com subsystem

bsp_q7s/core/ObjectFactory.cpp

@@ -580,13 +580,13 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 
 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
   auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
                        syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
   syrlinksUartCookie->setParityEven();
 
-  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
+  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
   auto syrlinksHandler =
-      new SyrlinksHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
                           pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
   syrlinksHandler->setPowerSwitcher(pwrSwitcher);
   syrlinksHandler->setStartUpImmediately();

common/config/eive/objects.h

@@ -117,7 +117,8 @@ enum commonObjects : uint32_t {
   SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
   SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
-  SYRLINKS_HK_HANDLER = 0x445300A3,
+  SYRLINKS_HANDLER = 0x445300A3,
+  CCSDS_IP_CORE_BRIDGE = 0x73500000,
 
   /* 0x49 ('I') for Communication Interfaces */
   SPI_RTD_COM_IF = 0x49020006,

dummies/helpers.cpp

@@ -41,7 +41,7 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch) {
   new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
   new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addSyrlinksDummies) {
-    new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
   new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   if (cfg.addPowerDummies) {

linux/fsfwconfig/objects/systemObjectList.h

@@ -39,8 +39,6 @@ enum sourceObjects : uint32_t {
   FW_ADDRESS_END = TIME_STAMPER,
   PUS_SERVICE_6 = 0x51000500,
 
-  CCSDS_IP_CORE_BRIDGE = 0x73500000,
-
   /* 0x49 ('I') for Communication Interfaces **/
   ARDUINO_COM_IF = 0x49000000,
   CSP_COM_IF = 0x49050001,

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -487,12 +487,11 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
   static_cast<void>(length);
 
 #if OBSW_ADD_SYRLINKS == 1
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
 #if OBSW_ADD_STAR_TRACKER == 1

mission/comDefs.h

@@ -9,6 +9,17 @@ enum class Datarate : uint8_t {
   NUM_DATARATES
 };
 
-}
+enum Submode : uint8_t {
+  RX_ONLY,
+  RX_AND_TX_DEFAULT_DATARATE,
+  RX_AND_TX_LOW_DATARATE,
+  RX_AND_TX_HIGH_DATARATE,
+  RX_AND_TX_CW,
+  NUM_SUBMODES
+};
+
+enum class CcsdsSubmode : uint8_t { UNSET = 0, DATARATE_LOW = 1, DATARATE_HIGH = 2 };
+
+}  // namespace com
 
 #endif /* MISSION_COMDEFS_H_ */

mission/controller/ThermalController.cpp

@@ -746,7 +746,7 @@ void ThermalController::copyDevices() {
 
   {
     lp_var_t<float> tempSyrlinksPowerAmplifier =
-        lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
+        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
     PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
@@ -761,7 +761,7 @@ void ThermalController::copyDevices() {
 
   {
     lp_var_t<float> tempSyrlinksBasebandBoard =
-        lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
+        lp_var_t<float>(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
     PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
     if (pg.getReadResult() != returnvalue::OK) {
       sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"

mission/devices/SyrlinksHandler.cpp

@@ -694,7 +694,7 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
 
 ReturnValue_t SyrlinksHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
   if (mode == HasModesIF::MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
-    if (submode >= syrlinks::Submode::NUM_SUBMODES) {
+    if (submode >= com::Submode::NUM_SUBMODES) {
       return HasModesIF::INVALID_SUBMODE;
     }
     return returnvalue::OK;
@@ -772,7 +772,7 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   };
   if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
     switch (getSubmode()) {
-      case (syrlinks::Submode::RX_AND_TX_DEFAULT_DATARATE): {
+      case (com::Submode::RX_AND_TX_DEFAULT_DATARATE): {
         if (datarateCfgRaw == static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK)) {
           if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
             return;
@@ -785,23 +785,23 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
         }
         break;
       }
-      case (syrlinks::Submode::RX_AND_TX_LOW_DATARATE): {
+      case (com::Submode::RX_AND_TX_LOW_DATARATE): {
         if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
           return;
         }
         break;
       }
-      case (syrlinks::Submode::RX_AND_TX_HIGH_DATARATE): {
+      case (com::Submode::RX_AND_TX_HIGH_DATARATE): {
         if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
           return;
         }
         break;
       }
-      case (syrlinks::Submode::RX_ONLY): {
+      case (com::Submode::RX_ONLY): {
         txStandbyHandler();
         return;
       }
-      case (syrlinks::Submode::RX_AND_TX_CW): {
+      case (com::Submode::RX_AND_TX_CW): {
         if (internalState == InternalState::IDLE) {
           internalState = InternalState::SET_TX_STANDBY;
           commandExecuted = false;

mission/devices/devicedefinitions/SyrlinksDefinitions.h

@@ -8,15 +8,6 @@ namespace syrlinks {
 
 enum class ParameterId : uint8_t { DATARATE = 0 };
 
-enum Submode {
-  RX_ONLY,
-  RX_AND_TX_DEFAULT_DATARATE,
-  RX_AND_TX_LOW_DATARATE,
-  RX_AND_TX_HIGH_DATARATE,
-  RX_AND_TX_CW,
-  NUM_SUBMODES
-};
-
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;
 
 static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);

mission/system/tree/CMakeLists.txt

@@ -1,2 +1,4 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp comModeTree.cpp
+target_sources(
-                                           tcsModeTree.cpp system.cpp util.cpp)
+  ${LIB_EIVE_MISSION}
+  PRIVATE acsModeTree.cpp payloadModeTree.cpp comModeTree.cpp tcsModeTree.cpp
+          system.cpp util.cpp)

mission/system/tree/comModeTree.cpp

@@ -1,11 +1,12 @@
 #include "comModeTree.h"
 
-#include "eive/objects.h"
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/modes/HasModesIF.h>
 #include <fsfw/returnvalues/returnvalue.h>
 #include <fsfw/subsystem/Subsystem.h>
 
+#include "eive/objects.h"
+#include "mission/comDefs.h"
 #include "util.h"
 
 const auto check = subsystem::checkInsert;
@@ -16,30 +17,47 @@ static const auto OFF = HasModesIF::MODE_OFF;
 static const auto ON = HasModesIF::MODE_ON;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
-auto COM_SEQUENCE_TX_OFF = std::make_pair(NML << 24, FixedArrayList<ModeListEntry, 2>());
+auto COM_SEQUENCE_RX_ONLY = std::make_pair(NML, FixedArrayList<ModeListEntry, 2>());
-auto COM_TABLE_TX_OFF_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+auto COM_TABLE_RX_ONLY_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 3>());
-auto COM_TABLE_TX_OFF_TRANS = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+auto COM_TABLE_RX_ONLY_TRANS_0 =
+    std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TRANS_1 =
+    std::make_pair((NML << 24) | 3, FixedArrayList<ModeListEntry, 3>());
 
-auto COM_SEQUENCE_TX_ON = std::make_pair(NML << 24, FixedArrayList<ModeListEntry, 2>());
+auto COM_SEQUENCE_RX_AND_TX_LOW_RATE = std::make_pair(NML, FixedArrayList<ModeListEntry, 2>());
-auto COM_TABLE_TX_ON_TGT = std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TGT =
-auto COM_TABLE_TX_ON_TRANS = std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 =
+    std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 =
+    std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+
+auto COM_SEQUENCE_RX_AND_TX_HIGH_RATE = std::make_pair(NML, FixedArrayList<ModeListEntry, 2>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TGT =
+    std::make_pair((NML << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 =
+    std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 =
+    std::make_pair((NML << 24) | 2, FixedArrayList<ModeListEntry, 6>());
 
 namespace {
-void buildTxOffSequence(Subsystem& ss, ModeListEntry& eh);
+void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh);
-void buildTxOnSequence(Subsystem& ss, ModeListEntry& eh);
+void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh);
+void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace
 
 void satsystem::com::init() {
   ModeListEntry entry;
-  buildTxOffSequence(SUBSYSTEM, entry);
+  buildRxOnlySequence(SUBSYSTEM, entry);
-  buildTxOnSequence(SUBSYSTEM, entry);
+  buildTxAndRxLowRateSequence(SUBSYSTEM, entry);
-  SUBSYSTEM.setInitialMode(NML, 0 /* TODO: Which submode? */);
+  buildTxAndRxHighRateSequence(SUBSYSTEM, entry);
+  SUBSYSTEM.setInitialMode(NML, ::com::Submode::RX_ONLY);
 }
 
 namespace {
 
-void buildTxOffSequence(Subsystem& ss, ModeListEntry& eh) {
+void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::com::buildTxOffSequence";
+  std::string context = "satsystem::com::buildRxOnlySequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
@@ -57,24 +75,33 @@ void buildTxOffSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
 
-  // Build TX OFF table
+  // Build RX Only table. We could track the state of the CCSDS IP core handler
-  iht(objects::SYRLINKS_HK_HANDLER, NML, 0/* TODO */, COM_TABLE_TX_OFF_TGT.second);
+  // as well but I do not think this is necessary because enabling that should
-  check(ss.addTable(TableEntry(COM_SEQUENCE_TX_OFF.first, &COM_TABLE_TX_OFF_TGT.second)), ctxc);
+  // not intefere with the Syrlinks Handler.
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TGT.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TGT.first, &COM_TABLE_RX_ONLY_TGT.second)), ctxc);
 
-  // Build TX OFF transition
+  // Build RX Only transition 0
-  iht(objects::SYRLINKS_HK_HANDLER, NML, 0/* TODO */, COM_TABLE_TX_OFF_TRANS.second);
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
-  check(ss.addTable(TableEntry(COM_SEQUENCE_TX_OFF.first, &COM_TABLE_TX_OFF_TRANS.second)), ctxc);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_0.first, &COM_TABLE_RX_ONLY_TRANS_0.second)),
+        ctxc);
+
+  // Build RX Only transition 1
+  iht(objects::CCSDS_IP_CORE_BRIDGE, OFF, 0, COM_TABLE_RX_ONLY_TRANS_1.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_ONLY_TRANS_1.first, &COM_TABLE_RX_ONLY_TRANS_1.second)),
+        ctxc);
 
   // Build TX OFF sequence
-  ihs(COM_SEQUENCE_TX_OFF.second, COM_TABLE_TX_OFF_TGT.first, 0, false);
+  ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TGT.first, 0, true);
-  ihs(COM_SEQUENCE_TX_OFF.second, COM_TABLE_TX_OFF_TRANS.first, 0, false);
+  ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TRANS_0.first, 0, true);
-  check(ss.addSequence(SequenceEntry(COM_TABLE_TX_OFF_TRANS.first, &COM_TABLE_TX_OFF_TRANS.second,
+  ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TRANS_1.first, 0, true);
-                                      COM_TABLE_TX_OFF_TRANS.first)),
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_ONLY.first, &COM_SEQUENCE_RX_ONLY.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
         ctxc);
 }
 
-void buildTxOnSequence(Subsystem& ss, ModeListEntry& eh) {
+void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
-  std::string context = "satsystem::com::buildTxOnSequence";
+  std::string context = "satsystem::com::buildTxAndRxLowRateSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
@@ -92,19 +119,90 @@ void buildTxOnSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
 
-  // Build TX ON table
+  // Build RX and TX low datarate table.
-  iht(objects::SYRLINKS_HK_HANDLER, NML, /*TODO*/0, COM_TABLE_TX_ON_TGT.second);
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
-  check(ss.addTable(TableEntry(COM_SEQUENCE_TX_ON.first, &COM_TABLE_TX_ON_TGT.second)), ctxc);
+      COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
+  iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
+      COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TGT.first,
+                               &COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second)),
+        ctxc);
 
-  // Build TX ON transition
+  // Build TX and RX low datarate transition 0, switch CCSDS handler first
-  iht(objects::SYRLINKS_HK_HANDLER, NML, /*TODO*/0, COM_TABLE_TX_ON_TRANS.second);
+  iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
-  check(ss.addTable(TableEntry(COM_SEQUENCE_TX_ON.first, &COM_TABLE_TX_ON_TRANS.second)), ctxc);
+      COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.first,
+                               &COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.second)),
+        ctxc);
 
-  // Build TX ON sequence
+  // Build TX and RX low transition 1
-  ihs(COM_SEQUENCE_TX_ON.second, COM_TABLE_TX_ON_TGT.first, 0, false);
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
-  ihs(COM_SEQUENCE_TX_ON.second, COM_TABLE_TX_ON_TRANS.first, 0, false);
+      COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
-  check(ss.addSequence(SequenceEntry(COM_TABLE_TX_ON_TRANS.first, &COM_TABLE_TX_ON_TRANS.second,
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first,
-                                      COM_TABLE_TX_ON_TRANS.first)),
+                               &COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second)),
+        ctxc);
+
+  // Build TX and RX low datarate sequence
+  ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TGT.first, 0, true);
+  ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0.first, 0, true);
+  ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first, 0, true);
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_AND_TX_LOW_RATE.first,
+                                     &COM_SEQUENCE_RX_AND_TX_LOW_RATE.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
+        ctxc);
+}
+
+void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::com::buildTxAndRxHighRateSequence";
+  auto ctxc = context.c_str();
+  // Insert Helper Table
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+    eh.setObject(obj);
+    eh.setMode(mode);
+    eh.setSubmode(submode);
+    check(table.insert(eh), ctxc);
+  };
+  // Insert Helper Sequence
+  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
+                 bool checkSuccess) {
+    eh.setTableId(tableId);
+    eh.setWaitSeconds(waitSeconds);
+    eh.setCheckSuccess(checkSuccess);
+    check(sequence.insert(eh), ctxc);
+  };
+
+  // Build RX and TX low datarate table.
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
+      COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
+  iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
+      COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.first,
+                               &COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second)),
+        ctxc);
+
+  // Build TX and RX low datarate transition 0, switch CCSDS handler first
+  iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
+      COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.first,
+                               &COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.second)),
+        ctxc);
+
+  // Build TX and RX low transition 1
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
+      COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first,
+                               &COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.second)),
+        ctxc);
+
+  // Build TX and RX low datarate sequence
+  ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.first, 0, true);
+  ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0.first, 0,
+      true);
+  ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first, 0,
+      true);
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.first,
+                                     &COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
         ctxc);
 }
 

mission/system/tree/comModeTree.h

@@ -9,7 +9,7 @@ namespace com {
 extern Subsystem SUBSYSTEM;
 
 void init();
-}
+}  // namespace com
 
 }  // namespace satsystem
 

mission/tmtc/CcsdsIpCoreHandler.cpp

@@ -228,12 +228,12 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
   ReturnValue_t result = returnvalue::OK;
   switch (actionId) {
     case SET_LOW_RATE: {
-      submode = static_cast<Submode_t>(Submode::DATARATE_LOW);
+      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
       result = ptmeConfig->setRate(RATE_100KBPS);
       break;
     }
     case SET_HIGH_RATE: {
-      submode = static_cast<Submode_t>(Submode::DATARATE_HIGH);
+      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
       result = ptmeConfig->setRate(RATE_500KBPS);
       break;
     }
@@ -365,8 +365,8 @@ void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
 ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submode,
                                                    uint32_t* msToReachTheMode) {
   if (mode == HasModesIF::MODE_ON) {
-    if (submode != static_cast<Submode_t>(Submode::DATARATE_HIGH) and
+    if (submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
-        submode != static_cast<Submode_t>(Submode::DATARATE_LOW)) {
+        submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
       return HasModesIF::INVALID_SUBMODE;
     }
   } else if (mode != HasModesIF::MODE_OFF) {
@@ -379,12 +379,12 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
 void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
   if (mode == HasModesIF::MODE_ON) {
     enableTransmit();
-    if (submode == static_cast<Submode_t>(Submode::DATARATE_HIGH)) {
+    if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
       ReturnValue_t result = ptmeConfig->setRate(RATE_500KBPS);
       if (result == returnvalue::OK) {
         mode = HasModesIF::MODE_ON;
       }
-    } else if (submode == static_cast<Submode_t>(Submode::DATARATE_LOW)) {
+    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
       ReturnValue_t result = ptmeConfig->setRate(RATE_100KBPS);
       if (result == returnvalue::OK) {
         mode = HasModesIF::MODE_ON;

mission/tmtc/CcsdsIpCoreHandler.h

@@ -22,8 +22,7 @@
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "linux/ipcore/PtmeConfig.h"
-
+#include "mission/comDefs.h"
-enum class Submode : uint8_t { UNSET = 0, DATARATE_LOW = 1, DATARATE_HIGH = 2 };
 
 /**
  * @brief   This class handles the data exchange with the CCSDS IP cores implemented in the
@@ -139,7 +138,7 @@ class CcsdsIpCoreHandler : public SystemObject,
 
   ActionHelper actionHelper;
   Mode_t mode = HasModesIF::MODE_OFF;
-  Submode_t submode = static_cast<Submode_t>(Submode::UNSET);
+  Submode_t submode = static_cast<Submode_t>(com::CcsdsSubmode::UNSET);
   ModeHelper modeHelper;
 
   MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;