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Version bump, CHANGELOG update, format
2023-02-23 13:38:24 +01:00

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Change Log

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog and this project adheres to Semantic Versioning.


[v6.0.0] 2023-02-10


  • Mode Service: Add allowed subservice PR: #739
  • CService200ModeManagement: Various bugfixes which lead to now execution complete being generated on mode announcements, duplicate mode reply generated on announce commands, and the mode read subservice not working properly. PR: #736
  • Memory leak fixes for the TCP/IP TMTC bridge. PR: #737
  • Service9TimeManagement: Fix the time dump at the SET_TIME subservice: Include clock timeval seconds instead of uptime. PR: #726
  • HAL MGM3100 Handler: Use axis specific gain/scaling factors. Previously, only the X scaling factor was used. PR: #724
  • HAL MGM3100 Handler: Z value was previously calculated with bytes of the X value. PR: #733
  • DHB setNormalDatapoolEntriesInvalid: The default implementation did not set the validity to false correctly because the read and write calls were missing. PR: #728
  • PUS TMTC creator module: Sequence flags were set to continuation segment (0b00) instead of the correct unsegmented flags (0b11) as specified in the standard. PR: #727
  • TC Scheduler Service 11: Add size and CRC check for contained TC. Bug: #719 PR: #720
  • Only delete health table entry in HealthHelper destructor if health table was set. PR: #710
  • I2C Bugfixes: Do not keep iterator as member and fix some incorrect handling with the iterator. Also properly reset the reply size for successfull transfers and erroneous transfers. PR: #700
  • Bugfix for Serial Buffer Stream: Setting doActive to false now actually fully disables printing. PR: #680
  • TcpTmTcServer.cpp: The server was actually not able to handle CCSDS packets which were clumped together. This has been fixed now. PR: #673
  • CServiceHealthCommanding: Add announce all health info implementation PR: #725
  • various fixes related to linux Unittests and memory leaks PR: #715
  • small fix to allow teardown handling PR: #713
  • fix compiler warning for fixed array list copy ctor PR: #704
  • missing include PR: #703
  • defaultconfig did not build anymore PR: #702
  • hotfix PR: #699
  • small fix for helper PR: #698
  • missing retval conv PR: #697
  • DHB Countdown Bug PR: #693
  • doc corrections PR: #687
  • better error printout PR: #686
  • include correction PR: #683
  • better warning for missing include paths PR: #676
  • Service 11 regression PR: #670


  • Empty constructor for CdsShortTimeStamper which does not do an object manager registration. PR: #730
  • Service9TimeManagement: Add DUMP_TIME (129) subservice.
  • TcpTmTcServer: Allow setting the SO_REUSEADDR and SO_REUSEPORT option on the TCP server. CTOR prototype has changed and expects an explicit TCP configuration struct to be passed. PR: #722
  • DleParser helper class to parse DLE encoded packets from a byte stream. PR: #711
  • UioMapper is able to resolve symlinks now. PR: #709
  • Add new UnsignedByteField class PR: #660
  • publish documentation for development and master branch PR: #681
  • Add Linux HAL options PR: #663
  • Expand SerializeIF PR: #656
  • PUS Service 11: Additional Safety Check PR: #666
  • improvements for auto-formatter script PR: #665
  • provide a weak print char impl PR: #674


  • now that doc server is up, remove markdown files PR: #688
  • remove bsp specific code PR: #679


  • CService201HealthCommanding renamed to CServiceHealthCommanding, service ID customizable now. CServiceHealthCommanding expects configuration struct HealthServiceCfg now PR: #725
  • AcceptsTelemetryIF: getReportReceptionQueue is const now PR: #712
  • Moved some container returnvalues to dedicated header and namespace so they can be used without template specification. PR: #707
  • Remove default secondary header argument for uint16_t getTcSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag) and uint16_t getTmSpacePacketIdFromApid(uint16_t apid, bool secondaryHeaderFlag) PR: #689
  • Removed HasReturnvaluesIF class in favor of returnvalue namespace with OK and FAILED constants. PR: #659
  • Overhaul of the TMTC stack, including various changes and improvements for other modules PR: #655 which also includes a migration guide
  • Bump Catch2 dependency to regular version v3.1.0 PR: #678
  • SerialBufferAdapter: Rename setBuffer to setConstBuffer and update API to expect const uint8_t* accordingly. PR: #677
  • Remove the following user includes from fsfw/events/Event.h and fsfw/returnvalues/returnvalue.h:
    • #include "events/subsystemIdRanges.h"
    • #include "returnvalues/classIds.h" The user has to include those themselves now PR: #675
  • DeviceHandlerBase: Set command sender before calling buildCommandFromCommand. This allows finishing action commands immediately inside the function. PR: #672
  • DeviceHandlerBase: New signature of handleDeviceTm which expects a const SerializeIF& and additional helper variant which expects const uint8_t* PR: #671
  • Improvements for AcceptsTelemetryIF and AcceptsTelecommandsIF:
    • Make functions const where it makes sense
    • Add const char* getName const abstract function PR: #684
  • Generic TMTC Bridge Update PR: #734
  • comment tweak to event parser can read everything PR: #732
  • CMakeLists file updates PR: #731
  • improve srv20 error messages PR: #723
  • I2C Linux: remove duplicate printout PR: #718
  • printout handling improvements PR: #717
  • vec getter, reset for content PR: #716
  • updates for source sequence counter PR: #714
  • SP reader getPacketData is const now PR: #708
  • refactoring of serial drivers for linux PR: #705
  • Local Pool Update Remove Add Data Ignore Fault Argument PR: #701
  • Switch to new documentation server PR: #694
  • Windows Tweaks PR: #691
  • Refactor Local Pool API PR: #667
  • group MGM data in local pool vectors PR: #664


  • Refactoring of CFDP stack which was done during implementation of the CFDP source and destination handlers.
    • New filesystem module, changes for filesystem abstraction HasFileSystemIF to better fit requirements of CFDP
    • New HostFilesystem implementation of the HasFileSystemIF
    • New cfdp::UserBase class which is the abstraction for the CFDP user in an OBSW context.
    • mib module for the CFDP stack
    • PDU classes renamed from ...Serializer/...Deserializer to ...Creator/...Reader respetively
    • Renamed TcDistributor to TcDistributorBase to prevent confusion
    • Refactored TcDisitributorBase to be more flexible and usable for CFDP distribution
    • Renamed CCSDSDistributor to CcsdsDistributor and add feature which allows it to remove the CCSDS header when routing a packet. This allows CCSDS agnostic receiver implementation without an extra component PR: #682

[v5.0.0] 2022-07-25


  • Renamed auto-formatting script to auto-formatter.sh and made it more robust. If cmake-format is installed, it will also auto-format the CMakeLists.txt files now. PR: #625 PR: #626
  • Bump C++ required version to C++17. Every project which uses the FSFW and every modern compiler supports it PR: #622
  • New CMake option FSFW_HAL_LINUX_ADD_LIBGPIOD to specifically exclude gpiod code. PR: #572
  • HAL Devicehandlers: Periodic printout is run-time configurable now
  • oneShotAction flag in the TestTask class is not static anymore
  • SimpleRingBuffer::writeData now checks if the amount is larger than the total size of the Buffer and rejects such writeData calls with returnvalue::FAILED PR: #586
  • Major update for version handling, using git describe to fetch version information with git. PR: #601
    • Add helper functions provided by cmake-modules manually now. Those should not change too often and only a small subset is needed
    • Separate folder for easier update and for distinction
    • LICENSE file included
    • use int for version numbers to allow unset or uninitialized version
    • Initialize Version object with numbers set to -1
    • Instead of hardcoding the git hash, it is now retrieved from git
    • Version now allows specifying additional version information like the git SHA1 hash and the versions since the last tag
    • Additional information is set to the last part of the git describe output for FSFW_VERSION now.
    • Version still need to be hand-updated if the FSFW is not included as a submodule for now.
  • IPC Message Queue Handling: Allow passing an optional MqArgs argument into the MessageQueue creation call. It allows passing context information and an arbitrary user argument into the message queue. Also streamlined and simplified MessageQueue implementation for all OSALs PR: #583
  • Internal API change: Moved the fsfw_hal to the src folder and integration and internal tests part of fsfw_tests to src. Unittests are now in a dedicated folder called unittests PR: #653

Task Module Refactoring

PR: #636

Refactoring general task code

  • There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations. Remove it by introducing base classes PeriodicTaskBase and FixedTimeslotTaskBase.

Refactor PeriodicTaskIF

  • Convert virtual ReturnValue_t addComponent(object_id_t object) to virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0), allowing to pass the operation code passed to performOperation. Updated API taking an ExecutableObjectIF accordingly

Refactor FixedTimeslotTaskIF

  • Add additional addSlot function which takes an ExecutableObjectIF pointer and its Object ID

Refactor FixedSequenceSlot

  • Introduce typedef CustomCheckFunc for ReturnValue_t (*customCheckFunction)(const SlotList&).
  • Convert ReturnValue_t (*customCheckFunction)(const SlotList&) to ReturnValue_t (*customCheckFunction)(const SlotList&, void*), allowing arbitrary user arguments for the custom checker

Linux Task Module

  • Use composition instead of inheritance for the PeriodicPosixTask and make the PosixTask a member of the class


  • HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations PR: #585
  • HAL Linux SPI: Set the Clock Default State when setting new SPI speed and mode PR: #573
  • GPIO HAL: Direction, GpioOperation and Levels are enum classes now, which prevents name clashes with Windows defines. PR: #572
  • HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations PR: #585


PR: #584 and #593

  • timeval to TimeOfDay_t
  • Added Mutex for gmtime calls: (compare http://www.opengate.at/blog/2020/01/timeless/)
  • Moved the statics used by Clock in ClockCommon.cpp to this file
  • Better check for leap seconds
  • Added Unittests for Clock (only getter)


  • PowerSwitchIF: Remove const specifier from sendSwitchCommand and sendFuseOnCommand and also specify a ReturnValue_t return type PR: #590
  • Extend PowerSwitcher module to optionally check current state when calling turnOn or turnOff. Tis can be helpful to avoid commanding switches which do not need commanding PR: #590


  • Removed the HkSwitchHelper. This module should not be needed anymore, now that the local datapools have been implemented. PR: #557


  • New constructor for PoolEntry which allows to simply specify the length of the pool entry. This is also the new default constructor for scalar value with 0 as an initial value
  • Added options for CI/CD builds: FSFW_CICD_BUILD. This allows the source code to know whether it is running in CI/CD PR: #623
  • Basic clion support: Update .gitignore and add some basic run configurations PR: #625
  • LTO support: Allow using LTO/IPO by setting FSFW_ENABLE_LTO=1. CMake is able to detect whether the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it, can make good use of it and it usually makes the code faster and/or smaller. After some more research: Enabling LTO will actually cause the compiler to only produce thin LTO by adding -flto -fno-fat-lto-objects to the compiler options. I am not sure this is an ideal choice because if an application linking against the FSFW does not use LTO, there can be compile issues (e.g. observed when compiling the FSFW tests without LTO). This is a known issue as can be seen in the multiple CMake issues for it:
  • Linux HAL: Add wiretapping option for I2C. Enabled with FSFW_HAL_I2C_WIRETAPPING defined to 1
  • Dedicated Version class and constant fsfw::FSFW_VERSION containing version information inside fsfw/version.h PR: #559
  • Added generic PUS TC Scheduler Service 11. It depends on the new added Emebeded Template Library (ETL) dependency. PR: #594
  • Added ETL dependency and improved library dependency management PR: #592
  • Add a DummyPowerSwitcher module which can be useful for test setups when no PCDU is available PR: #590
  • New typedef for switcher type PR: #590
  • Subsystem: New API to add table and sequence entries


  • TCP TMTC Server: MutexGuard was not created properly in TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) call. PR: #618
  • Fix infinite recursion in prepareHealthSetReply of PUS Health Service 201. Is not currently used right now but might be used in the future PR: #617
  • Move some CMake directives further up top so they are not ignored PR: #621
  • Small bugfix in STM32 HAL for SPI PR: #599
  • HAL GPIO: Improved error checking in LinuxLibgpioIF::configureGpios(...). If a GPIO configuration fails, the function will exit prematurely with a dedicated error code PR: #602



