Update

- COM Subsystem now handles datarate config
- torquer config and comCfg moved to mission/config folder
- CCSDS Handler: Added default rate submode

mission/system/objects/ComSubsystem.cpp

@@ -1,5 +1,32 @@
 #include "ComSubsystem.h"
 
+#include <fsfw/ipc/MutexGuard.h>
+
+#include "mission/config/comCfg.h"
+
 ComSubsystem::ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
                            uint32_t maxNumberOfTables)
-    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
+    : Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables), paramHelper(this) {
+  com::setCurrentDatarate(com::Datarate::LOW_RATE_MODULATION_BPSK);
+}
+
+MessageQueueId_t ComSubsystem::getCommandQueue() const { return Subsystem::getCommandQueue(); }
+
+ReturnValue_t ComSubsystem::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                                         ParameterWrapper *parameterWrapper,
+                                         const ParameterWrapper *newValues, uint16_t startAtIndex) {
+  if ((domainId == 0) and (uniqueIdentifier == static_cast<uint8_t>(com::ParameterId::DATARATE))) {
+    uint8_t newVal = 0;
+    ReturnValue_t result = newValues->getElement(&newVal);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+    if (newVal >= static_cast<uint8_t>(com::Datarate::NUM_DATARATES)) {
+      return HasParametersIF::INVALID_VALUE;
+    }
+    parameterWrapper->set(datarateCfg);
+    com::setCurrentDatarate(static_cast<com::Datarate>(newVal));
+    return returnvalue::OK;
+  }
+  return returnvalue::OK;
+}

mission/system/objects/ComSubsystem.h

@@ -1,13 +1,24 @@
 #ifndef MISSION_SYSTEM_COMSUBSYSTEM_H_
 #define MISSION_SYSTEM_COMSUBSYSTEM_H_
 
+#include <fsfw/parameters/HasParametersIF.h>
+#include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/subsystem/Subsystem.h>
 
-class ComSubsystem : public Subsystem {
+#include "mission/comDefs.h"
+
+class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
  public:
   ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
+                             uint16_t startAtIndex) override;
+
  private:
+  uint8_t datarateCfg = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
+  ParameterHelper paramHelper;
 };
 
 #endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */