The formatting is done by the `clang-format` tool. The configuration is contained within the
+`.clang-format` file in the repository root. As long as `clang-format` is installed, you
+can run the `apply-clang-format.sh` helper script to format all source files consistently.
 
 ## Index
 
-[1. High-level overview](doc/README-highlevel.md#top) <br>
-[2. Core components](doc/README-core.md#top) <br>
-[3. Configuration](doc/README-config.md#top) <br>
-[4. OSAL overview](doc/README-osal.md#top) <br>
-[5. PUS services](doc/README-pus.md#top) <br>
-[6. Device Handler overview](doc/README-devicehandlers.md#top) <br>
-[7. Controller overview](doc/README-controllers.md#top) <br>
-[8. Local Data Pools](doc/README-localpools.md#top) <br>
+[1. High-level overview](docs/README-highlevel.md#top) <br>
+[2. Core components](docs/README-core.md#top) <br>
+[3. Configuration](docs/README-config.md#top) <br>
+[4. OSAL overview](docs/README-osal.md#top) <br>
+[5. PUS services](docs/README-pus.md#top) <br>
+[6. Device Handler overview](docs/README-devicehandlers.md#top) <br>
+[7. Controller overview](docs/README-controllers.md#top) <br>
+[8. Local Data Pools](docs/README-localpools.md#top) <br>
 
 
 

automation/Dockerfile

@@ -0,0 +1,8 @@
+FROM ubuntu:focal
+
+RUN apt-get update
+RUN apt-get --yes upgrade
+
+#tzdata is a dependency, won't install otherwise
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt-get --yes install gcc g++ cmake make lcov git valgrind nano iputils-ping

automation/Jenkinsfile

@@ -0,0 +1,43 @@
+pipeline {
+    environment {
+        BUILDDIR = 'build-tests'
+    }
+    agent {
+        docker { image 'fsfw-ci:d1'}
+    }
+    stages {
+        stage('Clean') {
+            steps {
+                sh 'rm -rf $BUILDDIR'
+            }
+        }
+        stage('Configure') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
+                }
+            }
+        }
+        stage('Build') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -j'
+                }
+            }
+        }
+        stage('Unittests') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'cmake --build . -- fsfw-tests_coverage -j'
+                }
+            }
+        }
+        stage('Valgrind') {
+            steps {
+                dir(BUILDDIR) {
+                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
+                }
+            }
+        }
+    }
+}

cmake/FindSphinx.cmake

@@ -0,0 +1,13 @@
+# Look for an executable called sphinx-build
+find_program(SPHINX_EXECUTABLE
+             NAMES sphinx-build
+             DOC "Path to sphinx-build executable")
+
+include(FindPackageHandleStandardArgs)
+
+# Handle standard arguments to find_package like REQUIRED and QUIET
+find_package_handle_standard_args(
+    Sphinx
+    "Failed to find sphinx-build executable"
+    SPHINX_EXECUTABLE
+)

docs/.gitignore

@@ -0,0 +1 @@
+/_build

docs/CMakeLists.txt

@@ -0,0 +1,66 @@
+# This is based on this excellent posting provided by Sy: 
+# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/
+find_package(Doxygen REQUIRED)
+find_package(Sphinx REQUIRED)
+
+get_target_property(LIB_FSFW_PUBLIC_HEADER_DIRS ${LIB_FSFW_NAME} INTERFACE_INCLUDE_DIRECTORIES)
+# TODO: Add HAL as well
+file(GLOB_RECURSE LIB_FSFW_PUBLIC_HEADERS ${PROJECT_SOURCE_DIR}/src/*.h)
+file(GLOB_RECURSE RST_DOC_FILES ${PROJECT_SOURCE_DIR}/docs/*.rst)
+
+set(DOXYGEN_INPUT_DIR ${PROJECT_SOURCE_DIR}/src)
+set(DOXYGEN_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen)
+set(DOXYGEN_INDEX_FILE ${DOXYGEN_OUTPUT_DIR}/xml/index.xml)
+set(DOXYFILE_IN ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in)
+set(DOXYFILE_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+# Replace variables inside @@ with the current values
+configure_file(${DOXYFILE_IN} ${DOXYFILE_OUT} @ONLY)
+
+# Doxygen won't create this for us
+file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
+
+# Only regenerate Doxygen when the Doxyfile or public headers change
+add_custom_command(
+  OUTPUT ${DOXYGEN_INDEX_FILE}
+  DEPENDS ${LIB_FSFW_PUBLIC_HEADERS}
+  COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYFILE_OUT}
+  MAIN_DEPENDENCY ${DOXYFILE_OUT} ${DOXYFILE_IN}
+  COMMENT "Generating docs"
+  VERBATIM
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})
+
+set(SPHINX_SOURCE ${CMAKE_CURRENT_SOURCE_DIR})
+set(SPHINX_BUILD ${CMAKE_CURRENT_BINARY_DIR}/sphinx)
+set(SPHINX_INDEX_FILE ${SPHINX_BUILD}/index.html)
+
+# Only regenerate Sphinx when:
+# - Doxygen has rerun
+# - Our doc files have been updated
+# - The Sphinx config has been updated
+add_custom_command(
+  OUTPUT ${SPHINX_INDEX_FILE}
+  COMMAND
+    ${SPHINX_EXECUTABLE} -b html
+    # Tell Breathe where to find the Doxygen output
+    -Dbreathe_projects.fsfw=${DOXYGEN_OUTPUT_DIR}/xml
+  ${SPHINX_SOURCE} ${SPHINX_BUILD}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  DEPENDS
+  # Other docs files you want to track should go here (or in some variable)
+  ${RST_DOC_FILES}
+  ${DOXYGEN_INDEX_FILE}
+  MAIN_DEPENDENCY ${SPHINX_SOURCE}/conf.py
+  COMMENT "Generating documentation with Sphinx"
+)
+
+# Nice named target so we can run the job easily
+add_custom_target(Sphinx ALL DEPENDS ${SPHINX_INDEX_FILE})
+
+# Add an install target to install the docs
+include(GNUInstallDirs)
+install(DIRECTORY ${SPHINX_BUILD}
+DESTINATION ${CMAKE_INSTALL_DOCDIR})

docs/Doxyfile.in

@@ -0,0 +1,7 @@
+INPUT = "@DOXYGEN_INPUT_DIR@"
+
+RECURSIVE = YES
+
+OUTPUT_DIRECTORY = "@DOXYGEN_OUTPUT_DIR@"
+
+GENERATE_XML = YES

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README-localpools.md

@@ -31,7 +31,9 @@ cohesive pool variables. These sets simply iterator over the list of variables a
 `read` and `commit` functions of each variable. The following diagram shows the
 high-level architecture of the local data pools.
 
-<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
 
 An example is shown for using the local data pools with a Gyroscope.
 For example, the following code shows an implementation to access data from a Gyroscope taken

docs/api.rst

@@ -0,0 +1,16 @@
+API
+====
+
+.. toctree::
+   :maxdepth: 4
+
+   api/objectmanager
+   api/task
+   api/ipc
+   api/returnvalue
+   api/event
+   api/modes
+   api/health
+   api/action
+   api/devicehandler
+   api/controller

docs/api/action.rst

@@ -0,0 +1,15 @@
+Action Module API
+=================
+
+``ActionHelper``
+-----------------
+
+.. doxygenclass:: ActionHelper
+	:members:
+
+``HasActionsIF``
+-----------------
+
+.. doxygenclass:: HasActionsIF
+	:members:
+	:protected-members:

docs/api/controller.rst

@@ -0,0 +1,16 @@
+Controller API
+=================
+
+``ControllerBase``
+-------------------------
+
+.. doxygenclass:: ControllerBase
+	:members:
+	:protected-members:
+
+``ExtendedControllerBase``
+-----------------------------
+
+.. doxygenclass:: ExtendedControllerBase
+	:members:
+	:protected-members:

docs/api/devicehandler.rst

@@ -0,0 +1,16 @@
+Device Handler Base API
+=========================
+
+``DeviceHandlerBase``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerBase
+	:members:
+	:protected-members:
+
+``DeviceHandlerIF``
+-----------------------
+
+.. doxygenclass:: DeviceHandlerIF
+	:members:
+	:protected-members:

docs/api/event.rst

@@ -0,0 +1,6 @@
+.. _eventapi:
+
+Event API
+============
+
+.. doxygenfile:: Event.h

docs/api/health.rst

@@ -0,0 +1,9 @@
+Health API
+===========
+
+``HasHealthIF``
+------------------
+
+.. doxygenclass:: HasHealthIF
+	:members:
+	:protected-members:

docs/api/ipc.rst

@@ -0,0 +1,9 @@
+IPC Module API
+=================
+
+``MessageQueueIF``
+-------------------
+
+.. doxygenclass:: MessageQueueIF
+	:members:
+	:protected-members:

docs/api/modes.rst

@@ -0,0 +1,10 @@
+Modes API
+=========
+
+
+``HasModesIF``
+---------------
+
+.. doxygenclass:: HasModesIF
+	:members:
+	:protected-members:

docs/api/objectmanager.rst

@@ -0,0 +1,30 @@
+Object Manager API
+=========================
+
+``SystemObject``
+--------------------
+
+.. doxygenclass:: SystemObject
+	:members:
+	:protected-members:
+
+``ObjectManager``
+-----------------------
+
+.. doxygenclass:: ObjectManager
+	:members:
+	:protected-members:
+
+``SystemObjectIF``
+--------------------
+
+.. doxygenclass:: SystemObjectIF
+	:members:
+	:protected-members:
+
+``ObjectManagerIF``
+-----------------------
+
+.. doxygenclass:: ObjectManagerIF
+	:members:
+	:protected-members:

docs/api/returnvalue.rst

@@ -0,0 +1,10 @@
+.. _retvalapi:
+
+Returnvalue API
+==================
+
+.. doxygenfile:: HasReturnvaluesIF.h
+
+.. _fwclassids:
+
+.. doxygenfile:: FwClassIds.h

docs/api/task.rst

@@ -0,0 +1,8 @@
+Task API
+=========
+
+``ExecutableObjectIF``
+-----------------------
+
+.. doxygenclass:: ExecutableObjectIF
+	:members:

docs/conf.py

@@ -0,0 +1,56 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+# import os
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'Flight Software Framework'
+copyright = '2021, Institute of Space Systems (IRS)'
+author = 'Institute of Space Systems (IRS)'
+
+# The full version, including alpha/beta/rc tags
+release = '2.0.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [ "breathe" ]
+
+breathe_default_project = "fsfw"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'alabaster'
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []

docs/config.rst

@@ -0,0 +1,41 @@
+Configuring the FSFW
+=====================
+
+The FSFW can be configured via the ``fsfwconfig`` folder. A template folder has been provided in
+``misc/defaultcfg`` to have a starting point for this. The folder should be added
+to the include path. The primary configuration file is the ``FSFWConfig.h`` folder. Some
+of the available options will be explained in more detail here.
+
+Auto-Translation of Events
+----------------------------
+
+The FSFW allows the automatic translation of events, which allows developers to track triggered
+events directly via console output. Using this feature requires:
+
+1. ``FSFW_OBJ_EVENT_TRANSLATION`` set to 1 in the configuration file.
+2. Special auto-generated translation files which translate event IDs and object IDs into
+   human readable strings. These files can be generated using the
+   `fsfwgen Python scripts <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen>`_.
+3. The generated translation files for the object IDs should be named ``translatesObjects.cpp``
+   and ``translateObjects.h`` and should be copied to the ``fsfwconfig/objects`` folder
+4. The generated translation files for the event IDs should be named ``translateEvents.cpp`` and
+   ``translateEvents.h`` and should be copied to the ``fsfwconfig/events`` folder
+
+An example implementations of these translation file generators can be found as part
+of the `SOURCE project here <https://git.ksat-stuttgart.de/source/sourceobsw/-/tree/develop/generators>`_
+or the `FSFW example <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/generators>`_
+
+Configuring the Event Manager
+----------------------------------
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+.. code-block:: cpp
+
+   namespace fsfwconfig {
+   //! Configure the allocated pool sizes for the event manager.
+   static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+   static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+   static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+   }

docs/controllers.rst

@@ -0,0 +1,2 @@
+Controllers
+=============

docs/core.rst

@@ -0,0 +1,70 @@
+.. _core:
+
+Core Modules
+=============
+
+The core modules provide the most important functionalities of the Flight Software Framework.
+
+Clock
+------
+
+- This is a class of static functions that can be used at anytime
+- Leap Seconds must be set if any time conversions from UTC to other times is used
+
+Object Manager
+---------------
+
+- Must be created during program startup
+- The component which handles all references. All :cpp:class:`SystemObject`\s register at this
+  component.
+- All :cpp:class:`SystemObject`\s needs to have a unique Object ID. Those can be managed like
+  framework objects.
+- A reference to an object can be retrieved by calling the ``get`` function of
+  :cpp:class:`ObjectManagerIF`. The target type must be specified as a template argument.
+  A ``nullptr`` check of the returning pointer must be done. This function is based on
+  run-time type information.
+
+	.. code-block:: cpp
+
+		template <typename T> T* ObjectManagerIF::get(object_id_t id);
+
+- A typical way to create all objects on startup is a handing a static produce function to the
+  ObjectManager on creation. By calling ``ObjectManager::instance()->initialize(produceFunc)`` the
+  produce function will be called and all :cpp:class:`SystemObject`\s will be initialized
+  afterwards.
+
+Event Manager
+---------------
+
+- Component which allows routing of events
+- Other objects can subscribe to specific events, ranges of events or all events of an object.
+- Subscriptions can be done during runtime but should be done during initialization
+- Amounts of allowed subscriptions can be configured in ``FSFWConfig.h``
+
+Health Table
+---------------
+
+- A component which holds every health state
+- Provides a thread safe way to access all health states without the need of message exchanges
+
+Stores
+--------------
+
+- The message based communication can only exchange a few bytes of information inside the message
+  itself. Therefore, additional information can  be exchanged with Stores. With this, only the
+  store address must be exchanged in the message.
+- Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC
+  Store is used. For outgoing TM a TM store is used.
+- All of them should use the Thread Safe Class storagemanager/PoolManager
+
+Tasks
+---------
+
+There are two different types of tasks:
+
+- The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the
+  insertion to the Tasks.
+- FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for
+  DeviceHandlers, where polling should be in a defined order. An example can be found in 
+  ``defaultcfg/fsfwconfig/pollingSequence`` folder
+

docs/devicehandlers.rst

@@ -0,0 +1,3 @@
+Device Handlers
+==================
+

docs/getting_started.rst

@@ -0,0 +1,115 @@
+Getting Started
+================
+
+
+Getting started
+----------------
+
+The `Hosted FSFW example`_ provides a good starting point and a demo to see the FSFW capabilities.
+It is recommended to get started by building and playing around with the demo application.
+There are also other examples provided for all OSALs using the popular embedded platforms
+Raspberry Pi, Beagle Bone Black and STM32H7.
+
+Generally, the FSFW is included in a project by providing
+a configuration folder, building the static library and linking against it. 
+There are some functions like ``printChar`` which are different depending on the target architecture
+and need to be implemented by the mission developer.
+
+A template configuration folder was provided and can be copied into the project root to have
+a starting point. The [configuration section](docs/README-config.md#top) provides more specific 
+information about the possible options.
+
+Adding the library
+-------------------
+
+The following steps show how to add and use FSFW components. It is still recommended to
+try out the example mentioned above to get started, but the following steps show how to
+add and link against the FSFW library in general.
+
+1. Add this repository as a submodule
+
+   .. code-block:: console
+
+      git submodule add https://egit.irs.uni-stuttgart.de/fsfw/fsfw.git fsfw
+
+2. Add the following directive inside the uppermost ``CMakeLists.txt`` file of your project
+
+   .. code-block:: cmake
+
+      add_subdirectory(fsfw)
+
+3. Make sure to provide a configuration folder and supply the path to that folder with
+   the `FSFW_CONFIG_PATH` CMake variable from the uppermost `CMakeLists.txt` file.
+   It is also necessary to provide the `printChar` function. You can find an example
+   implementation for a hosted build
+   `here <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted/src/branch/master/bsp_hosted/utility/printChar.c>`_.
+
+4. Link against the FSFW library
+
+   .. code-block:: cmake
+
+      target_link_libraries(<YourProjectName> PRIVATE fsfw)
+
+
+5. It should now be possible use the FSFW as a static library from the user code.
+
+Building the unittests
+-------------------------
+
+The FSFW also has unittests which use the `Catch2 library`_.
+These are built by setting the CMake option ``FSFW_BUILD_UNITTESTS`` to ``ON`` or `TRUE`
+from your project `CMakeLists.txt` file or from the command line.
+
+The fsfw-tests binary will be built as part of the static library and dropped alongside it.
+If the unittests are built, the library and the tests will be built with coverage information by
+default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF` or `FALSE`.
+
+You can use the following commands inside the ``fsfw`` folder to set up the build system
+
+.. code-block:: console
+
+   mkdir build-tests && cd build-tests
+   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+
+
+You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
+
+Coverage data in HTML format can be generated using the `Code coverage`_ CMake module.
+To build the unittests, run them and then generare the coverage data in this format,
+the following command can be used inside the build directory after the build system was set up
+
+.. code-block:: console
+
+   cmake --build . -- fsfw-tests_coverage -j
+
+
+The ``helper.py`` script located in the ``script`` folder can also be used to create, build
+and open the unittests conveniently. Try ``helper.py -h`` for more information.
+
+Building the documentation
+----------------------------
+
+The FSFW documentation is built using the tools Sphinx, doxygen and breathe based on the
+instructions provided in `this blogpost <https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake/>`_. You can set up a
+documentation build system using the following commands
+
+.. code-block:: bash
+
+   mkdir build-docs && cd build-docs
+   cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..
+
+Then you can generate the documentation using
+
+.. code-block:: bash
+
+   cmake --build . -j
+
+You can find the generated documentation inside the ``docs/sphinx`` folder inside the build
+folder. Simply open the ``index.html`` in the webbrowser of your choice.
+
+The ``helper.py`` script located in the ``script`` folder can also be used to create, build
+and open the documentation conveniently. Try ``helper.py -h`` for more information.
+
+.. _`Hosted FSFW example`: https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted
+.. _`Catch2 library`: https://github.com/catchorg/Catch2
+.. _`Code coverage`: https://github.com/bilke/cmake-modules/tree/master

docs/highlevel.rst

@@ -0,0 +1,149 @@
+.. _highlevel:
+
+High-level overview
+===================
+
+Structure
+----------
+
+The general structure is driven by the usage of interfaces provided by objects.
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be
+widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime.
+This simplifies the instantiation of objects and allows the usage of some standard containers.
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the
+FSFW to achieve that. The fsfw uses run-time type information but exceptions are not allowed.
+
+Failure Handling
+-----------------
+
+Functions should return a defined :cpp:type:`ReturnValue_t` to signal to the caller that something has
+gone wrong. Returnvalues must be unique. For this the function :cpp:func:`HasReturnvaluesIF::makeReturnCode`
+or the :ref:`macro MAKE_RETURN_CODE <retvalapi>` can be used. The ``CLASS_ID`` is a unique ID for that type of object.
+See the :ref:`FSFW Class IDs file <fwclassids>`. The user can add custom ``CLASS_ID``\s via the
+``fsfwconfig`` folder.
+
+OSAL
+------------
+
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS.
+The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
+The :ref:`OSAL README <osal>` provides more detailed information on provided components
+and how to use them.
+
+Core Components
+----------------
+
+The FSFW has following core components. More detailed informations can be found in the
+:ref:`core component section <core>`:
+
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks
+   with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID
+   to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands
+   or small telemetry) in a pool structure without using dynamic memory allocation.
+   These pools are allocated up front.
+4. Clock: This module provided common time related functions
+5. EventManager: This module allows routing of events generated by `SystemObjects`
+6. HealthTable: A component which stores the health states of objects
+
+Static IDs in the framework
+--------------------------------
+
+Some parts of the framework use a static routing address for communication.
+An example setup of IDs can be found in the example config in ``misc/defaultcfg/fsfwconfig/objects``
+inside the function ``Factory::setStaticFrameworkObjectIds``.
+
+Events
+----------------
+
+Events are tied to objects. EventIds can be generated by calling the
+:ref:`macro MAKE_EVENT <eventapi>` or the function :cpp:func:`event::makeEvent`.
+This works analog to the returnvalues. Every object that needs own Event IDs has to get a
+unique ``SUBSYSTEM_ID``. Every :cpp:class:`SystemObject` can call
+:cpp:func:`SystemObject::triggerEvent` from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that
+has triggered.
+
+Internal Communication
+-------------------------
+
+Components communicate mostly via Messages through Queues.
+Those queues are created by calling the singleton ``QueueFactory::instance()->create`` which
+will create `MessageQueue` instances for the used OSAL.
+
+External Communication
+--------------------------
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used.
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+TMTC Communication
+~~~~~~~~~~~~~~~~~~~
+
+The FSFW provides some components to facilitate TMTC handling via the PUS commands.
+For example, a UDP or TCP PUS server socket can be opened on a specific port using the
+files located in ``osal/common``. The FSFW example uses this functionality to allow sending
+telecommands and receiving telemetry using the
+`TMTC commander application <https://github.com/robamu-org/tmtccmd>`_.
+
+Simple commands like the PUS Service 17 ping service can be tested by simply running the
+``tmtc_client_cli.py`` or ``tmtc_client_gui.py`` utility in
+the `example tmtc folder <https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example_public/src/branch/master/tmtc>`_
+while the `fsfw_example` application is running.
+
+More generally, any class responsible for handling incoming telecommands and sending telemetry
+can implement the generic ``TmTcBridge`` class located in ``tmtcservices``. Many applications
+also use a dedicated polling task for reading telecommands which passes telecommands
+to the ``TmTcBridge`` implementation.
+
+CCSDS Frames, CCSDS Space Packets and PUS
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to
+distributed the packets to the corresponding services. Those can be found in ``tcdistribution``.
+If Space Packets are used, a timestamper has to be provided by the user.
+An example can be found in the ``timemanager`` folder, which uses ``CCSDSTime::CDS_short``.
+
+Device Handlers
+--------------------------
+
+DeviceHandlers are another important component of the FSFW. The idea is, to have a software
+counterpart of every physical device to provide a simple mode, health and commanding interface.
+By separating the underlying Communication Interface with
+``DeviceCommunicationIF``, a device handler (DH) can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow
+for FDIR reaction.  Device Handlers can be created by implementing ``DeviceHandlerBase``.
+A standard FDIR component for the DH will be created automatically but can
+be overwritten by the user. More information on DeviceHandlers can be found in the
+related [documentation section](doc/README-devicehandlers.md#top).
+
+Modes and Health
+--------------------
+
+The two interfaces ``HasModesIF`` and ``HasHealthIF`` provide access for commanding and monitoring
+of components. On-board mode management is implement in hierarchy system.
+
+- Device handlers and controllers are the lowest part of the hierarchy.
+- The next layer are assemblies. Those assemblies act as a component which handle
+  redundancies of handlers. Assemblies share a common core with the top level subsystem components
+- The top level subsystem components are used to group assemblies, controllers and device handlers.
+  For example, a spacecraft can have a atttitude control subsystem and a power subsystem.
+
+Those assemblies are intended to act as auto-generated components from a database which describes
+the subsystem modes. The definitions contain transition and target tables which contain the DH,
+Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a
+switch into any higher AOCS mode might first turn on the sensors, than the actuators and the
+controller as last component.
+The target table is used to describe the state that is checked continuously by the subsystem.
+All of this allows System Modes to be generated as Subsystem object as well from the same database.
+This System contains list of subsystem modes in the transition and target tables.
+Therefore, it allows a modular system to create system modes and easy commanding of those, because
+only the highest components must be commanded.
+
+The health state represents if the component is able to perform its tasks.
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery.

docs/index.rst

@@ -0,0 +1,69 @@
+.. Flight Software Framework documentation master file, created by
+   sphinx-quickstart on Tue Nov 30 10:56:03 2021.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+Flight Software Framework (FSFW) documentation
+================================================
+
+.. image:: ../misc/logo/FSFW_Logo_V3_bw.png
+   :alt: FSFW Logo
+
+The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
+automated systems like Satellites. 
+
+The initial version of the Flight Software Framework was developed during
+the Flying Laptop Project by the University of Stuttgart in cooperation
+with Airbus Defence and Space GmbH.
+
+Quick facts
+---------------
+
+The framework is designed for systems, which communicate with external devices, perform control
+loops, receive telecommands and send telemetry, and need to maintain a high level of availability.
+Therefore, a mode and health system provides control over the states of the software and the
+controlled devices. In addition, a simple mechanism of event based fault detection, isolation and
+recovery is implemented as well.
+
+The FSFW provides abstraction layers for operating systems to provide a uniform operating system
+abstraction layer (OSAL). Some components of this OSAL are required internally by the FSFW but is
+also very useful for developers to implement the same application logic on different operating
+systems with a uniform interface.
+
+Currently, the FSFW provides the following OSALs:
+
+- Linux
+- Host 
+- FreeRTOS
+- RTEMS
+
+The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile
+memory. For reference, current applications use a Cobham Gaisler UT699 (LEON3FT), a
+ISISPACE IOBC or a Zynq-7020 SoC. The ``fsfw`` was also successfully run on the
+STM32H743ZI-Nucleo board and on a Raspberry Pi and is currently running on the active
+satellite mission Flying Laptop.
+
+Index
+-------
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   getting_started
+   highlevel
+   core
+   config
+   osal
+   pus
+   devicehandlers
+   controllers
+   localpools
+   api
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`
+* :ref:`search`

docs/localpools.rst

@@ -0,0 +1,181 @@
+Local Data Pools
+=========================================
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be
+used by other software objects like controllers as well. If a custom class should have a local
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a ``LocalDataPoolManager`` member object in the custom class
+2. Implement the ``HasLocalDataPoolIF`` with specifies the interface between the local pool
+   manager and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change
+detected by the data creator instead of checking the data manually each cycle. Two important
+framework classes ``DeviceHandlerBase`` and ``ExtendedControllerBase`` already perform the two steps
+shown above so the steps required are altered slightly.
+
+Storing and Accessing pool data
+-------------------------------------
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a ``read`` call. Changed variables can then be written to the local pool with a ``commit`` call.
+The ``read`` and ``commit`` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all
+cohesive pool variables. These sets simply iterator over the list of variables and call the
+``read`` and ``commit`` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+.. image:: ../docs/images/PoolArchitecture.png
+	:alt: Pool Architecture
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+.. code-block:: cpp
+
+	class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+	public:
+	    /**
+	     * Constructor for data users
+	     * @param gyroId
+	     */
+	    GyroPrimaryDataset(object_id_t gyroId):
+	            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+	        setAllVariablesReadOnly();
+	    }
+
+	    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_X, this);
+	    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_Y, this);
+	    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+	            gyrodefs::ANGULAR_VELOCITY_Z, this);
+	private:
+
+	    friend class GyroHandler;
+	    /**
+	     * Constructor for data creator
+	     * @param hkOwner
+	     */
+	    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+	            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+	};
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the ``GyroHandler``
+as a friend class. Both the atittude controller and the ``GyroHandler`` can now
+use the same class definition to access the pool variables with ``read`` and ``commit`` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a ``DeviceHandlerBase`` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+Using the local data pools in a ``DeviceHandlerBase`` subclass
+--------------------------------------------------------------
+
+It is very common to store data generated by devices like a sensor into a pool which can
+then be used by other objects. Therefore, the ``DeviceHandlerBase`` already has a
+local pool. Using the aforementioned example, the ``GyroHandler`` will now have the set class
+as a member:
+
+.. code-block:: cpp
+
+	class GyroHandler: ... {
+
+	public:
+		...
+	private:
+		...
+		GyroPrimaryDataset gyroData;
+		...
+	};
+
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+.. code-block:: cpp
+
+	GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+	        CookieIF *comCookie, uint8_t switchId):
+	        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+			gyroData(this) {}
+
+
+We need to assign the set to a reply ID used in the ``DeviceHandlerBase``.
+The combination of the ``GyroHandler`` object ID and the reply ID will be the 64-bit structure ID
+``sid_t`` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local
+pool manager can access the custom data sets as well.
+By default, the ``getDataSetHandle`` will take care of this tasks. The default implementation for a
+``DeviceHandlerBase`` subclass will use the internal command map to retrieve
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the ``fillCommandAndReplyMap`` function:
+
+.. code-block:: cpp
+
+	void GyroHandler::fillCommandAndReplyMap() {
+		...
+		this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+		...
+	}
+
+
+Now, we need to create the actual pool entries as well, using the ``initializeLocalDataPool``
+function. Here, we also immediately subscribe for periodic housekeeping packets
+with an interval of 4 seconds. They are still disabled in this example and can be enabled
+with a housekeeping service command.
+
+.. code-block:: cpp
+
+	ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+			LocalDataPoolManager &poolManager) {
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+				new PoolEntry<float>({0.0}));
+		localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+				new PoolEntry<uint8_t>({0}));
+		localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+				new PoolEntry<uint8_t>({0}));
+
+		poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+Now, if we receive some sensor data and converted them into the right format,
+we can write it into the pool like this, using a guard class to ensure the set is commited back
+in any case:
+
+.. code-block:: cpp
+
+	PoolReadGuard readHelper(&gyroData);
+	if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+		if(not gyroData.isValid()) {
+			gyroData.setValidity(true, true);
+		}
+
+		gyroData.angVelocityX = angularVelocityX;
+		gyroData.angVelocityY = angularVelocityY;
+		gyroData.angVelocityZ = angularVelocityZ;
+	}
+
+
+The guard class will commit the changed data on destruction automatically.
+
+Using the local data pools in a ``ExtendedControllerBase`` subclass
+----------------------------------------------------------------------
+
+Coming soon
+
+

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/osal.rst

@@ -0,0 +1,63 @@
+.. _osal:
+
+Operating System Abstraction Layer (OSAL)
+============================================
+
+Some specific information on the provided OSALs are provided.
+
+Linux
+-------
+
+This OSAL can be used to compile for Linux host systems like Ubuntu 20.04 or for
+embedded Linux targets like the Raspberry Pi. This OSAL generally requires threading support
+and real-time functionalities. For most UNIX systems, this is done by adding ``-lrt`` and
+``-lpthread`` to the linked libraries in the compilation process. The CMake build support provided
+will do this automatically for the ``fsfw`` target. It should be noted that most UNIX systems need
+to be configured specifically to allow the real-time functionalities required by the FSFW.
+
+Hosted OSAL
+-------------------
+
+This is the newest OSAL. Support for Semaphores has not been implemented yet and will propably be
+implemented as soon as C++20 with Semaphore support has matured. This OSAL can be used to run the
+FSFW on any host system, but currently has only been tested on Windows 10 and Ubuntu 20.04. Unlike
+the other OSALs, it uses dynamic memory allocation (e.g. for the message queue implementation).
+Cross-platform serial port (USB) support might be added soon.
+
+FreeRTOS OSAL
+------------------
+
+FreeRTOS is not included and the developer needs to take care of compiling the FreeRTOS sources and
+adding the  ``FreeRTOSConfig.h`` file location to the include path. This OSAL has only been tested
+extensively with the pre-emptive scheduler configuration so far but it should in principle also be
+possible to use a cooperative scheduler. It is recommended to use the `heap_4` allocation scheme.
+When using newlib (nano), it is also recommended to add ``#define configUSE_NEWLIB_REENTRANT`` to
+the FreeRTOS configuration file to ensure thread-safety.
+
+When using this OSAL, developers also need to provide an implementation for the
+``vRequestContextSwitchFromISR`` function. This has been done because the call to request a context
+switch from an ISR is generally located in the ``portmacro.h`` header and is different depending on
+the target architecture or device.
+
+RTEMS OSAL
+---------------
+
+The RTEMS OSAL was the first implemented OSAL which is also used on the active satellite Flying Laptop.
+
+TCP/IP socket abstraction
+------------------------------
+
+The Linux and Host OSAL provide abstraction layers for the socket API. Currently, only UDP sockets
+have been imlemented. This is very useful to test TMTC handling either on the host computer
+directly (targeting localhost with a TMTC application) or on embedded Linux devices, sending
+TMTC packets via Ethernet.
+
+Example Applications
+----------------------
+
+There are example applications available for each OSAL
+
+- `Hosted OSAL <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-hosted>`_
+- `Linux OSAL for MCUs <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-linux-mcu>`_
+- `FreeRTOS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-freertos>`_
+- `RTEMS OSAL on the STM32H743ZIT <https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-stm32h7-rtems>`_

docs/pus.rst

@@ -0,0 +1,2 @@
+PUS Services
+==============

hal/CMakeLists.txt

@@ -3,7 +3,13 @@ cmake_minimum_required(VERSION 3.13)
 # Can also be changed by upper CMakeLists.txt file
 find_library(LIB_FSFW_NAME fsfw REQUIRED)
 
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Required gpiod library" OFF)
+option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
+# On by default for now because I did not have an issue including and compiling those files
+# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
+# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
+# but CMake is able to determine whether this library is installed with find_library.
+option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
+
 option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
 option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
 option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)

hal/src/fsfw_hal/CMakeLists.txt

@@ -1,7 +1,7 @@
 add_subdirectory(devicehandlers)
 add_subdirectory(common)
 
-if(FSFW_HAL_ADD_LINUX)
+if(UNIX)
     add_subdirectory(linux)
 endif()
 

hal/src/fsfw_hal/common/gpio/GpioCookie.cpp

@@ -1,8 +1,8 @@
 #include "fsfw_hal/common/gpio/GpioCookie.h"
+
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-GpioCookie::GpioCookie() {
-}
+GpioCookie::GpioCookie() {}
 
 ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
   if (gpioConfig == nullptr) {
@@ -19,8 +19,8 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
     if (statusPair.second == false) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
-                    " to GPIO map" << std::endl;
+      sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
+                   << std::endl;
 #else
       sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
 #endif
@@ -39,9 +39,7 @@ ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-GpioMap GpioCookie::getGpioMap() const {
-    return gpioMap;
-}
+GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
 
 GpioCookie::~GpioCookie() {
   for (auto& config : gpioMap) {

hal/src/fsfw_hal/common/gpio/GpioCookie.h

@@ -1,12 +1,12 @@
 #ifndef COMMON_GPIO_GPIOCOOKIE_H_
 #define COMMON_GPIO_GPIOCOOKIE_H_
 
-#include "GpioIF.h"
-#include "gpioDefinitions.h"
-
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
+#include "GpioIF.h"
+#include "gpioDefinitions.h"
+
 /**
  * @brief   Cookie for the GpioIF. Allows the GpioIF to determine which
  * 			GPIOs to initialize and whether they should be configured as in- or
@@ -19,7 +19,6 @@
  */
 class GpioCookie : public CookieIF {
  public:
-
   GpioCookie();
 
   virtual ~GpioCookie();

hal/src/fsfw_hal/common/gpio/GpioIF.h

@@ -1,9 +1,10 @@
 #ifndef COMMON_GPIO_GPIOIF_H_
 #define COMMON_GPIO_GPIOIF_H_
 
-#include "gpioDefinitions.h"
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include "gpioDefinitions.h"
 
 class GpioCookie;
 
@@ -14,7 +15,6 @@ class GpioCookie;
  */
 class GpioIF : public HasReturnvaluesIF {
  public:
-
   virtual ~GpioIF(){};
 
   /**

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -1,41 +1,34 @@
 #ifndef COMMON_GPIO_GPIODEFINITIONS_H_
 #define COMMON_GPIO_GPIODEFINITIONS_H_
 
+#include <map>
 #include <string>
 #include <unordered_map>
-#include <map>
 
 using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels {
-    LOW = 0,
-    HIGH = 1
-};
+enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
 
-enum Direction {
-    IN = 0,
-    OUT = 1
-};
+enum Direction : uint8_t { IN = 0, OUT = 1 };
 
-enum GpioOperation {
-    READ,
-    WRITE
-};
+enum GpioOperation { READ, WRITE };
 
-enum GpioTypes {
+enum class GpioTypes {
   NONE,
   GPIO_REGULAR_BY_CHIP,
   GPIO_REGULAR_BY_LABEL,
+  GPIO_REGULAR_BY_LINE_NAME,
   CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
 
-using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
+using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
+                           void* args);
 
-}
+}  // namespace gpio
 
 /**
  * @brief   Struct containing information about the GPIO to use. This is
@@ -53,12 +46,11 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int val
  */
 class GpioBase {
  public:
-
   GpioBase() = default;
 
   GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            int initValue):
-            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
+           gpio::Levels initValue)
+      : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
 
   virtual ~GpioBase(){};
 
@@ -66,38 +58,40 @@ public:
   gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
   std::string consumer;
   gpio::Direction direction = gpio::Direction::IN;
-    int initValue = 0;
+  gpio::Levels initValue = gpio::Levels::NONE;
 };
 
 class GpiodRegularBase : public GpioBase {
  public:
   GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
-            lineNum(lineNum) {
-    }
+                   gpio::Levels initValue, int lineNum)
+      : GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
+
+  // line number will be configured at a later point for the open by line name configuration
+  GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+                   gpio::Levels initValue)
+      : GpioBase(gpioType, consumer, direction, initValue) {}
+
   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()
+      : 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_){
-    }
+                     gpio::Direction direction_, gpio::Levels 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_) {
-    }
+  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;
 };
@@ -105,33 +99,52 @@ public:
 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_) {
-    }
+                      gpio::Direction direction_, gpio::Levels 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_) {
-    }
+  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;
 };
 
+/**
+ * @brief   Passing this GPIO configuration to the GPIO IF object will try to open the GPIO by its
+ *          line name. This line name can be set in the device tree and must be unique. Otherwise
+ *          the driver will open the first line with the given name.
+ */
+class GpiodRegularByLineName : public GpiodRegularBase {
+ public:
+  GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
+                         gpio::Levels initValue_)
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
+                         initValue_),
+        lineName(lineName_) {}
+
+  GpiodRegularByLineName(std::string lineName_, std::string consumer_)
+      : GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
+                         gpio::LOW),
+        lineName(lineName_) {}
+
+  std::string lineName;
+};
+
 class GpioCallback : public GpioBase {
  public:
-    GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
-            gpio::gpio_cb_t callback, void* callbackArgs):
-            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
-            callback(callback), callbackArgs(callbackArgs) {}
+  GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
+               gpio::gpio_cb_t callback, void* callbackArgs)
+      : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+        callback(callback),
+        callbackArgs(callbackArgs) {}
 
   gpio::gpio_cb_t callback = nullptr;
   void* callbackArgs = nullptr;
 };
 
-
 using GpioMap = std::map<gpioId_t, GpioBase*>;
 using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
 using GpioMapIter = GpioMap::iterator;

hal/src/fsfw_hal/common/spi/spiCommon.h

@@ -5,12 +5,7 @@
 
 namespace spi {
 
-enum SpiModes: uint8_t {
-    MODE_0,
-    MODE_1,
-    MODE_2,
-    MODE_3
-};
+enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
 
 }
 

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -1,13 +1,14 @@
 #include "GyroL3GD20Handler.h"
 
-#include "fsfw/datapool/PoolReadGuard.h"
-
 #include <cmath>
 
+#include "fsfw/datapool/PoolReadGuard.h"
+
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie, uint32_t transitionDelayMs):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        transitionDelayMs(transitionDelayMs), dataset(this) {
+                                       CookieIF *comCookie, uint32_t transitionDelayMs)
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
+      transitionDelayMs(transitionDelayMs),
+      dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
   debugDivider = new PeriodicOperationDivider(3);
 #endif
@@ -32,8 +33,7 @@ void GyroHandlerL3GD20H::doStartUp() {
       internalState = InternalState::NORMAL;
       if (goNormalModeImmediately) {
         setMode(MODE_NORMAL);
-            }
-            else {
+      } else {
         setMode(_MODE_TO_ON);
       }
       commandExecuted = false;
@@ -41,9 +41,7 @@ void GyroHandlerL3GD20H::doStartUp() {
   }
 }
 
-void GyroHandlerL3GD20H::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
+void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
 ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   switch (internalState) {
@@ -69,9 +67,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       /* Might be a configuration error. */
       sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state!" << std::endl;
+                      "Unknown internal state!"
+                   << std::endl;
 #else
-        sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
+      sif::printDebug(
+          "GyroL3GD20Handler::buildTransitionDeviceCommand: "
           "Unknown internal state!\n");
 #endif
       return HasReturnvaluesIF::RETURN_OK;
@@ -84,8 +84,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id
   return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                          const uint8_t *commandData,
                                                           size_t commandDataLen) {
   switch (deviceCommand) {
     case (L3GD20H::READ_REGS): {
@@ -112,11 +112,9 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
 
       if (not fsH and not fsL) {
         sensitivity = L3GD20H::SENSITIVITY_00;
-        }
-        else if(not fsH and fsL) {
+      } else if (not fsH and fsL) {
         sensitivity = L3GD20H::SENSITIVITY_01;
-        }
-        else {
+      } else {
         sensitivity = L3GD20H::SENSITIVITY_11;
       }
 
@@ -131,8 +129,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
       break;
     }
     case (L3GD20H::READ_CTRL_REGS): {
-        commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
-                L3GD20H::READ_MASK;
+      commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
 
       std::memset(commandBuffer + 1, 0, 5);
       rawPacket = commandBuffer;
@@ -167,8 +164,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
           packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
           packet[5] == ctrlReg5Value) {
         commandExecuted = true;
-        }
-        else {
+      } else {
         // Attempt reconfiguration
         internalState = InternalState::CONFIGURE;
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
@@ -180,8 +176,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
           packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
           packet[5] != ctrlReg5Value) {
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        else {
+      } else {
         if (internalState == InternalState::CHECK_REGS) {
           commandExecuted = true;
         }
@@ -220,24 +215,21 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
         if (std::abs(angVelocX) < this->absLimitX) {
           dataset.angVelocX = angVelocX;
           dataset.angVelocX.setValid(true);
-            }
-            else {
+        } else {
           dataset.angVelocX.setValid(false);
         }
 
         if (std::abs(angVelocY) < this->absLimitY) {
           dataset.angVelocY = angVelocY;
           dataset.angVelocY.setValid(true);
-            }
-            else {
+        } else {
           dataset.angVelocY.setValid(false);
         }
 
         if (std::abs(angVelocZ) < this->absLimitZ) {
           dataset.angVelocZ = angVelocZ;
           dataset.angVelocZ.setValid(true);
-            }
-            else {
+        } else {
           dataset.angVelocZ.setValid(false);
         }
 
@@ -252,17 +244,14 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
   return result;
 }
 
-
 uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
   return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
-    this->goNormalModeImmediately = true;
-}
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
 
-ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+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}));
@@ -276,9 +265,7 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
   insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
 }
 
-void GyroHandlerL3GD20H::modeChanged() {
-    internalState = InternalState::NONE;
-}
+void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
 
 void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
   this->absLimitX = limitX;

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -1,12 +1,12 @@
 #ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
 #define MISSION_DEVICES_GYROL3GD20HANDLER_H_
 
-#include "fsfw/FSFW.h"
-#include "devicedefinitions/GyroL3GD20Definitions.h"
-
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 
+#include "devicedefinitions/GyroL3GD20Definitions.h"
+#include "fsfw/FSFW.h"
+
 /**
  * @brief 	Device Handler for the L3GD20H gyroscope sensor
  *          (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
@@ -18,8 +18,8 @@
  */
 class GyroHandlerL3GD20H : public DeviceHandlerBase {
  public:
-    GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie, uint32_t transitionDelayMs);
+  GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
+                     uint32_t transitionDelayMs);
   virtual ~GyroHandlerL3GD20H();
 
   /**
@@ -35,22 +35,18 @@ public:
    * @brief   Configure device handler to go to normal mode immediately
    */
   void setToGoToNormalMode(bool enable);
-protected:
 
+ protected:
   /* DeviceHandlerBase overrides */
-    ReturnValue_t buildTransitionDeviceCommand(
-            DeviceCommandId_t *id) override;
+  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,
+  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;
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-            const uint8_t *packet) 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, const uint8_t *packet) override;
 
   void fillCommandAndReplyMap() override;
   void modeChanged() override;
@@ -66,12 +62,7 @@ private:
   float absLimitY = L3GD20H::RANGE_DPS_00;
   float absLimitZ = L3GD20H::RANGE_DPS_00;
 
-    enum class InternalState {
-        NONE,
-        CONFIGURE,
-        CHECK_REGS,
-        NORMAL
-    };
+  enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
   InternalState internalState = InternalState::NONE;
   bool commandExecuted = false;
 
@@ -94,6 +85,4 @@ private:
 #endif
 };
 
-
-
 #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -8,9 +8,10 @@
 #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) {
+                                     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
@@ -20,12 +21,9 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
   registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
   registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
   registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-}
-
-MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
 }
 
+MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
 
 void MgmLIS3MDLHandler::doStartUp() {
   switch (internalState) {
@@ -51,8 +49,7 @@ void MgmLIS3MDLHandler::doStartUp() {
         commandExecuted = false;
         if (goToNormalMode) {
           setMode(MODE_NORMAL);
-            }
-            else {
+        } else {
           setMode(_MODE_TO_ON);
         }
       }
@@ -61,19 +58,15 @@ void MgmLIS3MDLHandler::doStartUp() {
     default:
       break;
   }
-
 }
 
-void MgmLIS3MDLHandler::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
+void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
-ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
-        DeviceCommandId_t *id) {
+ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   switch (internalState) {
     case (InternalState::STATE_NONE):
     case (InternalState::STATE_NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
+      return DeviceHandlerBase::NOTHING_TO_SEND;
     }
     case (InternalState::STATE_FIRST_CONTACT): {
       *id = MGMLIS3MDL::IDENTIFY_DEVICE;
@@ -90,14 +83,13 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
     default: {
       /* might be a configuration error. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
-                std::endl;
+      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);
 }
@@ -119,7 +111,6 @@ uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
 }
 
 void MgmLIS3MDLHandler::setupMgm() {
-
   registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
   registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
   registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@@ -129,24 +120,21 @@ void MgmLIS3MDLHandler::setupMgm() {
   prepareCtrlRegisterWrite();
 }
 
-ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
-        DeviceCommandId_t *id) {
+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 {
+  } else {
     *id = MGMLIS3MDL::READ_TEMPERATURE;
     communicationStep = CommunicationStep::DATA;
     return buildCommandFromCommand(*id, NULL, 0);
   }
-
 }
 
-ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                         const uint8_t *commandData,
                                                          size_t commandDataLen) {
   switch (deviceCommand) {
     case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
@@ -195,16 +183,15 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
   return RETURN_OK;
 }
 
-ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
-        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
+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 (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;
@@ -218,16 +205,13 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
       commandExecuted = true;
     }
 
-    }
-    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
+  } else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
     *foundLen = len;
     *foundId = MGMLIS3MDL::READ_TEMPERATURE;
-    }
-    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
+  } else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
     *foundLen = len;
     *foundId = MGMLIS3MDL::SETUP_MGM;
-    }
-    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
+  } else if (len == SINGLE_COMMAND_ANSWER_LEN) {
     *foundLen = len;
     *foundId = getPendingCommand();
     if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
@@ -235,9 +219,11 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
-                        "Device identification failed!" << std::endl;
+                        "Device identification failed!"
+                     << std::endl;
 #else
-                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
+        sif::printWarning(
+            "MGMHandlerLIS3MDL::scanForReply: "
             "Device identification failed!\n");
 #endif
 #endif
@@ -248,23 +234,18 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
         commandExecuted = true;
       }
     }
-    }
-    else {
+  } else {
     return DeviceHandlerIF::INVALID_DATA;
   }
 
   /* Data with SPI Interface always has this answer */
   if (start[0] == 0b11111111) {
     return RETURN_OK;
-    }
-    else {
+  } else {
     return DeviceHandlerIF::INVALID_DATA;
   }
-
 }
-ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
-        const uint8_t *packet) {
-
+ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
   switch (id) {
     case MGMLIS3MDL::IDENTIFY_DEVICE: {
       break;
@@ -276,26 +257,27 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
       // 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] ;
+      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;
+      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;
+                     " microtesla:"
+                  << std::endl;
         sif::info << "X: " << mgmX << " uT" << std::endl;
         sif::info << "Y: " << mgmY << " uT" << std::endl;
         sif::info << "Z: " << mgmZ << " uT" << std::endl;
@@ -312,24 +294,21 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
         if (std::abs(mgmX) < absLimitX) {
           dataset.fieldStrengthX = mgmX;
           dataset.fieldStrengthX.setValid(true);
-            }
-            else {
+        } else {
           dataset.fieldStrengthX.setValid(false);
         }
 
         if (std::abs(mgmY) < absLimitY) {
           dataset.fieldStrengthY = mgmY;
           dataset.fieldStrengthY.setValid(true);
-            }
-            else {
+        } else {
           dataset.fieldStrengthY.setValid(false);
         }
 
         if (std::abs(mgmZ) < absLimitZ) {
           dataset.fieldStrengthZ = mgmZ;
           dataset.fieldStrengthZ.setValid(true);
-            }
-            else {
+        } else {
           dataset.fieldStrengthZ.setValid(false);
         }
       }
@@ -342,8 +321,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
       if (debugDivider->check()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
-                    std::endl;
+        sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
 #else
         sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
 #endif
@@ -360,7 +338,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
     default: {
       return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
-
   }
   return RETURN_OK;
 }
@@ -400,9 +377,8 @@ float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
   }
 }
 
-
-ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
-        const uint8_t *commandData, size_t commandDataLen) {
+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);
@@ -471,9 +447,7 @@ void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
   insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
 }
 
-void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
-    this->goToNormalMode = enable;
-}
+void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
 
 ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
   commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
@@ -488,28 +462,18 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
   return RETURN_OK;
 }
 
-void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
 
-}
+uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
 
-uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return transitionDelay;
-}
+void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
 
-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}));
+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;
 }
 

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -1,10 +1,9 @@
 #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
-#include "fsfw/FSFW.h"
-#include "events/subsystemIdRanges.h"
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
-
+#include "events/subsystemIdRanges.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 class PeriodicOperationDivider;
@@ -20,10 +19,7 @@ class PeriodicOperationDivider;
  */
 class MgmLIS3MDLHandler : public DeviceHandlerBase {
  public:
-    enum class CommunicationStep {
-        DATA,
-        TEMPERATURE
-    };
+  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;
@@ -45,21 +41,17 @@ public:
   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,
+  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;
+  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
@@ -67,8 +59,7 @@ protected:
    * @param packet
    * @return
    */
-    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-            const uint8_t *packet) override;
+  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,
@@ -159,16 +150,14 @@ private:
    * @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);
+  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);
+  virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
 
   /**
    * We always update all registers together, so this method updates

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -1,16 +1,16 @@
 #include "MgmRM3100Handler.h"
 
 #include "fsfw/datapool/PoolReadGuard.h"
-#include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/devicehandlers/DeviceHandlerMessage.h"
+#include "fsfw/globalfunctions/bitutility.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) {
+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
@@ -45,8 +45,7 @@ void MgmRM3100Handler::doStartUp() {
         internalState = InternalState::NORMAL;
         if (goToNormalModeAtStartup) {
           setMode(MODE_NORMAL);
-            }
-            else {
+        } else {
           setMode(_MODE_TO_ON);
         }
       }
@@ -58,12 +57,9 @@ void MgmRM3100Handler::doStartUp() {
   }
 }
 
-void MgmRM3100Handler::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
+void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
-ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
-        DeviceCommandId_t *id) {
+ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
   size_t commandLen = 0;
   switch (internalState) {
     case (InternalState::NONE):
@@ -93,9 +89,11 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       // Might be a configuration error
       sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
-                "Unknown internal state" << std::endl;
+                      "Unknown internal state"
+                   << std::endl;
 #else
-        sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
+      sif::printWarning(
+          "MgmRM3100Handler::buildTransitionDeviceCommand: "
           "Unknown internal state\n");
 #endif
 #endif
@@ -106,7 +104,8 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
 }
 
 ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                        const uint8_t *commandData,
+                                                        size_t commandDataLen) {
   switch (deviceCommand) {
     case (RM3100::CONFIGURE_CMM): {
       commandBuffer[0] = RM3100::CMM_REGISTER;
@@ -154,16 +153,13 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
   return RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
-        DeviceCommandId_t *id) {
+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) {
-
+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;
@@ -186,11 +182,10 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
       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);
+      bitutil::clear(&cmmValue, 6);
       if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
         commandExecuted = true;
-        }
-        else {
+      } else {
         // Attempt reconfiguration
         internalState = InternalState::CONFIGURE_CMM;
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
@@ -204,8 +199,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
         if (mode != _MODE_START_UP) {
           triggerEvent(tmrcSet, tmrcRegValue, 0);
         }
-        }
-        else {
+      } else {
         // Attempt reconfiguration
         internalState = InternalState::STATE_CONFIGURE_TMRC;
         return DeviceHandlerIF::DEVICE_REPLY_INVALID;
@@ -239,7 +233,8 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
 }
 
 ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                              const uint8_t *commandData,
+                                                              size_t commandDataLen) {
   if (commandData == nullptr) {
     return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
   }
@@ -247,11 +242,9 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
   // Set cycle count
   if (commandDataLen == 2) {
     handleCycleCommand(true, commandData, commandDataLen);
-    }
-    else if(commandDataLen == 6) {
+  } else if (commandDataLen == 6) {
     handleCycleCommand(false, commandData, commandDataLen);
-    }
-    else {
+  } else {
     return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
   }
 
@@ -264,11 +257,11 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
-        const uint8_t *commandData, size_t commandDataLen) {
+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);
+  ReturnValue_t result =
+      command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
@@ -289,7 +282,8 @@ ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
 }
 
 ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
+                                                        const uint8_t *commandData,
+                                                        size_t commandDataLen) {
   if (commandData == nullptr or commandDataLen != 1) {
     return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
   }
@@ -315,12 +309,10 @@ void MgmRM3100Handler::fillCommandAndReplyMap() {
   insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
 }
 
-void MgmRM3100Handler::modeChanged(void) {
-    internalState = InternalState::NONE;
-}
+void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
 
-ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+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}));
@@ -331,9 +323,7 @@ uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
   return this->transitionDelay;
 }
 
-void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
-    goToNormalModeAtStartup = enable;
-}
+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
@@ -351,7 +341,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
   if (debugDivider->checkAndIncrement()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "MgmRM3100Handler: Magnetic field strength in"
-                " microtesla:" << std::endl;
+                 " microtesla:"
+              << std::endl;
     sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
     sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
     sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -1,8 +1,8 @@
 #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
 #define MISSION_DEVICES_MGMRM3100HANDLER_H_
 
-#include "fsfw/FSFW.h"
 #include "devicedefinitions/MgmRM3100HandlerDefs.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
@@ -21,17 +21,16 @@ 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);
+  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);
+  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);
+  MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
+                   uint32_t transitionDelay);
   virtual ~MgmRM3100Handler();
 
   /**
@@ -41,17 +40,15 @@ public:
   void setToGoToNormalMode(bool enable);
 
  protected:
-
   /* DeviceHandlerBase overrides */
-	ReturnValue_t buildTransitionDeviceCommand(
-	        DeviceCommandId_t *id) override;
+  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 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;
@@ -61,7 +58,6 @@ protected:
                                         LocalDataPoolManager &poolManager) override;
 
  private:
-
   enum class InternalState {
     NONE,
     CONFIGURE_CMM,
@@ -95,11 +91,11 @@ private:
 
   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 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 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

hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+
 #include <cstdint>
 
 namespace L3GD20H {
@@ -36,8 +37,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
 static constexpr uint8_t SET_X_ENABLE = 1 << 1;
 static constexpr uint8_t SET_Y_ENABLE = 1;
 
-static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
-		SET_Y_ENABLE | SET_X_ENABLE;
+static constexpr uint8_t CTRL_REG_1_VAL =
+    SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
 
 /* Register 2 */
 static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
@@ -104,40 +105,29 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
 
 static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
 
-enum GyroPoolIds: lp_id_t {
-    ANG_VELOC_X,
-	ANG_VELOC_Y,
-	ANG_VELOC_Z,
-	TEMPERATURE
-};
+enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
 
-}
+}  // namespace L3GD20H
 
 class GyroPrimaryDataset : public StaticLocalDataSet<5> {
  public:
-
   /** Constructor  for data users like controllers */
-    GyroPrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
+  GyroPrimaryDataset(object_id_t mgmId)
+      : StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
     setAllVariablesReadOnly();
   }
 
   /* Angular velocities in degrees per second (DPS) */
-    lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_X, this);
-    lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_Y, this);
-    lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
-            L3GD20H::ANG_VELOC_Z, this);
-    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-            L3GD20H::TEMPERATURE, this);
-private:
+  lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
+  lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
+  lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
+  lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
 
+ private:
   friend class GyroHandlerL3GD20H;
   /** Constructor  for the data creator */
-    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
+  GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
 };
 
-
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h

@@ -1,26 +1,18 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
 
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+
 #include <cstdint>
 
 namespace MGMLIS3MDL {
 
-enum Set {
-    ON, OFF
-};
-enum OpMode {
-    LOW, MEDIUM, HIGH, ULTRA
-};
+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
-};
+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;
@@ -114,8 +106,8 @@ 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);
+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
@@ -156,23 +148,16 @@ enum MgmPoolIds: lp_id_t {
 
 class MgmPrimaryDataset : public StaticLocalDataSet<4> {
  public:
-    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
+  MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
 
-    MgmPrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, 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);
+  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);
 };
 
-}
-
+}  // namespace MGMLIS3MDL
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h

@@ -1,10 +1,11 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
 
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/serialize/SerialLinkedListAdapter.h>
+
 #include <cstdint>
 
 namespace RM3100 {
@@ -24,8 +25,8 @@ 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;
+static constexpr uint8_t CMM_VALUE =
+    SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
 
 /*----------------------------------------------------------------------------*/
 /* Cycle count register */
@@ -33,8 +34,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
 // 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 float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
 static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
 
 /*----------------------------------------------------------------------------*/
@@ -75,8 +75,7 @@ public:
 
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             Endianness streamEndianness) override {
-		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
-				size, streamEndianness);
+    ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
     if (oneCycleCount) {
       cycleCountY = cycleCountX;
       cycleCountZ = cycleCountX;
@@ -110,23 +109,16 @@ enum MgmPoolIds: lp_id_t {
 
 class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
  public:
-	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
-        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
+  Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
 
-	Rm3100PrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, 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);
+  lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
+  lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
+  lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
 };
 
-}
-
-
+}  // namespace RM3100
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,10 +4,13 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
 	add_subdirectory(gpio)
 	add_subdirectory(spi)
 	add_subdirectory(i2c)
 	add_subdirectory(uart)
+endif()

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,207 @@
+#include "CommandExecutor.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+#include "fsfw/container/DynamicFIFO.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/serviceinterface.h"
+
+CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
+  waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+  if (state == States::PENDING) {
+    return COMMAND_PENDING;
+  }
+
+  currentCmd = command;
+  this->blocking = blocking;
+  this->printOutput = printOutput;
+  if (state == States::IDLE) {
+    state = States::COMMAND_LOADED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+  if (state == States::IDLE) {
+    return NO_COMMAND_LOADED_OR_PENDING;
+  } else if (state == States::PENDING) {
+    return COMMAND_PENDING;
+  }
+  currentCmdFile = popen(currentCmd.c_str(), "r");
+  if (currentCmdFile == nullptr) {
+    lastError = errno;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (blocking) {
+    ReturnValue_t result = executeBlocking();
+    state = States::IDLE;
+    return result;
+  } else {
+    currentFd = fileno(currentCmdFile);
+    waiter.fd = currentFd;
+  }
+  state = States::PENDING;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+  if (state == States::PENDING) {
+    // Attempt to close process, irrespective of if it is running or not
+    if (currentCmdFile != nullptr) {
+      pclose(currentCmdFile);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+  if (lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << funcName << " pclose failed with code " << lastError << ": "
+                 << strerror(lastError) << std::endl;
+#else
+    sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
+                    strerror(lastError));
+#endif
+  }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
+                                    DynamicFIFO<uint16_t>* sizesFifo) {
+  this->ringBuffer = ringBuffer;
+  this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& replyReceived) {
+  if (blocking) {
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+  switch (state) {
+    case (States::IDLE):
+    case (States::COMMAND_LOADED): {
+      return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case (States::PENDING): {
+      break;
+    }
+  }
+
+  int result = poll(&waiter, 1, 0);
+  switch (result) {
+    case (0): {
+      return HasReturnvaluesIF::RETURN_OK;
+      break;
+    }
+    case (1): {
+      if (waiter.revents & POLLIN) {
+        ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+        if (readBytes == 0) {
+          // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::warning << "CommandExecutor::check: No bytes read "
+                          "after poll event.."
+                       << std::endl;
+#else
+          sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+          break;
+        } else if (readBytes > 0) {
+          replyReceived = true;
+          if (printOutput) {
+            // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << readVec.data();
+#else
+            sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+          }
+          if (ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
+          }
+          if (sizesFifo != nullptr) {
+            if (not sizesFifo->full()) {
+              sizesFifo->insert(readBytes);
+            }
+          }
+        } else {
+          // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
+                       << std::endl;
+#else
+          sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+        }
+      }
+      if (waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+        sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+        return COMMAND_ERROR;
+      }
+      if (waiter.revents & POLLHUP) {
+        result = pclose(currentCmdFile);
+        ReturnValue_t retval = EXECUTION_FINISHED;
+        if (result != 0) {
+          lastError = result;
+          retval = HasReturnvaluesIF::RETURN_FAILED;
+        }
+        state = States::IDLE;
+        currentCmdFile = nullptr;
+        currentFd = 0;
+        return retval;
+      }
+      break;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+  CommandExecutor::close();
+  currentCmdFile = nullptr;
+  currentFd = 0;
+  state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+  // See:
+  // https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
+  return WEXITSTATUS(this->lastError);
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+  while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+    std::string output(readVec.data());
+    if (printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::info << currentCmd << " | " << output;
+#else
+      sif::printInfo("%s | %s", currentCmd, output);
+#endif
+    }
+    if (ringBuffer != nullptr) {
+      ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+    }
+    if (sizesFifo != nullptr) {
+      if (not sizesFifo->full()) {
+        sizesFifo->insert(output.size());
+      }
+    }
+  }
+  int result = pclose(currentCmdFile);
+  if (result != 0) {
+    lastError = result;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,129 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class SimpleRingBuffer;
+template <typename T>
+class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+ public:
+  enum class States { IDLE, COMMAND_LOADED, PENDING };
+
+  static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+  //! [EXPORT] : [COMMENT] Execution of the current command has finished
+  static constexpr ReturnValue_t EXECUTION_FINISHED =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+  //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+  //! to load another command but a command is still pending
+  static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+  //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+  static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+  //! [EXPORT] : [COMMENT] Command execution failed
+  static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+  //! [EXPORT] : [COMMENT]
+  static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+      HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+  static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+  /**
+   * Constructor. Is initialized with maximum size of internal buffer to read data from the
+   * executed process.
+   * @param maxSize
+   */
+  CommandExecutor(const size_t maxSize);
+
+  /**
+   * Load a new command which should be executed
+   * @param command
+   * @param blocking
+   * @param printOutput
+   * @return
+   */
+  ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+  /**
+   * Execute the loaded command.
+   * @return
+   *  - In blocking mode, it will return RETURN_FAILED if
+   *    the result of the system call was not 0. The error value can be accessed using
+   *    getLastError
+   *  - In non-blocking mode, this call will start
+   *    the execution and then return RETURN_OK
+   */
+  ReturnValue_t execute();
+  /**
+   * Only used in non-blocking mode. Checks the currently running command.
+   * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+   * @return
+   *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+   *    check again after this
+   *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+   *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+   *  - EXECUTION_FINISHED if the process was executed successfully
+   *  - NO_COMMAND_LOADED_OR_PENDING self-explanatory
+   *  - COMMAND_ERROR internal poll error
+   */
+  ReturnValue_t check(bool& replyReceived);
+  /**
+   * Abort the current command. Should normally not be necessary, check can be used to find
+   * out whether command execution was successful
+   * @return RETURN_OK
+   */
+  ReturnValue_t close();
+
+  States getCurrentState() const;
+  int getLastError() const;
+  void printLastError(std::string funcName) const;
+
+  /**
+   * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+   * read from the started process
+   * @param ringBuffer
+   * @param sizesFifo
+   */
+  void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+  /**
+   * Reset the executor. This calls close internally and then reset the state machine so new
+   * commands can be loaded and executed
+   */
+  void reset();
+
+ private:
+  std::string currentCmd;
+  bool blocking = true;
+  FILE* currentCmdFile = nullptr;
+  int currentFd = 0;
+  bool printOutput = true;
+  std::vector<char> readVec;
+  struct pollfd waiter {};
+  SimpleRingBuffer* ringBuffer = nullptr;
+  DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+  States state = States::IDLE;
+  int lastError = 0;
+
+  ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

hal/src/fsfw_hal/linux/UnixFileGuard.cpp

@@ -1,13 +1,14 @@
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
 
 #include <cerrno>
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+
 UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
-        std::string diagnosticPrefix):
-        fileDescriptor(fileDescriptor) {
+                             std::string diagnosticPrefix)
+    : fileDescriptor(fileDescriptor) {
   if (fileDescriptor == nullptr) {
     return;
   }
@@ -15,11 +16,11 @@ 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 << ": "
+                 << strerror(errno) << std::endl;
 #else
-        sif::printWarning("%s: Opening device failed with error code %d: %s\n",
-                diagnosticPrefix, errno, strerror(errno));
+    sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
+                      strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
     openStatus = OPEN_FILE_FAILED;
@@ -32,6 +33,4 @@ UnixFileGuard::~UnixFileGuard() {
   }
 }
 
-ReturnValue_t UnixFileGuard::getOpenResult() const {
-    return openStatus;
-}
+ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }

hal/src/fsfw_hal/linux/UnixFileGuard.h

@@ -1,13 +1,11 @@
 #ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
 #define LINUX_UTILITY_UNIXFILEGUARD_H_
 
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-
-#include <string>
-
 #include <fcntl.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <unistd.h>
 
+#include <string>
 
 class UnixFileGuard {
  public:
@@ -23,11 +21,10 @@ public:
   virtual ~UnixFileGuard();
 
   ReturnValue_t getOpenResult() const;
+
  private:
   int* fileDescriptor = nullptr;
   ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
 };
 
-
-
 #endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */

hal/src/fsfw_hal/linux/gpio/CMakeLists.txt

@@ -1,12 +1,16 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    LinuxLibgpioIF.cpp
-)
-
 # This abstraction layer requires the gpiod library. You can install this library
 # with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
 # to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod REQUIRED)
+find_library(LIB_GPIO gpiod)
 
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+    message(STATUS "gpiod library not found, not linking against it")
+else()
+    target_sources(${LIB_FSFW_NAME} PRIVATE
+        LinuxLibgpioIF.cpp
+    )
     target_link_libraries(${LIB_FSFW_NAME} PRIVATE
         ${LIB_GPIO}
     )
+endif()
+

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -1,15 +1,15 @@
-#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "LinuxLibgpioIF.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <gpiod.h>
+#include <unistd.h>
 
 #include <utility>
-#include <unistd.h>
-#include <gpiod.h>
 
-LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
-}
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/gpioDefinitions.h"
+
+LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
 
 LinuxLibgpioIF::~LinuxLibgpioIF() {
   for (auto& config : gpioMap) {
@@ -66,6 +66,14 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         configureGpioByLabel(gpioConfig.first, *regularGpio);
         break;
       }
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+        auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
+        if (regularGpio == nullptr) {
+          return GPIO_INVALID_INSTANCE;
+        }
+        configureGpioByLineName(gpioConfig.first, *regularGpio);
+        break;
+      }
       case (gpio::GpioTypes::CALLBACK): {
         auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
         if (gpioCallback->callback == nullptr) {
@@ -84,30 +92,54 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
   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 "
+    sif::warning << "LinuxLibgpioIF::configureGpioByLabel: 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);
+  return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
 }
 
-ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
-        GpiodRegularByChip &gpioByChip) {
+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;
+    sif::warning << "LinuxLibgpioIF::configureGpioByChip: 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);
+  return configureRegularGpio(gpioId, 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::configureGpioByLineName(gpioId_t gpioId,
+                                                      GpiodRegularByLineName& gpioByLineName) {
+  std::string& lineName = gpioByLineName.lineName;
+  char chipname[MAX_CHIPNAME_LENGTH];
+  unsigned int lineOffset;
+
+  int result =
+      gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
+  if (result != LINE_FOUND) {
+    parseFindeLineResult(result, lineName);
+    return RETURN_FAILED;
+  }
+
+  gpioByLineName.lineNum = static_cast<int>(lineOffset);
+
+  struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
+  if (chip == nullptr) {
+    sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
+                 << ". <Gpio ID: " << gpioId << std::endl;
+    return RETURN_FAILED;
+  }
+  std::string failOutput = "line name: " + lineName;
+  return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+                                                   GpiodRegularBase& regularGpio,
+                                                   std::string failOutput) {
   unsigned int lineNum;
   gpio::Direction direction;
   std::string consumer;
@@ -118,8 +150,8 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTy
   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 << "GPIO ID: " << gpioId << ", line number: " << lineNum << ", " << failOutput
+                 << std::endl;
     sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
     gpiod_chip_close(chip);
     return RETURN_FAILED;
@@ -130,32 +162,31 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTy
   /* 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);
-        if (result < 0) {
-            sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
-                    " from GPIO instance with ID: " << gpioId << std::endl;
-            gpiod_line_release(lineHandle);
-            return RETURN_FAILED;
-        }
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio.initValue);
       break;
     }
     case (gpio::IN): {
       result = gpiod_line_request_input(lineHandle, consumer.c_str());
-        if (result < 0) {
-            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
-                    << lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
-            gpiod_line_release(lineHandle);
-            return RETURN_FAILED;
-        }
       break;
     }
     default: {
-        sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
-                << std::endl;
+      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
       return GPIO_INVALID_INSTANCE;
     }
 
+      if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
+                   << " from GPIO instance with ID: " << gpioId << std::endl;
+#else
+        sif::printError(
+            "LinuxLibgpioIF::configureRegularGpio: "
+            "Failed to request line %d from GPIO instance with ID: %d\n",
+            lineNum, gpioId);
+#endif
+        gpiod_line_release(lineHandle);
+        return RETURN_FAILED;
+      }
   }
   /**
    * Write line handle to GPIO configuration instance so it can later be used to set or
@@ -174,20 +205,20 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
 
   auto gpioType = gpioMapIter->second->gpioType;
   if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
-            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
     auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
     return driveGpio(gpioId, *regularGpio, gpio::HIGH);
-    }
-    else {
+  } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
       return GPIO_INVALID_INSTANCE;
     }
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                1, gpioCallback->callbackArgs);
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
+                           gpioCallback->callbackArgs);
     return RETURN_OK;
   }
   return GPIO_TYPE_FAILURE;
@@ -196,37 +227,48 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
+#else
+    sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
+#endif
     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) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
     auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
     return driveGpio(gpioId, *regularGpio, gpio::LOW);
-    }
-    else {
+  } else {
     auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
     if (gpioCallback->callback == nullptr) {
       return GPIO_INVALID_INSTANCE;
     }
-        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                0, gpioCallback->callbackArgs);
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
+                           gpioCallback->callbackArgs);
     return RETURN_OK;
   }
   return GPIO_TYPE_FAILURE;
 }
 
-ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
-        GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
+                                        gpio::Levels logicLevel) {
   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;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
+                 << " to logic level " << logicLevel << std::endl;
+#else
+    sif::printWarning(
+        "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+        "logic level %d\n",
+        gpioId, logicLevel);
+#endif
     return DRIVE_GPIO_FAILURE;
   }
 
@@ -236,23 +278,32 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
   gpioMapIter = gpioMap.find(gpioId);
   if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+#else
+    sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
+#endif
     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) {
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
+      gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
     auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
     if (regularGpio == nullptr) {
       return GPIO_TYPE_FAILURE;
     }
     *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
+  } else {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+    if (gpioCallback->callback == nullptr) {
+      return GPIO_INVALID_INSTANCE;
     }
-    else {
-
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
+                           gpioCallback->callbackArgs);
+    return RETURN_OK;
   }
-
-
   return RETURN_OK;
 }
 
@@ -262,13 +313,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
   for (auto& gpioConfig : mapToAdd) {
     switch (gpioConfig.second->gpioType) {
       case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
         auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
         if (regularGpio == nullptr) {
           return GPIO_TYPE_FAILURE;
         }
-            /* Check for conflicts and remove duplicates if necessary */
-            result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
+        // Check for conflicts and remove duplicates if necessary
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
         if (result != HasReturnvaluesIF::RETURN_OK) {
           status = result;
         }
@@ -279,66 +331,116 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
         if (callbackGpio == nullptr) {
           return GPIO_TYPE_FAILURE;
         }
-            /* Check for conflicts and remove duplicates if necessary */
-            result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
+        // Check for conflicts and remove duplicates if necessary
+        result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
         if (result != HasReturnvaluesIF::RETURN_OK) {
           status = result;
         }
         break;
       }
       default: {
-
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
+#else
+        sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
+#endif
+        status = GPIO_TYPE_FAILURE;
       }
     }
   }
   return status;
 }
 
-
-ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
-        GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
-    /* Cross check with private map */
+ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
+                                                    gpio::GpioTypes expectedType,
+                                                    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) {
-            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
-                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
-            mapToAdd.erase(gpioIdToCheck);
-            return HasReturnvaluesIF::RETURN_OK;
+    bool eraseDuplicateDifferentType = false;
+    switch (expectedType) {
+      case (gpio::GpioTypes::NONE): {
+        break;
       }
-        auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
-        if(ownRegularGpio == nullptr) {
-            return GPIO_TYPE_FAILURE;
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+      case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+        if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+          eraseDuplicateDifferentType = true;
+        }
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        if (gpioType != gpio::GpioTypes::CALLBACK) {
+          eraseDuplicateDifferentType = true;
+        }
+      }
+    }
+    if (eraseDuplicateDifferentType) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                      "different GPIO type "
+                   << gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
+#else
+      sif::printWarning(
+          "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+          "different GPIO type %d. Removing duplicate from map to add\n",
+          gpioIdToCheck);
+#endif
+      mapToAdd.erase(gpioIdToCheck);
+      return GPIO_DUPLICATE_DETECTED;
     }
 
-        /* Remove element from map to add because a entry for this GPIO
-        already exists */
-        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
-                << " detected. Duplicate will be removed from map to add." << std::endl;
+    // Remove element from map to add because a entry for this GPIO already exists
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
+                    "definition with ID "
+                 << gpioIdToCheck << " detected. "
+                 << "Duplicate will be removed from map to add" << std::endl;
+#else
+    sif::printWarning(
+        "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+        "with ID %d detected. Duplicate will be removed from map to add\n",
+        gpioIdToCheck);
+#endif
     mapToAdd.erase(gpioIdToCheck);
+    return GPIO_DUPLICATE_DETECTED;
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
-        GpioCallback *callbackGpio, GpioMap& mapToAdd) {
-    /* Cross check with private map */
-    gpioMapIter = gpioMap.find(gpioIdToCheck);
-    if(gpioMapIter != gpioMap.end()) {
-        if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
-            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
-                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
-            mapToAdd.erase(gpioIdToCheck);
-            return HasReturnvaluesIF::RETURN_OK;
+void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
+  switch (result) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    case LINE_NOT_EXISTS:
+    case LINE_ERROR: {
+      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
+                   << " does not exist" << std::endl;
+      break;
     }
-
-        /* Remove element from map to add because a entry for this GPIO
-        already exists */
-        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
-                << " detected. Duplicate will be removed from map to add." << std::endl;
-        mapToAdd.erase(gpioIdToCheck);
+    default: {
+      sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                      "with name "
+                   << lineName << std::endl;
+      break;
+    }
+#else
+    case LINE_NOT_EXISTS:
+    case LINE_ERROR: {
+      sif::printWarning(
+          "LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
+          "does not exist\n",
+          lineName);
+      break;
+    }
+    default: {
+      sif::printWarning(
+          "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+          "with name %s\n",
+          lineName);
+      break;
+    }
+#endif
   }
-    return HasReturnvaluesIF::RETURN_OK;
 }

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -1,23 +1,22 @@
 #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
 #define LINUX_GPIO_LINUXLIBGPIOIF_H_
 
-#include "../../common/gpio/GpioIF.h"
-#include <returnvalues/classIds.h>
-#include <fsfw/objectmanager/SystemObject.h>
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
 
 class GpioCookie;
 class GpiodRegularIF;
 
 /**
- * @brief	This class implements the GpioIF for a linux based system. The
- * 			implementation is based on the libgpiod lib which requires linux 4.8
- * 			or higher.
- * @note	The Petalinux SDK from Xilinx supports libgpiod since Petalinux
- * 			2019.1.
+ * @brief	This class implements the GpioIF for a linux based system.
+ * @details
+ * This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
+ * @note
+ * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
  */
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
  public:
-
   static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
 
   static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
@@ -28,6 +27,8 @@ public:
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
   static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
       HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+  static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
   LinuxLibgpioIF(object_id_t objectId);
   virtual ~LinuxLibgpioIF();
@@ -38,7 +39,12 @@ public:
   ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
  private:
-	/* Holds the information and configuration of all used GPIOs */
+  static const size_t MAX_CHIPNAME_LENGTH = 11;
+  static const int LINE_NOT_EXISTS = 0;
+  static const int LINE_ERROR = -1;
+  static const int LINE_FOUND = 1;
+
+  // Holds the information and configuration of all used GPIOs
   GpioUnorderedMap gpioMap;
   GpioUnorderedMapIter gpioMapIter;
 
@@ -48,13 +54,13 @@ 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, GpiodRegularBase& regularGpio, gpio::Levels 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 configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
+  ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+                                     GpiodRegularBase& regularGpio, std::string failOutput);
 
   /**
    * @brief	This function checks if GPIOs are already registered and whether
@@ -67,16 +73,14 @@ private:
    */
   ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
-	        GpioMap& mapToAdd);
-    ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
-            GpioMap& mapToAdd);
+  ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
 
   /**
    * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
    */
   ReturnValue_t configureGpios(GpioMap& mapToAdd);
 
+  void parseFindeLineResult(int result, std::string& lineName);
 };
 
 #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -1,35 +1,37 @@
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
 
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-#include <unistd.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <linux/i2c-dev.h>
 #include <errno.h>
+#include <fcntl.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
 
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/utility.h"
 
-I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
-}
+I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 I2cComIF::~I2cComIF() {}
 
 ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
-
   address_t i2cAddress;
   std::string deviceFile;
 
   if (cookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
   if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
@@ -41,28 +43,32 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
     I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
     auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
     if (not statusPair.second) {
-            sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
-                    i2cAddress << "to I2C device " << "map" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
+                 << i2cAddress << "to I2C device "
+                 << "map" << std::endl;
+#endif
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;
   }
 
-    sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
-            "already in use" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
+             << "already in use" << std::endl;
+#endif
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
-        const uint8_t *sendData, size_t sendLen) {
-
+ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
   ReturnValue_t result;
   int fd;
   std::string deviceFile;
 
   if (sendData == nullptr) {
-        sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
-                << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -72,15 +78,19 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
 
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
   if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
   i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
                << "registered in i2cDeviceMap" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -94,21 +104,20 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
     return result;
   }
 
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                "device with error code " << errno << ". Error description: "
-                << strerror(errno) << std::endl;
+                  "device with error code "
+               << errno << ". Error description: " << strerror(errno) << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
 
-ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
-        size_t requestLen) {
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   ReturnValue_t result;
   int fd;
   std::string deviceFile;
@@ -119,7 +128,9 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
 
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
   if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
+#endif
     i2cDeviceMapIter->second.replyLen = 0;
     return NULLPOINTER;
   }
@@ -127,8 +138,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
   address_t i2cAddress = i2cCookie->getAddress();
   i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
                << "registered in i2cDeviceMap" << std::endl;
+#endif
     i2cDeviceMapIter->second.replyLen = 0;
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -152,11 +165,14 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
     sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
                << "device failed with error code " << errno << ". Description"
                << " of error: " << strerror(errno) << std::endl;
-        sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
-                << requestLen << " bytes" << std::endl;
+    sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
+               << " bytes" << std::endl;
 #endif
     i2cDeviceMapIter->second.replyLen = 0;
-        sif::debug << "I2cComIF::requestReceiveMessage: Read "  << readLen << " of " << requestLen << " bytes" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
+               << " bytes" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
@@ -164,19 +180,22 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
-        uint8_t **buffer, size_t* size) {
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
   I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
   if (i2cCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   address_t i2cAddress = i2cCookie->getAddress();
   i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
   if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
                << "found in i2cDeviceMap" << std::endl;
+#endif
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   *buffer = i2cDeviceMapIter->second.replyBuffer.data();
@@ -185,9 +204,8 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
-        address_t i2cAddress, int* fileDescriptor) {
-
+ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
+                                   int* fileDescriptor) {
   if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1

hal/src/fsfw_hal/linux/i2c/I2cComIF.h

@@ -1,13 +1,14 @@
 #ifndef LINUX_I2C_I2COMIF_H_
 #define LINUX_I2C_I2COMIF_H_
 
-#include "I2cCookie.h"
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 #include <unordered_map>
 #include <vector>
 
+#include "I2cCookie.h"
+
 /**
  * @brief 	This is the communication interface for I2C devices connected
  * 			to a system running a Linux OS.
@@ -23,16 +24,12 @@ public:
   virtual ~I2cComIF();
 
   ReturnValue_t initializeInterface(CookieIF *cookie) override;
-	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
-			size_t sendLen) override;
+  ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
   ReturnValue_t getSendSuccess(CookieIF *cookie) override;
-	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-	        size_t requestLen) override;
-	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			size_t *size) override;
+  ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
 
  private:
-
   struct I2cInstance {
     std::vector<uint8_t> replyBuffer;
     size_t replyLen;
@@ -54,8 +51,7 @@ private:
    * @param fileDescriptor	Pointer to device descriptor.
    * @return	RETURN_OK if successful, otherwise RETURN_FAILED.
    */
-	ReturnValue_t openDevice(std::string deviceFile,
-			address_t i2cAddress, int* fileDescriptor);
+  ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
 };
 
 #endif /* LINUX_I2C_I2COMIF_H_ */

hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp

@@ -1,20 +1,12 @@
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
 
-I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
-		std::string deviceFile_) :
-		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
-}
+I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
+    : i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}
 
-address_t I2cCookie::getAddress() const {
-	return i2cAddress;
-}
+address_t I2cCookie::getAddress() const { return i2cAddress; }
 
-size_t I2cCookie::getMaxReplyLen() const {
-	return maxReplyLen;
-}
+size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }
 
-std::string I2cCookie::getDeviceFile() const {
-	return deviceFile;
-}
+std::string I2cCookie::getDeviceFile() const { return deviceFile; }
 
 I2cCookie::~I2cCookie() {}

hal/src/fsfw_hal/linux/i2c/I2cCookie.h

@@ -2,6 +2,7 @@
 #define LINUX_I2C_I2CCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
+
 #include <string>
 
 /**
@@ -11,7 +12,6 @@
  */
 class I2cCookie : public CookieIF {
  public:
-
   /**
    * @brief	Constructor for the I2C cookie.
    * @param i2cAddress_	The i2c address of the target device.
@@ -19,8 +19,7 @@ public:
    * 						target device.
    * @param devicFile_    The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
    */
-	I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
-			std::string deviceFile_);
+  I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
 
   virtual ~I2cCookie();
 
@@ -29,7 +28,6 @@ public:
   std::string getDeviceFile() const;
 
  private:
-
   address_t i2cAddress = 0;
   size_t maxReplyLen = 0;
   std::string deviceFile;

hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp

@@ -1,13 +1,13 @@
-#include "fsfw/FSFW.h"
-
 #include "fsfw_hal/linux/rpi/GpioRPi.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
+#include "fsfw/FSFW.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
-        std::string consumer, gpio::Direction direction, int initValue) {
+                                        std::string consumer, gpio::Direction direction,
+                                        int initValue) {
   if (cookie == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }

hal/src/fsfw_hal/linux/rpi/GpioRPi.h

@@ -2,6 +2,7 @@
 #define BSP_RPI_GPIO_GPIORPI_H_
 
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
 #include "../../common/gpio/gpioDefinitions.h"
 
 class GpioCookie;
@@ -21,6 +22,6 @@ namespace gpio {
  */
 ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
                                   std::string consumer, gpio::Direction direction, int initValue);
-}
+}  // namespace gpio
 
 #endif /* BSP_RPI_GPIO_GPIORPI_H_ */

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -1,22 +1,22 @@
-#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/ipc/MutexFactory.h>
-#include <fsfw/globalfunctions/arrayprinter.h>
-
-#include <linux/spi/spidev.h>
 #include <fcntl.h>
-#include <unistd.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+#include <fsfw/ipc/MutexFactory.h>
+#include <linux/spi/spidev.h>
 #include <sys/ioctl.h>
+#include <unistd.h>
 
 #include <cerrno>
 #include <cstring>
 
-SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
-        SystemObject(objectId), gpioComIF(gpioComIF) {
+#include "fsfw/FSFW.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/utility.h"
+
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
+    : SystemObject(objectId), gpioComIF(gpioComIF) {
   if (gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -47,11 +47,13 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
-                    spiAddress << "to SPI device map" << std::endl;
+      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
+                 << spiAddress << "to SPI device map" << std::endl;
 #else
-            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
-                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+      sif::printError(
+          "SpiComIF::initializeInterface: Failed to insert device with address "
+          "%lu to SPI device map\n",
+          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -59,8 +61,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     /* Now we emplaced the read buffer in the map, we still need to assign that location
     to the SPI driver transfer struct */
     spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
-    }
-    else {
+  } else {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
@@ -123,7 +124,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
   if (params.bitsPerWord != 8) {
     retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
     if (retval != 0) {
-            utility::handleIoctlError("SpiComIF::initializeInterface: "
+      utility::handleIoctlError(
+          "SpiComIF::initializeInterface: "
           "Could not write bits per word!");
     }
   }
@@ -141,11 +143,14 @@ 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),
+    sif::printWarning(
+        "SpiComIF::sendMessage: Too much data sent, send length %lu larger "
+        "than maximum buffer length %lu!\n",
+        static_cast<unsigned long>(sendLen),
         static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
@@ -154,8 +159,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
 
   if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
     result = performRegularSendOperation(spiCookie, sendData, sendLen);
-    }
-    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
+  } else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
     spi::send_callback_function_t sendFunc = nullptr;
     void* funcArgs = nullptr;
     spiCookie->getCallback(&sendFunc, &funcArgs);
@@ -230,14 +234,12 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
 #if FSFW_HAL_SPI_WIRETAPPING == 1
     performSpiWiretapping(spiCookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
-    }
-    else {
+  } else {
     /* We write with a blocking half-duplex transfer here */
     if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
-                    std::endl;
+      sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
 #else
       sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
@@ -259,9 +261,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
   return result;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
 
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
@@ -276,13 +276,11 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
   return performHalfDuplexReception(spiCookie);
 }
 
-
 ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   std::string device = spiCookie->getSpiDevice();
   int fileDescriptor = 0;
-    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
-            "SpiComIF::requestReceiveMessage");
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
   if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
     return OPENING_FILE_FAILED;
   }
@@ -391,9 +389,7 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-GpioIF* SpiComIF::getGpioInterface() {
-    return gpioComIF;
-}
+GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
 
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
   int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));

hal/src/fsfw_hal/linux/spi/SpiComIF.h

@@ -1,16 +1,15 @@
 #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 <unordered_map>
+#include <vector>
 
+#include "fsfw/FSFW.h"
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-
-#include <vector>
-#include <unordered_map>
+#include "fsfw_hal/common/gpio/GpioIF.h"
+#include "returnvalues/classIds.h"
+#include "spiDefinitions.h"
 
 class SpiCookie;
 
@@ -36,13 +35,10 @@ public:
   SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
 
   ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
-            size_t sendLen) override;
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
   ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-            size_t requestLen) override;
-    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-            size_t *size) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
 
   /**
    * @brief   This function returns the mutex which can be used to protect the spi bus when
@@ -68,7 +64,6 @@ public:
   ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
 
  private:
-
   struct SpiInstance {
     SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
     std::vector<uint8_t> replyBuffer;

hal/src/fsfw_hal/linux/spi/SpiCookie.cpp

@@ -1,35 +1,34 @@
 #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):
-        SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
-                spiSpeed, nullptr, nullptr) {
-
-}
+                     const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
+    : SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, nullptr, nullptr) {}
 
 SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
-        spi::SpiModes spiMode, uint32_t spiSpeed):
-                SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
-}
+                     spi::SpiModes spiMode, uint32_t spiSpeed)
+    : SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
 
 SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
                      const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
-        spi::send_callback_function_t callback, void *args):
-		        SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
-		                spiMode, spiSpeed, callback, args) {
-}
+                     spi::send_callback_function_t callback, void* args)
+    : SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
+                spiSpeed, callback, args) {}
 
 SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
-        std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
-        spi::send_callback_function_t callback, void* args):
-                spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
-                comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
-                sendCallback(callback), callbackArgs(args) {
-}
+                     std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
+                     uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
+    : spiAddress(spiAddress),
+      chipSelectPin(chipSelect),
+      spiDevice(spiDev),
+      comIfMode(comIfMode),
+      maxSize(maxSize),
+      spiMode(spiMode),
+      spiSpeed(spiSpeed),
+      sendCallback(callback),
+      callbackArgs(args) {}
 
-spi::SpiComIfModes SpiCookie::getComIfMode() const {
-    return this->comIfMode;
-}
+spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
 
 void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
                                  UncommonParameters* parameters) const {
@@ -45,41 +44,25 @@ void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
   }
 }
 
-gpioId_t SpiCookie::getChipSelectPin() const {
-    return chipSelectPin;
-}
+gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
 
-size_t SpiCookie::getMaxBufferSize() const {
-    return maxSize;
-}
+size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
 
-address_t SpiCookie::getSpiAddress() const {
-    return spiAddress;
-}
+address_t SpiCookie::getSpiAddress() const { return spiAddress; }
 
-std::string SpiCookie::getSpiDevice() const {
-    return spiDevice;
-}
+std::string SpiCookie::getSpiDevice() const { return spiDevice; }
 
-void SpiCookie::setThreeWireSpi(bool enable) {
-    uncommonParameters.threeWireSpi = enable;
-}
+void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
 
-void SpiCookie::setLsbFirst(bool enable) {
-    uncommonParameters.lsbFirst = enable;
-}
+void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
 
-void SpiCookie::setNoCs(bool enable) {
-    uncommonParameters.noCs = enable;
-}
+void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
 
 void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
   uncommonParameters.bitsPerWord = bitsPerWord;
 }
 
-void SpiCookie::setCsHigh(bool enable) {
-    uncommonParameters.csHigh = enable;
-}
+void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
 
 void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
   spiTransferStruct.cs_change = deselectCs;
@@ -98,47 +81,29 @@ void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
   }
 }
 
-void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
-        void *args) {
+void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
   this->comIfMode = spi::SpiComIfModes::CALLBACK;
   this->sendCallback = callback;
   this->callbackArgs = args;
 }
 
-void SpiCookie::setCallbackArgs(void *args) {
-    this->callbackArgs = args;
-}
+void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
 
-spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
-    return &spiTransferStruct;
-}
+spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
 
-void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
-    this->halfDuplex = halfDuplex;
-}
+void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
 
-bool SpiCookie::isFullDuplex() const {
-    return not this->halfDuplex;
-}
+bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
 
-void SpiCookie::setTransferSize(size_t transferSize) {
-    spiTransferStruct.len = transferSize;
-}
+void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
 
-size_t SpiCookie::getCurrentTransferSize() const {
-    return spiTransferStruct.len;
-}
+size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
 
-void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
-    this->spiSpeed = newSpeed;
-}
+void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
 
-void SpiCookie::setSpiMode(spi::SpiModes newMode) {
-    this->spiMode = newMode;
-}
+void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
 
-void SpiCookie::getCallback(spi::send_callback_function_t *callback,
-        void **args) {
+void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
   *callback = this->sendCallback;
   *args = this->callbackArgs;
 }

hal/src/fsfw_hal/linux/spi/SpiCookie.h

@@ -1,13 +1,12 @@
 #ifndef LINUX_SPI_SPICOOKIE_H_
 #define LINUX_SPI_SPICOOKIE_H_
 
-#include "spiDefinitions.h"
-#include "../../common/gpio/gpioDefinitions.h"
-
 #include <fsfw/devicehandlers/CookieIF.h>
-
 #include <linux/spi/spidev.h>
 
+#include "../../common/gpio/gpioDefinitions.h"
+#include "spiDefinitions.h"
+
 /**
  * @brief   This cookie class is passed to the SPI communication interface
  * @details
@@ -30,8 +29,8 @@ public:
    * @param spiDev
    * @param maxSize
    */
-    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
-            const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
+  SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed);
 
   /**
    * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@@ -141,8 +140,8 @@ public:
   void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
 
   spi_ioc_transfer* getTransferStructHandle();
-private:
 