  • CFDP Packet Stack and related tests added. It also refactors the existing TMTC infastructure to allow sending of CFDP packets to the CCSDS handlers. PR: #528
  • added virtual function to print datasets PR: #544
  • doSendRead Hook PR: #545
  • Dockumentation for DHB PR: #551

HAL additions

  • Linux Command Executor, which can execute shell commands in blocking and non-blocking mode PR: #536
  • uio Mapper PR: #543


  • Applied the clang-format auto-formatter to all source code PR: #534
  • Updated Catch2 to v3.0.0-preview4 PR: #538
  • Changed CI to use prebuilt docker image PR: #549


  • CMake fixes in PR #533 , was problematic if the uppermost user CMakeLists.txt did not have the include paths set up properly, which could lead to compile errors that #include "fsfw/FSFW.h" was not found.
  • Fix for build regression in Catch2 v3.0.0-preview4 PR: #548
  • Fix in unittest which failed on CI PR: #552
  • Fix in helper script PR: #553

API Changes

  • Aforementioned changes to existing TMTC stack

Known bugs


API Changes


  • Version number was not updated for v3.0.0 #542


Known bugs


API Changes

TCP Socket Changes

  • Keep Open TCP Implementation #496
    • The socket will now kept open after disconnect. This allows reconnecting.
    • Only one connection is allowed
    • No internal influence but clients need to change their Code.


  • Add feature to open GPIO by line name #506


  • Unittests for Op Divider and Bitutility #510

Filesystem IF changed

  • Filesystem Base Interface: Use IF instead of void pointer #511


  • STM32 SPI Updates #518


  • Small bugfix for LIS3 handler #504
  • Spelling fixed for function names #509
  • CMakeLists fixes #517
  • Out of bound reads and writes in unittests #519
  • Bug in TmPacketStoredPusC (#478)
  • Windows ifdef fixed #529


  • FSFW.h.in more default values #491
  • Minor updates for PUS services #498
  • HasReturnvaluesIF naming for parameter #499
  • Tests can now be built as part of FSFW and versioning moved to CMake #500
  • Added integration test code #508
  • More printouts for rejected TC packets #505
  • Arrayprinter format improvements #514
  • Adding code for CI with docker and jenkins #520
  • Added new function in SerializeAdapter #513
    • Enables simple deSerialize if you keep track of the buffer position yourself
    • static ReturnValue_t deSerialize(T *object, const uint8_t* buffer, size_t* deserSize, SerializeIF::Endianness streamEndianness)
  • Unittest helper scripts has a new Parameter to open the coverage html in the webrowser #525
    • '-o', '--open', Open coverage data in webbrowser
  • Documentation updated. Sphinx Documentation can now be build with python script #526

Known bugs

  • Version number was not updated for v3.0.0 #542

All Pull Requests:

Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/19


API Changes

File Structure changed to fit more common structure

  • See pull request (#445)
    • HAL is now part of the main project
      • See Instructions below:

Instruction how to update existing / user code

  • Changes in #include:

    • Rename internalError in includes to internalerror
    • Rename fsfw/hal to fsfw_hal
    • Rename fsfw/tests to fsfw_tests
    • Rename osal/FreeRTOS to osal/freertos
  • Changes in CMakeLists.txt:

    • Rename OS_FSFW to FSFW_OSAL
  • Changes in DleEncoder.cpp

    • Create an instance of the DleEncoder first before calling the encode and decode functions

Removed osal/linux/Timer (#486)

  • Was redundant to timemanager/Countdown

Instruction how to update existing / user code

  • Use timemanager/Countdown instead


TM Stack

  • Increased TM stack robustness by introducing nullptr checks and more printouts (#483)

Host OSAL / FreeRTOS

  • QueueMapManager Bugfix (NO_QUEUE was used as MessageQueueId) (#444)


  • Event output is now consistent (#447)

DLE Encoder

  • Fixed possible out of bounds access in DLE Encoder (#492)