+ private:
   /**
    * Internal constructor which initializes every field
    * @param spiAddress
@@ -178,6 +177,4 @@ private:
   UncommonParameters uncommonParameters;
 };
 
-
-
 #endif /* LINUX_SPI_SPICOOKIE_H_ */

hal/src/fsfw_hal/linux/spi/spiDefinitions.h

@@ -1,28 +1,25 @@
 #ifndef LINUX_SPI_SPIDEFINITONS_H_
 #define LINUX_SPI_SPIDEFINITONS_H_
 
-#include "../../common/gpio/gpioDefinitions.h"
-#include "../../common/spi/spiCommon.h"
-
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include <linux/spi/spidev.h>
 
 #include <cstdint>
 
+#include "../../common/gpio/gpioDefinitions.h"
+#include "../../common/spi/spiCommon.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
 class SpiCookie;
 class SpiComIF;
 
 namespace spi {
 
-enum SpiComIfModes {
-	REGULAR,
-	CALLBACK
-};
-
+enum SpiComIfModes { REGULAR, CALLBACK };
 
 using send_callback_function_t = ReturnValue_t (*)(SpiComIF* comIf, SpiCookie* cookie,
-        const uint8_t *sendData, size_t sendLen, void* args);
+                                                   const uint8_t* sendData, size_t sendLen,
+                                                   void* args);
 
-}
+}  // namespace spi
 
 #endif /* LINUX_SPI_SPIDEFINITONS_H_ */

hal/src/fsfw_hal/linux/uart/UartComIF.cpp

@@ -1,22 +1,21 @@
 #include "UartComIF.h"
-#include "OBSWConfig.h"
 
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-#include <cstring>
-#include <fcntl.h>
 #include <errno.h>
+#include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
 
-UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
-}
+#include <cstring>
+
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+#include "fsfw_hal/linux/utility.h"
+
+UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
 
 UartComIF::~UartComIF() {}
 
 ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
-
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
 
@@ -26,7 +25,9 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
@@ -42,14 +43,17 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
     UartElements uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
     auto status = uartDeviceMap.emplace(deviceFile, uartElements);
     if (status.second == false) {
-            sif::warning << "UartComIF::initializeInterface: Failed to insert device " <<
-                    deviceFile << "to UART device map" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
+                   << "to UART device map" << std::endl;
+#endif
       return RETURN_FAILED;
     }
-    }
-    else {
-        sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile <<
-                " already in use" << std::endl;
+  } else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::initializeInterface: UART device " << deviceFile
+                 << " already in use" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -57,7 +61,6 @@ ReturnValue_t UartComIF::initializeInterface(CookieIF* cookie) {
 }
 
 int UartComIF::configureUartPort(UartCookie* uartCookie) {
-
   struct termios options = {};
 
   std::string deviceFile = uartCookie->getDeviceFile();
@@ -70,15 +73,19 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
   int fd = open(deviceFile.c_str(), flags);
 
   if (fd < 0) {
-        sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile <<
-                "with error code " << errno << strerror(errno) << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Failed to open uart " << deviceFile
+                 << "with error code " << errno << strerror(errno) << std::endl;
+#endif
     return fd;
   }
 
   /* Read in existing settings */
   if (tcgetattr(fd, &options) != 0) {
-        sif::warning << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
-                << strerror(errno) << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Error " << errno
+                 << "from tcgetattr: " << strerror(errno) << std::endl;
+#endif
     return fd;
   }
 
@@ -99,8 +106,10 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
 
   /* Save option settings */
   if (tcsetattr(fd, TCSANOW, &options) != 0) {
-        sif::warning << "UartComIF::configureUartPort: Failed to set options with error " <<
-                errno << ": " << strerror(errno);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
+                 << ": " << strerror(errno);
+#endif
     return fd;
   }
   return fd;
@@ -152,7 +161,9 @@ void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCook
       options->c_cflag |= CS8;
       break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
+#endif
       break;
   }
 }
@@ -259,13 +270,14 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
       cfsetospeed(options, B460800);
       break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
+#endif
       break;
   }
 }
 
-ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
-        const uint8_t *sendData, size_t sendLen) {
+ReturnValue_t UartComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
   int fd = 0;
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
@@ -275,38 +287,44 @@ ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
   }
 
   if (sendData == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::sendMessage: Send data is nullptr" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::sendMessasge: Invalid UART Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
-        sif::debug << "UartComIF::sendMessage: Device file " << deviceFile <<
-                "not in UART map" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in UART map"
+               << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   fd = uartDeviceMapIter->second.fileDescriptor;
 
-    if (write(fd, sendData, sendLen) != (int)sendLen) {
-        sif::error << "UartComIF::sendMessage: Failed to send data with error code " <<
-                errno << ": Error description: " << strerror(errno) << std::endl;
+  if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
+               << ": Error description: " << strerror(errno) << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   return RETURN_OK;
 }
 
-ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
-    return RETURN_OK;
-}
+ReturnValue_t UartComIF::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
 
 ReturnValue_t UartComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
   std::string deviceFile;
@@ -314,7 +332,9 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
@@ -327,18 +347,18 @@ ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie, size_t requestL
   }
 
   if (uartDeviceMapIter == uartDeviceMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
                << " not in uart map" << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
   if (uartMode == UartModes::CANONICAL) {
     return handleCanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-    }
-    else if (uartMode == UartModes::NON_CANONICAL) {
+  } else if (uartMode == UartModes::NON_CANONICAL) {
     return handleNoncanonicalRead(*uartCookie, uartDeviceMapIter, requestLen);
-    }
-    else {
+  } else {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 }
@@ -364,14 +384,14 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
       sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                    << std::endl;
 #else
-            sif::printWarning("UartComIF::requestReceiveMessage: "
+      sif::printWarning(
+          "UartComIF::requestReceiveMessage: "
           "Next read would cause overflow!");
 #endif
 #endif
       result = UART_RX_BUFFER_TOO_SMALL;
       break;
-        }
-        else {
+    } else {
       allowedReadSize = maxReplySize - currentBytesRead;
     }
 
@@ -381,18 +401,17 @@ ReturnValue_t UartComIF::handleCanonicalRead(UartCookie& uartCookie, UartDeviceM
       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;
+        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));
+        sif::printWarning("UartComIF::handleCanonicalRead: read failed with code %d: %s\n", errno,
+                          strerror(errno));
 #endif
 #endif
         return RETURN_FAILED;
       }
 
-        }
-        else if(bytesRead > 0) {
+    } else if (bytesRead > 0) {
       iter->second.replyLen += bytesRead;
       bufferPtr += bytesRead;
       currentBytesRead += bytesRead;
@@ -413,7 +432,8 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
     sif::warning << "UartComIF::requestReceiveMessage: Next read would cause overflow!"
                  << std::endl;
 #else
-        sif::printWarning("UartComIF::requestReceiveMessage: "
+    sif::printWarning(
+        "UartComIF::requestReceiveMessage: "
         "Next read would cause overflow!");
 #endif
 #endif
@@ -422,11 +442,12 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
   int bytesRead = read(fd, bufferPtr, requestLen);
   if (bytesRead < 0) {
     return RETURN_FAILED;
-    }
-    else if (bytesRead != static_cast<int>(requestLen)) {
+  } else if (bytesRead != static_cast<int>(requestLen)) {
     if (uartCookie.isReplySizeFixed()) {
-            sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
-                    " of " << requestLen << " bytes" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead << " of "
+                   << requestLen << " bytes" << std::endl;
+#endif
       return RETURN_FAILED;
     }
   }
@@ -434,23 +455,25 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
-        uint8_t **buffer, size_t* size) {
-
+ReturnValue_t UartComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
   std::string deviceFile;
   UartDeviceMapIter uartDeviceMapIter;
 
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
 
   deviceFile = uartCookie->getDeviceFile();
   uartDeviceMapIter = uartDeviceMap.find(deviceFile);
   if (uartDeviceMapIter == uartDeviceMap.end()) {
-        sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile <<
-                " not in uart map" << std::endl;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile << " not in uart map"
+               << std::endl;
+#endif
     return RETURN_FAILED;
   }
 
@@ -468,7 +491,9 @@ ReturnValue_t UartComIF::flushUartRxBuffer(CookieIF *cookie) {
   UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartRxBuffer: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
@@ -486,7 +511,9 @@ ReturnValue_t UartComIF::flushUartTxBuffer(CookieIF *cookie) {
   UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartTxBuffer: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
@@ -504,7 +531,9 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF *cookie) {
   UartDeviceMapIter uartDeviceMapIter;
   UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
   if (uartCookie == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "UartComIF::flushUartTxAndRxBuf: Invalid uart cookie!" << std::endl;
+#endif
     return NULLPOINTER;
   }
   deviceFile = uartCookie->getDeviceFile();
@@ -522,8 +551,7 @@ void UartComIF::setUartMode(struct termios *options, UartCookie &uartCookie) {
   if (uartMode == UartModes::NON_CANONICAL) {
     /* Disable canonical mode */
     options->c_lflag &= ~ICANON;
-    }
-    else if(uartMode == UartModes::CANONICAL) {
+  } else if (uartMode == UartModes::CANONICAL) {
     options->c_lflag |= ICANON;
   }
 }

hal/src/fsfw_hal/linux/uart/UartComIF.h

@@ -1,13 +1,14 @@
 #ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
 #define BSP_Q7S_COMIF_UARTCOMIF_H_
 
-#include "UartCookie.h"
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 #include <unordered_map>
 #include <vector>
 
+#include "UartCookie.h"
+
 /**
  * @brief 	This is the communication interface to access serial ports on linux based operating
  *          systems.
@@ -33,13 +34,10 @@ public:
   virtual ~UartComIF();
 
   ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
-            size_t sendLen) override;
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
   ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-            size_t requestLen) override;
-    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-            size_t *size) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  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.
@@ -57,7 +55,6 @@ public:
   ReturnValue_t flushUartTxAndRxBuf(CookieIF* cookie);
 
  private:
-
   using UartDeviceFile_t = std::string;
 
   struct UartElements {
@@ -119,7 +116,6 @@ private:
                                     size_t requestLen);
   ReturnValue_t handleNoncanonicalRead(UartCookie& uartCookie, UartDeviceMapIter& iter,
                                        size_t requestLen);
-
 };
 
 #endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

hal/src/fsfw_hal/linux/uart/UartCookie.cpp

@@ -1,38 +1,28 @@
 #include "fsfw_hal/linux/uart/UartCookie.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/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) {
-}
+                       uint32_t baudrate, size_t maxReplyLen)
+    : handlerId(handlerId),
+      deviceFile(deviceFile),
+      uartMode(uartMode),
+      baudrate(baudrate),
+      maxReplyLen(maxReplyLen) {}
 
 UartCookie::~UartCookie() {}
 
-uint32_t UartCookie::getBaudrate() const {
-    return baudrate;
-}
+uint32_t UartCookie::getBaudrate() const { return baudrate; }
 
-size_t UartCookie::getMaxReplyLen() const {
-    return maxReplyLen;
-}
+size_t UartCookie::getMaxReplyLen() const { return maxReplyLen; }
 
-std::string UartCookie::getDeviceFile() const {
-    return deviceFile;
-}
+std::string UartCookie::getDeviceFile() const { return deviceFile; }
 
-void UartCookie::setParityOdd() {
-    parity = Parity::ODD;
-}
+void UartCookie::setParityOdd() { parity = Parity::ODD; }
 
-void UartCookie::setParityEven() {
-    parity = Parity::EVEN;
-}
+void UartCookie::setParityEven() { parity = Parity::EVEN; }
 
-Parity UartCookie::getParity() const {
-    return parity;
-}
+Parity UartCookie::getParity() const { return parity; }
 
 void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
   switch (bitsPerWord_) {
@@ -42,56 +32,34 @@ void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
     case 8:
       break;
     default:
+#if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
+#endif
       return;
   }
   bitsPerWord = bitsPerWord_;
 }
 
-uint8_t UartCookie::getBitsPerWord() const {
-    return bitsPerWord;
-}
+uint8_t UartCookie::getBitsPerWord() const { return bitsPerWord; }
 
-StopBits UartCookie::getStopBits() const {
-    return stopBits;
-}
+StopBits UartCookie::getStopBits() const { return stopBits; }
 
-void UartCookie::setTwoStopBits() {
-    stopBits = StopBits::TWO_STOP_BITS;
-}
+void UartCookie::setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
 
-void UartCookie::setOneStopBit() {
-    stopBits = StopBits::ONE_STOP_BIT;
-}
+void UartCookie::setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
 
-UartModes UartCookie::getUartMode() const {
-    return uartMode;
-}
+UartModes UartCookie::getUartMode() const { return uartMode; }
 
-void UartCookie::setReadCycles(uint8_t readCycles) {
-    this->readCycles = readCycles;
-}
+void UartCookie::setReadCycles(uint8_t readCycles) { this->readCycles = readCycles; }
 
-void UartCookie::setToFlushInput(bool enable) {
-    this->flushInput = enable;
-}
+void UartCookie::setToFlushInput(bool enable) { this->flushInput = enable; }
 
-uint8_t UartCookie::getReadCycles() const {
-    return readCycles;
-}
+uint8_t UartCookie::getReadCycles() const { return readCycles; }
 
-bool UartCookie::getInputShouldBeFlushed() {
-    return this->flushInput;
-}
+bool UartCookie::getInputShouldBeFlushed() { return this->flushInput; }
 
-object_id_t UartCookie::getHandlerId() const {
-    return this->handlerId;
-}
+object_id_t UartCookie::getHandlerId() const { return this->handlerId; }
 
-void UartCookie::setNoFixedSizeReply() {
-    replySizeFixed = false;
-}
+void UartCookie::setNoFixedSizeReply() { replySizeFixed = false; }
 
-bool UartCookie::isReplySizeFixed() {
-    return replySizeFixed;
-}
+bool UartCookie::isReplySizeFixed() { return replySizeFixed; }

hal/src/fsfw_hal/linux/uart/UartCookie.h

@@ -6,21 +6,11 @@
 
 #include <string>
 
-enum class Parity {
-    NONE,
-    EVEN,
-    ODD
-};
+enum class Parity { NONE, EVEN, ODD };
 
-enum class StopBits {
-    ONE_STOP_BIT,
-    TWO_STOP_BITS
-};
+enum class StopBits { ONE_STOP_BIT, TWO_STOP_BITS };
 
-enum class UartModes {
-    CANONICAL,
-    NON_CANONICAL
-};
+enum class UartModes { CANONICAL, NON_CANONICAL };
 
 /**
  * @brief   Cookie for the UartComIF. There are many options available to configure the UART driver.
@@ -31,7 +21,6 @@ enum class UartModes {
  */
 class UartCookie : public CookieIF {
  public:
-
   /**
    * @brief	Constructor for the uart cookie.
    * @param deviceFile    The device file specifying the uart to use, e.g. "/dev/ttyPS1"
@@ -47,8 +36,8 @@ public:
    *                        8 databits (number of bits transfered with one uart frame)
    *                        One stop bit
    */
-    UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode,
-            uint32_t baudrate, size_t maxReplyLen);
+  UartCookie(object_id_t handlerId, std::string deviceFile, UartModes uartMode, uint32_t baudrate,
+             size_t maxReplyLen);
 
   virtual ~UartCookie();
 
@@ -104,7 +93,6 @@ public:
   bool isReplySizeFixed();
 
  private:
-
   const object_id_t handlerId;
   std::string deviceFile;
   const UartModes uartMode;

hal/src/fsfw_hal/linux/utility.cpp

@@ -1,18 +1,18 @@
-#include "fsfw/FSFW.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/utility.h"
 
 #include <cerrno>
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
 void utility::handleIoctlError(const char* const customPrintout) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   if (customPrintout != nullptr) {
     sif::warning << customPrintout << std::endl;
   }
-    sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
-            std::endl;
+  sif::warning << "handleIoctlError: Error code " << errno << ", " << strerror(errno) << std::endl;
 #else
   if (customPrintout != nullptr) {
     sif::printWarning("%s\n", customPrintout);
@@ -20,7 +20,4 @@ void utility::handleIoctlError(const char* const customPrintout) {
   sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
-
 }
-
-

hal/src/fsfw_hal/stm32h7/definitions.h

@@ -0,0 +1,26 @@
+#ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_
+#define FSFW_HAL_STM32H7_DEFINITIONS_H_
+
+#include <utility>
+
+#include "stm32h7xx.h"
+
+namespace stm32h7 {
+
+/**
+ * Typedef for STM32 GPIO pair where the first entry is the port used (e.g. GPIOA)
+ * and the second entry is the pin number
+ */
+struct GpioCfg {
+  GpioCfg() : port(nullptr), pin(0), altFnc(0){};
+
+  GpioCfg(GPIO_TypeDef* port, uint16_t pin, uint8_t altFnc = 0)
+      : port(port), pin(pin), altFnc(altFnc){};
+  GPIO_TypeDef* port;
+  uint16_t pin;
+  uint8_t altFnc;
+};
+
+}  // namespace stm32h7
+
+#endif /* #ifndef FSFW_HAL_STM32H7_DEFINITIONS_H_ */

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp

@@ -1,29 +1,26 @@
 #include "fsfw_hal/stm32h7/devicetest/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 "fsfw/tasks/TaskFactory.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-
-#include "stm32h7xx_hal_spi.h"
-#include "stm32h7xx_hal_rcc.h"
-
 #include <cstring>
 
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw_hal/stm32h7/spi/mspInit.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
+#include "stm32h7xx_hal_rcc.h"
+#include "stm32h7xx_hal_spi.h"
+
 alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
-alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
-GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
+alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize> GyroL3GD20H::txBuffer
+    __attribute__((section(".dma_buffer")));
 
 TransferStates transferState = TransferStates::IDLE;
 spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
 
-
-GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
-        spiHandle(spiHandle) {
+GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_)
+    : spiHandle(spiHandle) {
   txDmaHandle = new DMA_HandleTypeDef();
   rxDmaHandle = new DMA_HandleTypeDef();
   spi::setSpiHandle(spiHandle);
@@ -33,20 +30,19 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
     mspCfg = new spi::MspDmaConfigStruct();
     auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
     spi::setDmaHandles(txDmaHandle, rxDmaHandle);
-        spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
-                IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
+    stm32h7::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS,
+                                    IrqPriorities::HIGHEST_FREERTOS);
     spi::setSpiDmaMspFunctions(typedCfg);
-    }
-    else if(transferMode == spi::TransferModes::INTERRUPT) {
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
     mspCfg = new spi::MspIrqConfigStruct();
     auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
-        spi::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
+    stm32h7::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
     spi::setSpiIrqMspFunctions(typedCfg);
-    }
-    else if(transferMode == spi::TransferModes::POLLING) {
+  } else if (transferMode == spi::TransferModes::POLLING) {
     mspCfg = new spi::MspPollingConfigStruct();
     auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
-        spi::h743zi::standardPollingCfg(*typedCfg);
+    stm32h7::h743zi::standardPollingCfg(*typedCfg);
     spi::setSpiPollingMspFunctions(typedCfg);
   }
 
@@ -155,8 +151,10 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     case (TransferStates::SUCCESS): {
       uint8_t whoAmIVal = rxBuffer[1];
       if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::initialize: "
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+        sif::printDebug(
+            "GyroL3GD20H::initialize: "
+            "Read WHO AM I value %d not equal to expected value!\n",
+            whoAmIVal);
       }
       transferState = TransferStates::IDLE;
       break;
@@ -203,7 +201,6 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
     }
   }
 
-
   txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
   std::memset(txBuffer.data() + 1, 0, 5);
   result = performDmaTransfer(6);
@@ -222,8 +219,7 @@ ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
           rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
           rxBuffer[5] != configRegs[4]) {
         sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
-        else {
+      } else {
         sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
       }
       transferState = TransferStates::IDLE;
@@ -293,8 +289,10 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
       sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
       uint8_t whoAmIVal = rxBuffer[1];
       if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::performOperation: "
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+        sif::printDebug(
+            "GyroL3GD20H::performOperation: "
+            "Read WHO AM I value %d not equal to expected value!\n",
+            whoAmIVal);
       }
       break;
     }
@@ -348,8 +346,7 @@ ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
           rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
           rxBuffer[5] != configRegs[4]) {
         sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
-        else {
+      } else {
         sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
       }
       break;
@@ -408,8 +405,10 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
 
       uint8_t whoAmIVal = rxBuffer[1];
       if (whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
-            sif::printDebug("GyroL3GD20H::initialize: "
-                    "Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
+        sif::printDebug(
+            "GyroL3GD20H::initialize: "
+            "Read WHO AM I value %d not equal to expected value!\n",
+            whoAmIVal);
       }
       break;
     }
@@ -457,8 +456,7 @@ ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
           rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
           rxBuffer[5] != configRegs[4]) {
         sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
-        }
-        else {
+      } else {
         sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
       }
       break;
@@ -516,7 +514,8 @@ uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
   txBuf[0] = reg | STM_READ_MASK;
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
   auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
-    if(result) {};
+  if (result) {
+  };
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
   return rxBuf[1];
 }
@@ -535,7 +534,6 @@ void GyroL3GD20H::handleSensorReadout() {
   sif::printInfo("Gyro Z: %f\n", gyroZ);
 }
 
-
 void GyroL3GD20H::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
   transferState = TransferStates::SUCCESS;
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);

hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h

@@ -1,22 +1,16 @@
 #ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
 #define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
 
-#include "stm32h7xx_hal.h"
-#include "stm32h7xx_hal_spi.h"
+#include <array>
+#include <cstdint>
+
 #include "../spi/mspInit.h"
 #include "../spi/spiDefinitions.h"
-
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_spi.h"
 
-#include <cstdint>
-#include <array>
-
-enum class TransferStates {
-    IDLE,
-    WAIT,
-    SUCCESS,
-    FAILURE
-};
+enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
 
 class GyroL3GD20H {
  public:
@@ -27,7 +21,6 @@ public:
   ReturnValue_t performOperation();
 
  private:
-
   const uint8_t WHO_AM_I_REG = 0b00001111;
   const uint8_t STM_READ_MASK = 0b10000000;
   const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
@@ -57,11 +50,9 @@ private:
   static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
   static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
 
-
   void prepareConfigRegs(uint8_t* configRegs);
   void handleSensorReadout();
 
-
   DMA_HandleTypeDef* txDmaHandle = {};
   DMA_HandleTypeDef* rxDmaHandle = {};
   spi::MspCfgBase* mspCfg = {};

hal/src/fsfw_hal/stm32h7/dma.cpp

@@ -1,7 +1,7 @@
 #include <fsfw_hal/stm32h7/dma.h>
 
-#include <cstdint>
 #include <cstddef>
+#include <cstdint>
 
 user_handler_t DMA_1_USER_HANDLERS[8];
 user_args_t DMA_1_USER_ARGS[8];
@@ -14,8 +14,7 @@ void dma::assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
   if (dma_idx == DMA_1) {
     DMA_1_USER_HANDLERS[stream_idx] = user_handler;
     DMA_1_USER_ARGS[stream_idx] = user_args;
-    }
-    else if(dma_idx == DMA_2) {
+  } else if (dma_idx == DMA_2) {
     DMA_2_USER_HANDLERS[stream_idx] = user_handler;
     DMA_2_USER_ARGS[stream_idx] = user_args;
   }
@@ -31,54 +30,22 @@ defined in the startup_stm32h743xx.s files! */
     DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
     return;                                                                           \
   }                                                                                   \
-    Default_Handler() \
+  Default_Handler()
 
-extern"C" void DMA1_Stream0_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 0);
-}
-extern"C" void DMA1_Stream1_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 1);
-}
-extern"C" void DMA1_Stream2_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 2);
-}
-extern"C" void DMA1_Stream3_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 3);
-}
-extern"C" void DMA1_Stream4_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 4);
-}
-extern"C" void DMA1_Stream5_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 5);
-}
-extern"C" void DMA1_Stream6_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 6);
-}
-extern"C" void DMA1_Stream7_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(1, 7);
-}
+extern "C" void DMA1_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 0); }
+extern "C" void DMA1_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 1); }
+extern "C" void DMA1_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 2); }
+extern "C" void DMA1_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 3); }
+extern "C" void DMA1_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 4); }
+extern "C" void DMA1_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 5); }
+extern "C" void DMA1_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 6); }
+extern "C" void DMA1_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(1, 7); }
 
-extern"C" void DMA2_Stream0_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 0);
-}
-extern"C" void DMA2_Stream1_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 1);
-}
-extern"C" void DMA2_Stream2_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 2);
-}
-extern"C" void DMA2_Stream3_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 3);
-}
-extern"C" void DMA2_Stream4_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 4);
-}
-extern"C" void DMA2_Stream5_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 5);
-}
-extern"C" void DMA2_Stream6_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 6);
-}
-extern"C" void DMA2_Stream7_IRQHandler() {
-    GENERIC_DMA_IRQ_HANDLER(2, 7);
-}
+extern "C" void DMA2_Stream0_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 0); }
+extern "C" void DMA2_Stream1_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 1); }
+extern "C" void DMA2_Stream2_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 2); }
+extern "C" void DMA2_Stream3_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 3); }
+extern "C" void DMA2_Stream4_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 4); }
+extern "C" void DMA2_Stream5_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 5); }
+extern "C" void DMA2_Stream6_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 6); }
+extern "C" void DMA2_Stream7_IRQHandler() { GENERIC_DMA_IRQ_HANDLER(2, 7); }

hal/src/fsfw_hal/stm32h7/dma.h

@@ -5,20 +5,15 @@
 extern "C" {
 #endif
 
-#include "interrupts.h"
 #include <cstdint>
 
+#include "interrupts.h"
+
 namespace dma {
 
-enum DMAType {
-    TX = 0,
-    RX = 1
-};
+enum DMAType { TX = 0, RX = 1 };
 
-enum DMAIndexes: uint8_t {
-    DMA_1 = 1,
-    DMA_2 = 2
-};
+enum DMAIndexes : uint8_t { DMA_1 = 1, DMA_2 = 2 };
 
 enum DMAStreams {
   STREAM_0 = 0,
@@ -37,10 +32,10 @@ enum DMAStreams {
  * @param user_handler
  * @param user_args
  */
-void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx,
-        user_handler_t user_handler, user_args_t user_args);
+void assignDmaUserHandler(DMAIndexes dma_idx, DMAStreams stream_idx, user_handler_t user_handler,
+                          user_args_t user_args);
 
-}
+}  // namespace dma
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/interrupts.h

@@ -15,11 +15,7 @@ extern void Default_Handler();
 typedef void (*user_handler_t)(void*);
 typedef void* user_args_t;
 
-enum IrqPriorities: uint8_t {
-    HIGHEST = 0,
-    HIGHEST_FREERTOS = 6,
-    LOWEST = 15
-};
+enum IrqPriorities : uint8_t { HIGHEST = 0, HIGHEST_FREERTOS = 6, LOWEST = 15 };
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt

@@ -5,5 +5,5 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
     mspInit.cpp
     SpiCookie.cpp
     SpiComIF.cpp
-    stm32h743ziSpi.cpp
+    stm32h743zi.cpp
 )

hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp

@@ -1,11 +1,11 @@
 #include "fsfw_hal/stm32h7/spi/SpiComIF.h"
-#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
 #include "fsfw/tasks/SemaphoreFactory.h"
+#include "fsfw_hal/stm32h7/gpio/gpio.h"
+#include "fsfw_hal/stm32h7/spi/SpiCookie.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/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
@@ -13,8 +13,8 @@
 #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"
+#include "fsfw/osal/freertos/TaskManagement.h"
 #endif
 
 #include "stm32h7xx_hal_gpio.h"
@@ -35,9 +35,7 @@ void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxH
   spi::setDmaHandles(txHandle, rxHandle);
 }
 
-ReturnValue_t SpiComIF::initialize() {
-    return HasReturnvaluesIF::RETURN_OK;
-}
+ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
 
 ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
   SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
@@ -61,8 +59,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     }
   }
   // This semaphore ensures thread-safety for a given bus
-    spiSemaphore = dynamic_cast<BinarySemaphore*>(
-            SemaphoreFactory::instance()->createBinarySemaphore());
+  spiSemaphore =
+      dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
   address_t spiAddress = spiCookie->getDeviceAddress();
 
   auto iter = spiDeviceMap.find(spiAddress);
@@ -72,11 +70,13 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     if (not statusPair.second) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
-                    spiAddress << "to SPI device map" << std::endl;
+      sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
+                 << spiAddress << "to SPI device map" << std::endl;
 #else
-            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
-                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+      sif::printError(
+          "SpiComIF::initializeInterface: Failed to insert device with address "
+          "%lu to SPI device map\n",
+          static_cast<unsigned long>(spiAddress));
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
       return HasReturnvaluesIF::RETURN_FAILED;
@@ -92,13 +92,11 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 #ifdef SPI1
     spiHandle.Instance = SPI1;
 #endif
-    }
-    else if(spiIdx == spi::SpiBus::SPI_2) {
+  } else if (spiIdx == spi::SpiBus::SPI_2) {
 #ifdef SPI2
     spiHandle.Instance = SPI2;
 #endif
-    }
-    else {
+  } else {
     printCfgError("SPI Bus Index");
     return HasReturnvaluesIF::RETURN_FAILED;
   }
@@ -112,16 +110,14 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     spi::setSpiPollingMspFunctions(typedCfg);
-    }
-    else if(transferMode == spi::TransferModes::INTERRUPT) {
+  } else if (transferMode == spi::TransferModes::INTERRUPT) {
     auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
     if (typedCfg == nullptr) {
       printCfgError("IRQ MSP");
       return HasReturnvaluesIF::RETURN_FAILED;
     }
     spi::setSpiIrqMspFunctions(typedCfg);
-    }
-    else if(transferMode == spi::TransferModes::DMA) {
+  } else if (transferMode == spi::TransferModes::DMA) {
     auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
     if (typedCfg == nullptr) {
       printCfgError("DMA MSP");
@@ -138,12 +134,14 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
     spi::setSpiDmaMspFunctions(typedCfg);
   }
 
+  if (gpioPort != nullptr) {
     gpio::initializeGpioClock(gpioPort);
     GPIO_InitTypeDef chipSelect = {};
     chipSelect.Pin = gpioPin;
     chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
     HAL_GPIO_Init(gpioPort, &chipSelect);
     HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+  }
 
   if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
     sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
@@ -199,9 +197,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
 
 ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
   return HasReturnvaluesIF::RETURN_OK;
@@ -251,7 +247,8 @@ void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
 }
 
 ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+                                                   SpiCookie &spiCookie, const uint8_t *sendData,
+                                                   size_t sendLen) {
   auto gpioPort = spiCookie.getChipSelectGpioPort();
   auto gpioPin = spiCookie.getChipSelectGpioPin();
   auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
@@ -259,10 +256,15 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
     return returnval;
   }
   spiCookie.setTransferState(spi::TransferStates::WAIT);
+  if (gpioPort != nullptr) {
     HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
-    auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
-            recvPtr, sendLen, defaultPollingTimeout);
+  }
+
+  auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
+                                        sendLen, defaultPollingTimeout);
+  if (gpioPort != nullptr) {
     HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
+  }
   spiSemaphore->release();
   switch (result) {
     case (HAL_OK): {
@@ -272,8 +274,8 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
     case (HAL_TIMEOUT): {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device" <<
-                spiCookie->getDeviceAddress() << std::endl;
+      sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
+                   << spiCookie->getDeviceAddress() << std::endl;
 #else
       sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
                         spiCookie.getDeviceAddress());
@@ -286,8 +288,8 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
     default: {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device" <<
-                spiCookie->getDeviceAddress() << std::endl;
+      sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
+                   << spiCookie->getDeviceAddress() << std::endl;
 #else
       sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
                         spiCookie.getDeviceAddress());
@@ -301,17 +303,20 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
 }
 
 ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
+                                                     SpiCookie &spiCookie, const uint8_t *sendData,
+                                                     size_t sendLen) {
   return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
 }
 
 ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen) {
+                                               SpiCookie &spiCookie, const uint8_t *sendData,
+                                               size_t sendLen) {
   return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
 }
 
 ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+                                               SpiCookie &spiCookie, const uint8_t *sendData,
+                                               size_t sendLen) {
   ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
@@ -323,15 +328,13 @@ ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeD
     if (cacheMaintenanceOnTxBuffer) {
       /* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
       in case it overlaps cacheline */
-            SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t) sendData ) & ~(uint32_t)0x1F),
-                    sendLen + 32);
+      SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
     }
     status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
                                          currentRecvPtr, sendLen);
-    }
-    else {
-        status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t*>(sendData),
-                currentRecvPtr, sendLen);
+  } else {
+    status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
+                                        sendLen);
   }
   switch (status) {
     case (HAL_OK): {
@@ -348,12 +351,10 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
   char modeString[10];
   if (transferMode == spi::TransferModes::DMA) {
     std::snprintf(modeString, sizeof(modeString), "Dma");
-    }
-    else {
+  } else {
     std::snprintf(modeString, sizeof(modeString), "Interrupt");
   }
-    sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString,
-            status);
+  sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
   switch (status) {
     case (HAL_BUSY): {
       return spi::HAL_BUSY_RETVAL;
@@ -370,9 +371,9 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
   }
 }
 
-
 ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
-        SpiCookie& spiCookie, const uint8_t *sendData, size_t sendLen) {
+                                            SpiCookie &spiCookie, const uint8_t *sendData,
+                                            size_t sendLen) {
   currentRecvPtr = recvPtr;
   currentRecvBuffSize = sendLen;
 
@@ -380,8 +381,10 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
   ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     // Configuration error
-        sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore "
-                "could not be acquired after %d ms\n", timeoutMs);
+    sif::printWarning(
+        "SpiComIF::handleInterruptSendOperation: Semaphore "
+        "could not be acquired after %d ms\n",
+        timeoutMs);
     return result;
   }
   // Cache the current SPI handle in any case
@@ -392,8 +395,10 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
   // The SPI handle is passed to the default SPI callback as a void argument. This callback
   // is different from the user callbacks specified above!
   spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
+  if (spiCookie.getChipSelectGpioPort() != nullptr) {
     HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
                       GPIO_PIN_RESET);
+  }
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -426,15 +431,17 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
 
   spiCookie->setTransferState(targetState);
 
+  if (spiCookie->getChipSelectGpioPort() != nullptr) {
     // Pull CS pin high again
     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);
+  ReturnValue_t result =
+      BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
 #elif defined FSFW_OSAL_RTEMS
   ReturnValue_t result = comIF->spiSemaphore->release();
 #endif
@@ -446,8 +453,7 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
   // Perform cache maintenance operation for DMA transfers
   if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
     // Invalidate cache prior to access by CPU
-        SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
-                comIF->currentRecvBuffSize);
+    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

hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h

@@ -1,16 +1,15 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
 #define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
 
-#include "fsfw/tasks/SemaphoreIF.h"
+#include <map>
+#include <vector>
+
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
-
+#include "fsfw/tasks/SemaphoreIF.h"
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-#include "stm32h7xx_hal_spi.h"
 #include "stm32h743xx.h"
-
-#include <vector>
-#include <map>
+#include "stm32h7xx_hal_spi.h"
 
 class SpiCookie;
 class BinarySemaphore;
@@ -28,9 +27,7 @@ class BinarySemaphore;
  * implementation limits the transfer mode for a given SPI bus.
  * @author  R. Mueller
  */
-class SpiComIF:
-        public SystemObject,
-        public DeviceCommunicationIF {
+class SpiComIF : public SystemObject, public DeviceCommunicationIF {
  public:
   /**
    * Create a SPI communication interface for the given SPI peripheral (spiInstance)
@@ -60,20 +57,17 @@ public:
   void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
 
   ReturnValue_t initialize() override;
-protected:
 
   // DeviceCommunicationIF overrides
   virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
-    virtual ReturnValue_t sendMessage(CookieIF *cookie,
-            const uint8_t * sendData, size_t sendLen) override;
+  virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                    size_t sendLen) override;
   virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
-    virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-            size_t requestLen) override;
-    virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
-            uint8_t **buffer, size_t *size) override;
-
-private:
+  virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
+                                            size_t* size) override;
 
+ protected:
   struct SpiInstance {
     SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
     std::vector<uint8_t> replyBuffer;
@@ -104,13 +98,17 @@ private:
   SpiDeviceMap spiDeviceMap;
 
   ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+                                           SpiCookie& spiCookie, const uint8_t* sendData,
+                                           size_t sendLen);
   ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+                                             SpiCookie& spiCookie, const uint8_t* sendData,
+                                             size_t sendLen);
   ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+                                       SpiCookie& spiCookie, const uint8_t* sendData,
+                                       size_t sendLen);
   ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
-            SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
+                                       SpiCookie& spiCookie, const uint8_t* sendData,
+                                       size_t sendLen);
   ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
                                     SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
   ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
@@ -125,6 +123,4 @@ private:
   void printCfgError(const char* const type);
 };
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp

@@ -1,12 +1,16 @@
 #include "fsfw_hal/stm32h7/spi/SpiCookie.h"
 