  • HAL as major new feature, also includes three MEMS devicehandlers as part of #481
  • Linux HAL updates (#456)
  • FreeRTOS Header cleaning update and Cmake tweaks (#442)
  • Printer updates (#453)
  • New returnvalue for for empty PST (#485)
  • TMTC Bridge: Increase limit of packets stored (#484)

Known bugs

  • Bug in TmPacketStoredPusC (#478)

All Pull Requests:

Milestone: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/milestone/5


API Changes

FSFW Architecture

  • New src folder which contains all source files except the HAL, contributed code and test code
  • External and internal API mostly stayed the same
  • Folder names are now all smaller case: internalError was renamed to internalerror and FreeRTOS was renamed to freertos
  • Warning if optional headers are used but the modules was not added to the source files to compile


  • HAL added back into FSFW. It is tightly bound to the FSFW, and compiling it as a static library made using it more complicated than necessary


FreeRTOS QueueMapManager

  • Fixed a bug which causes the first generated Queue ID to be invalid


FSFW Architecture

  • See API changes chapter. This change will keep the internal API consistent in the future


API Changes


  • Added PUS C support
  • SUBSYSTEM_IDs added for PUS Services
  • Added new Parameter which must be defined in config: fsfwconfig::FSFW_MAX_TM_PACKET_SIZE


  • ObjectManager is now a singelton


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




  • timemanager/TimeStamperIF.h: Timestamp config was not used correctly, leading to different timestamp sizes than configured in fsfwconfig::FSFW_MISSION_TIMESTAMP_SIZE
  • TCP server fixes


FreeRTOS Queue Handles

  • Fixed an internal issue how FreeRTOS MessageQueues were handled

Linux OSAL

  • Better printf error messages


  • Check for C++11 as mininimum required Version

Debug Output

  • Changed Warning color to magenta, which is well readable on both dark and light mode IDEs

Changes from ASTP 0.0.1 to 1.0.0


  • Bugfix in MessageQueue, which caused the sender not to be set properly


  • vRequestContextSwitchFromISR is declared extern "C" so it can be defined in a C file without issues

PUS Services

  • It is now possible to change the message queue depth for the telecommand verification service (PUS1)
  • The same is possible for the event reporting service (PUS5)
  • PUS Health Service added, which allows to command and retrieve health via PUS packets


  • New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF

Local Pool

  • Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter

Parameter Service

  • The API of the parameter service has been changed to prevent inconsistencies between documentation and actual code and to clarify usage.
  • The parameter ID now consists of:
    1. Domain ID (1 byte)
    2. Unique Identifier (1 byte)
    3. Linear Index (2 bytes) The linear index can be used for arrays as well as matrices. The parameter load command now explicitely expects the ECSS PTC and PFC information as well as the rows and column number. Rows and column will default to one, which is equivalent to one scalar parameter (the most important use-case)

File System Interface

  • A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)

Internal Error Reporter

  • The new internal error reporter uses the local data pools. The pool IDs for the exisiting three error values and the new error set will be hardcoded for now, the the constructor for the internal error reporter just takes an object ID for now.

Device Handler Base

  • There is an additional PERFORM_OPERATION step for the device handler base. It is important that DHB users adapt their polling sequence tables to perform this step. This steps allows for a clear distinction between operation and communication steps
  • setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
  • getTransitionDelayMs is now an abstract method




  • makeEvent function: Now takes three input parameters instead of two and allows setting a unique ID. Event.cpp source file removed, functions now defined in header directly. Namespaces renamed. Functions declared constexpr now

Commanding Service Base

  • CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file

Service Interface

  • Proper printf support contained in ServiceInterfacePrinter.h
  • CPP ostream support now optional (can reduce executable size by 150 - 250 kB)
  • Amalagated header which determines automatically which service interface to use depending on FSFWConfig.h configuration. Users can just use #include <fsfw/serviceinterface/ServiceInterface.h>
  • If CPP streams are excluded, sif:: calls won't work anymore and need to be replaced by their printf counterparts. For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h. For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. If this is not the case, everything should work as usual.

ActionHelper and ActionMessage

  • ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit information whether to report a success or failure message instead of deriving it implicitely from returnvalue

PUS Parameter Service 20

Added PUS parameter service 20 (only custom subservices available).