-
 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
                      spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
-        uint16_t chipSelectGpioPin, GPIO_TypeDef* chipSelectGpioPort, size_t maxRecvSize):
-        deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
-        transferMode(transferMode), chipSelectGpioPin(chipSelectGpioPin),
-        chipSelectGpioPort(chipSelectGpioPort), mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
+                     size_t maxRecvSize, stm32h7::GpioCfg csGpio)
+    : deviceAddress(deviceAddress),
+      spiIdx(spiIdx),
+      spiSpeed(spiSpeed),
+      spiMode(spiMode),
+      transferMode(transferMode),
+      csGpio(csGpio),
+      mspCfg(mspCfg),
+      maxRecvSize(maxRecvSize) {
   spiHandle.Init.DataSize = SPI_DATASIZE_8BIT;
   spiHandle.Init.FirstBit = SPI_FIRSTBIT_MSB;
   spiHandle.Init.TIMode = SPI_TIMODE_DISABLE;
@@ -23,41 +27,23 @@ SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferM
   spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
 }
 
-uint16_t SpiCookie::getChipSelectGpioPin() const {
-    return chipSelectGpioPin;
-}
+uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
 
-GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() {
-    return chipSelectGpioPort;
-}
+GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
 
-address_t SpiCookie::getDeviceAddress() const {
-    return deviceAddress;
-}
+address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
 
-spi::SpiBus SpiCookie::getSpiIdx() const {
-    return spiIdx;
-}
+spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
 
-spi::SpiModes SpiCookie::getSpiMode() const {
-    return spiMode;
-}
+spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
 
-uint32_t SpiCookie::getSpiSpeed() const {
-    return spiSpeed;
-}
+uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
 
-size_t SpiCookie::getMaxRecvSize() const {
-    return maxRecvSize;
-}
+size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
 
-SPI_HandleTypeDef& SpiCookie::getSpiHandle() {
-    return spiHandle;
-}
+SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
 
-spi::MspCfgBase* SpiCookie::getMspCfg() {
-    return mspCfg;
-}
+spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
 
 void SpiCookie::deleteMspCfg() {
   if (mspCfg != nullptr) {
@@ -65,14 +51,10 @@ void SpiCookie::deleteMspCfg() {
   }
 }
 
-spi::TransferModes SpiCookie::getTransferMode() const {
-    return transferMode;
-}
+spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
 
 void SpiCookie::setTransferState(spi::TransferStates transferState) {
   this->transferState = transferState;
 }
 
-spi::TransferStates SpiCookie::getTransferState() const {
-    return this->transferState;
-}
+spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }

hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h

@@ -1,11 +1,12 @@
 #ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
 #define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
 
-#include "spiDefinitions.h"
-#include "mspInit.h"
+#include <utility>
 
+#include "../definitions.h"
 #include "fsfw/devicehandlers/CookieIF.h"
-
+#include "mspInit.h"
+#include "spiDefinitions.h"
 #include "stm32h743xx.h"
 
 /**
@@ -17,6 +18,7 @@
  */
 class SpiCookie : public CookieIF {
   friend class SpiComIF;
+
  public:
   /**
    * Allows construction of a SPI cookie for a connected SPI device
@@ -32,10 +34,11 @@ public:
    *                              definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
    * @param chipSelectGpioPort    GPIO port (e.g. GPIOA)
    * @param maxRecvSize           Maximum expected receive size. Chose as small as possible.
+   * @param csGpio                Optional CS GPIO definition.
    */
   SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
-            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
-            uint16_t chipSelectGpioPin, GPIO_TypeDef* chipSelectGpioPort, size_t maxRecvSize);
+            spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
+            stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
 
   uint16_t getChipSelectGpioPin() const;
   GPIO_TypeDef* getChipSelectGpioPort();
@@ -55,8 +58,8 @@ private:
   spi::SpiModes spiMode;
   spi::TransferModes transferMode;
   volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
-    uint16_t chipSelectGpioPin;
-    GPIO_TypeDef* chipSelectGpioPort;
+  stm32h7::GpioCfg csGpio;
+
   // The MSP configuration is cached here. Be careful when using this, it is automatically
   // deleted by the SPI  communication interface if it is not required anymore!
   spi::MspCfgBase* mspCfg = nullptr;
@@ -70,6 +73,4 @@ private:
   spi::TransferStates getTransferState() const;
 };
 
-
-
 #endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */

hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp

@@ -1,15 +1,15 @@
-#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 "stm32h743xx.h"
-#include "stm32h7xx_hal_spi.h"
-#include "stm32h7xx_hal_dma.h"
-#include "stm32h7xx_hal_def.h"
 
 #include <cstdio>
 
+#include "fsfw_hal/stm32h7/dma.h"
+#include "fsfw_hal/stm32h7/spi/spiCore.h"
+#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
+#include "stm32h743xx.h"
+#include "stm32h7xx_hal_def.h"
+#include "stm32h7xx_hal_dma.h"
+#include "stm32h7xx_hal_spi.h"
+
 spi::msp_func_t mspInitFunc = nullptr;
 spi::MspCfgBase* mspInitArgs = nullptr;
 
@@ -73,8 +73,7 @@ void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
 
   /* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
   // Assign the interrupt handler
-    dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream,
-            &spi::dmaTxIrqHandler, hdma_tx);
+  dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream, &spi::dmaTxIrqHandler, hdma_tx);
   HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
   HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
 }
@@ -98,8 +97,7 @@ void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
   spi::getDmaHandles(&hdma_tx, &hdma_rx);
   if (hdma_tx == NULL || hdma_rx == NULL) {
     printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
-    }
-    else {
+  } else {
     // Disable the DMA
     /* De-Initialize the DMA associated to transmission process */
     HAL_DMA_DeInit(hdma_tx);
@@ -110,7 +108,6 @@ void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
   // Disable the NVIC for DMA
   HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
   HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
-
 }
 
 void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
@@ -118,40 +115,40 @@ void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
   GPIO_InitTypeDef GPIO_InitStruct = {};
   /*##-1- Enable peripherals and GPIO Clocks #################################*/
   /* Enable GPIO TX/RX clock */
-    cfg->setupMacroWrapper();
+  cfg->setupCb();
 
   /*##-2- Configure peripheral GPIO ##########################################*/
   /* SPI SCK GPIO pin configuration  */
-    GPIO_InitStruct.Pin       = cfg->sckPin;
+  GPIO_InitStruct.Pin = cfg->sck.pin;
   GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
   GPIO_InitStruct.Pull = GPIO_PULLDOWN;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-    GPIO_InitStruct.Alternate = cfg->sckAlternateFunction;
-    HAL_GPIO_Init(cfg->sckPort, &GPIO_InitStruct);
+  GPIO_InitStruct.Alternate = cfg->sck.altFnc;
+  HAL_GPIO_Init(cfg->sck.port, &GPIO_InitStruct);
 
   /* SPI MISO GPIO pin configuration  */
-    GPIO_InitStruct.Pin = cfg->misoPin;
-    GPIO_InitStruct.Alternate = cfg->misoAlternateFunction;
-    HAL_GPIO_Init(cfg->misoPort, &GPIO_InitStruct);
+  GPIO_InitStruct.Pin = cfg->miso.pin;
+  GPIO_InitStruct.Alternate = cfg->miso.altFnc;
+  HAL_GPIO_Init(cfg->miso.port, &GPIO_InitStruct);
 
   /* SPI MOSI GPIO pin configuration  */
-    GPIO_InitStruct.Pin = cfg->mosiPin;
-    GPIO_InitStruct.Alternate = cfg->mosiAlternateFunction;
-    HAL_GPIO_Init(cfg->mosiPort, &GPIO_InitStruct);
+  GPIO_InitStruct.Pin = cfg->mosi.pin;
+  GPIO_InitStruct.Alternate = cfg->mosi.altFnc;
+  HAL_GPIO_Init(cfg->mosi.port, &GPIO_InitStruct);
 }
 
 void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
   auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase);
   // Reset peripherals
-    cfg->cleanUpMacroWrapper();
+  cfg->cleanupCb();
 
   // Disable peripherals and GPIO Clocks
   /* Configure SPI SCK as alternate function  */
-    HAL_GPIO_DeInit(cfg->sckPort, cfg->sckPin);
+  HAL_GPIO_DeInit(cfg->sck.port, cfg->sck.pin);
   /* Configure SPI MISO as alternate function  */
-    HAL_GPIO_DeInit(cfg->misoPort, cfg->misoPin);
+  HAL_GPIO_DeInit(cfg->miso.port, cfg->miso.pin);
   /* Configure SPI MOSI as alternate function  */
-    HAL_GPIO_DeInit(cfg->mosiPort, cfg->mosiPin);
+  HAL_GPIO_DeInit(cfg->mosi.port, cfg->mosi.pin);
 }
 
 void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
@@ -188,8 +185,8 @@ void spi::getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args) {
   }
 }
 
-void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
-        msp_func_t initFunc, msp_func_t deinitFunc) {
+void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc,
+                                msp_func_t deinitFunc) {
   mspInitFunc = initFunc;
   mspDeinitFunc = deinitFunc;
   mspInitArgs = cfg;
@@ -225,8 +222,7 @@ void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t init
 extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
   if (mspInitFunc != NULL) {
     mspInitFunc(hspi, mspInitArgs);
-    }
-    else {
+  } else {
     printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
   }
 }
@@ -242,8 +238,7 @@ extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
 extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
   if (mspDeinitFunc != NULL) {
     mspDeinitFunc(hspi, mspDeinitArgs);
-    }
-    else {
+  } else {
     printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
   }
 }

hal/src/fsfw_hal/stm32h7/spi/mspInit.h

@@ -1,17 +1,19 @@
 #ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
 #define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
 
-#include "spiDefinitions.h"
-#include "../dma.h"
-
-#include "stm32h7xx_hal_spi.h"
-
 #include <cstdint>
 
+#include "../definitions.h"
+#include "../dma.h"
+#include "spiDefinitions.h"
+#include "stm32h7xx_hal_spi.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+using mspCb = void (*)(void);
+
 /**
  * @brief   This file provides MSP implementation for DMA, IRQ and Polling mode for the
  *          SPI peripheral. This configuration is required for the SPI communication to work.
@@ -19,27 +21,36 @@ extern "C" {
 namespace spi {
 
 struct MspCfgBase {
+  MspCfgBase();
+  MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+             mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
+      : sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}
+
   virtual ~MspCfgBase() = default;
 
-    void (* cleanUpMacroWrapper) (void) = nullptr;
-    void (* setupMacroWrapper) (void) = nullptr;
+  stm32h7::GpioCfg sck;
+  stm32h7::GpioCfg mosi;
+  stm32h7::GpioCfg miso;
 
-   GPIO_TypeDef* sckPort = nullptr;
-   uint32_t sckPin = 0;
-   uint8_t sckAlternateFunction = 0;
-   GPIO_TypeDef* mosiPort = nullptr;
-   uint32_t mosiPin = 0;
-   uint8_t mosiAlternateFunction = 0;
-   GPIO_TypeDef* misoPort = nullptr;
-   uint32_t misoPin = 0;
-   uint8_t misoAlternateFunction = 0;
+  mspCb cleanupCb = nullptr;
+  mspCb setupCb = nullptr;
 };
 
-struct MspPollingConfigStruct: public MspCfgBase {};
+struct MspPollingConfigStruct : public MspCfgBase {
+  MspPollingConfigStruct() : MspCfgBase(){};
+  MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+                         mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
+      : MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
+};
 
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
 struct MspIrqConfigStruct : public MspPollingConfigStruct {
+  MspIrqConfigStruct() : MspPollingConfigStruct(){};
+  MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+                     mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
+      : MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
+
   SpiBus spiBus = SpiBus::SPI_1;
   user_handler_t spiIrqHandler = nullptr;
   user_args_t spiUserArgs = nullptr;
@@ -53,11 +64,16 @@ struct MspIrqConfigStruct: public MspPollingConfigStruct {
 /* A valid instance of this struct must be passed to the MSP initialization function as a void*
 argument */
 struct MspDmaConfigStruct : public MspIrqConfigStruct {
+  MspDmaConfigStruct() : MspIrqConfigStruct(){};
+  MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
+                     mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
+      : MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
   void (*dmaClkEnableWrapper)(void) = nullptr;
-    dma::DMAIndexes txDmaIndex;
-    dma::DMAIndexes rxDmaIndex;
-    dma::DMAStreams txDmaStream;
-    dma::DMAStreams rxDmaStream;
+
+  dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
+  dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
+  dma::DMAStreams txDmaStream = dma::DMAStreams::STREAM_0;
+  dma::DMAStreams rxDmaStream = dma::DMAStreams::STREAM_0;
   IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn;
   IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn;
   // Priorities for NVIC
@@ -69,7 +85,6 @@ struct MspDmaConfigStruct: public MspIrqConfigStruct {
 
 using msp_func_t = void (*)(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
 
-
 void getMspInitFunction(msp_func_t* init_func, MspCfgBase** args);
 void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args);
 
@@ -89,23 +104,17 @@ void halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
  * @param deinit_func
  * @param deinit_args
  */
-void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
-        msp_func_t initFunc = &spi::halMspInitDma,
-        msp_func_t deinitFunc= &spi::halMspDeinitDma
-);
-void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg,
-        msp_func_t initFunc = &spi::halMspInitInterrupt,
-        msp_func_t deinitFunc= &spi::halMspDeinitInterrupt
-);
+void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitDma,
+                           msp_func_t deinitFunc = &spi::halMspDeinitDma);
+void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitInterrupt,
+                           msp_func_t deinitFunc = &spi::halMspDeinitInterrupt);
 void setSpiPollingMspFunctions(MspPollingConfigStruct* cfg,
                                msp_func_t initFunc = &spi::halMspInitPolling,
-        msp_func_t deinitFunc= &spi::halMspDeinitPolling
-);
+                               msp_func_t deinitFunc = &spi::halMspDeinitPolling);
 
 void mspErrorHandler(const char* const function, const char* const message);
 
-}
-
+}  // namespace spi
 
 #ifdef __cplusplus
 }

hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp

@@ -1,8 +1,9 @@
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
-#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 
 #include <cstdio>
 
+#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
+
 SPI_HandleTypeDef* spiHandle = nullptr;
 DMA_HandleTypeDef* hdmaTx = nullptr;
 DMA_HandleTypeDef* hdmaRx = nullptr;
@@ -21,16 +22,15 @@ void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMA
 void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus);
 
 void spi::configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
-        dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
-        uint32_t dmaMode, uint32_t dmaPriority) {
+                             dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream,
+                             IRQn_Type* dmaIrqNumber, uint32_t dmaMode, uint32_t dmaPriority) {
   using namespace dma;
   mapIndexAndStream(handle, dmaType, dmaIdx, dmaStream, dmaIrqNumber);
   mapSpiBus(handle, dmaType, spiBus);
 
   if (dmaType == DMAType::TX) {
     handle->Init.Direction = DMA_MEMORY_TO_PERIPH;
-    }
-    else {
+  } else {
     handle->Init.Direction = DMA_PERIPH_TO_MEMORY;
   }
 
@@ -85,11 +85,7 @@ void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void *userArgs
   errorArgs = userArgs;
 }
 
-SPI_HandleTypeDef* spi::getSpiHandle() {
-    return spiHandle;
-}
-
-
+SPI_HandleTypeDef* spi::getSpiHandle() { return spiHandle; }
 
 /**
  * @brief  TxRx Transfer completed callback.
@@ -98,8 +94,7 @@ SPI_HandleTypeDef* spi::getSpiHandle() {
 extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef* hspi) {
   if (rxTxCb != NULL) {
     rxTxCb(hspi, rxTxArgs);
-    }
-    else {
+  } else {
     printf("HAL_SPI_TxRxCpltCallback: No user callback specified\n");
   }
 }
@@ -111,8 +106,7 @@ extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
 extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef* hspi) {
   if (txCb != NULL) {
     txCb(hspi, txArgs);
-    }
-    else {
+  } else {
     printf("HAL_SPI_TxCpltCallback: No user callback specified\n");
   }
 }
@@ -124,8 +118,7 @@ extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
 extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef* hspi) {
   if (rxCb != nullptr) {
     rxCb(hspi, rxArgs);
-    }
-    else {
+  } else {
     printf("HAL_SPI_RxCpltCallback: No user callback specified\n");
   }
 }
@@ -140,8 +133,7 @@ extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
 extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef* hspi) {
   if (errorCb != nullptr) {
     errorCb(hspi, rxArgs);
-    }
-    else {
+  } else {
     printf("HAL_SPI_ErrorCallback: No user callback specified\n");
   }
 }
@@ -227,8 +219,7 @@ void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMA
     }
     if (dmaType == DMAType::TX) {
       handle->Init.Request = DMA_REQUEST_SPI1_TX;
-        }
-        else {
+    } else {
       handle->Init.Request = DMA_REQUEST_SPI1_RX;
     }
 #endif /* DMA1 */
@@ -319,20 +310,17 @@ void mapSpiBus(DMA_HandleTypeDef *handle, dma::DMAType dmaType, spi::SpiBus spiB
 #ifdef DMA_REQUEST_SPI1_TX
       handle->Init.Request = DMA_REQUEST_SPI1_TX;
 #endif
-        }
-        else if(spiBus == spi::SpiBus::SPI_2) {
+    } else if (spiBus == spi::SpiBus::SPI_2) {
 #ifdef DMA_REQUEST_SPI2_TX
       handle->Init.Request = DMA_REQUEST_SPI2_TX;
 #endif
     }
-    }
-    else {
+  } else {
     if (spiBus == spi::SpiBus::SPI_1) {
 #ifdef DMA_REQUEST_SPI1_RX
       handle->Init.Request = DMA_REQUEST_SPI1_RX;
 #endif
-        }
-        else if(spiBus == spi::SpiBus::SPI_2) {
+    } else if (spiBus == spi::SpiBus::SPI_2) {
 #ifdef DMA_REQUEST_SPI2_RX
       handle->Init.Request = DMA_REQUEST_SPI2_RX;
 #endif

hal/src/fsfw_hal/stm32h7/spi/spiCore.h

@@ -3,7 +3,6 @@
 
 #include "fsfw_hal/stm32h7/dma.h"
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
-
 #include "stm32h7xx_hal.h"
 #include "stm32h7xx_hal_dma.h"
 
@@ -15,10 +14,9 @@ using spi_transfer_cb_t = void (*) (SPI_HandleTypeDef *hspi, void* userArgs);
 
 namespace spi {
 
-void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus,
-        dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
-        dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber, uint32_t dmaMode = DMA_NORMAL,
-        uint32_t dmaPriority = DMA_PRIORITY_LOW);
+void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
+                        dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
+                        uint32_t dmaMode = DMA_NORMAL, uint32_t dmaPriority = DMA_PRIORITY_LOW);
 
 /**
  * Assign DMA handles. Required to use DMA for SPI transfers.
@@ -45,7 +43,7 @@ void assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs);
  */
 SPI_HandleTypeDef* getSpiHandle();
 
-}
+}  // namespace spi
 
 #ifdef __cplusplus
 }