Merge pull request 'COM Subsystem' (#358 ) from com_subsystem into develop

Reviewed-on: #358
update retvals
2023-01-28 14:58:01 +01:00 · 2023-01-28 14:57:40 +01:00 · 2023-01-28 14:55:41 +01:00 · 2023-01-28 14:49:28 +01:00 · 2023-01-28 12:52:00 +01:00 · 2023-01-28 12:47:21 +01:00
50 changed files with 1041 additions and 188 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -8,8 +8,65 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/).
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.

+Starting at v2.0.0, the following changes will consitute of a breaking
+change warranting a new major release:
+
+- The TMTC interface changes in any shape of form.
+- The behavour of the OBSW changes in a major shape or form relevant
+  for operations
+
 # [unreleased]

+# [v1.22.0] 2023-01-28
+
+TMTC version: v2.6.0
+
+## Added
+
+- First COM subsystem implementation. It mirrors the Syrlinks mode/submodes but also takes
+  care of commanding the CCSDS handler. It expects the Syrlinks submodes as mode commands.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+- The CCSDS handler has has a new submode (3) to configure the default datarate.
+- Default datarate parameter commanding moved to COM subsystem.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/358
+
+# [v1.21.0] 2023-01-26
+
+TMTC version: v2.5.0
+Syrlinks PR: PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/353
+
+## Fixed
+
+- The `OBSW_SYRLINKS_SIMULATED` flag is set to 0 for for both EM and FM.
+- MGM4 handling in ACS sensor processing: Bugfix in `mulScalar` operation
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/354
+- Subsystem ID clash: CORE subsystem ID was the same as Syrlinks subsystem ID.
+
+## Changed
+
+- Startracker temperature set and PCDU switcher set are diagnostic now
+- `SyrlinksHkHandler` renamed to `SyrlinksHandler` to better reflect that it does more than
+  just HK and is also responsible for setting the TX mode of the device.
+- `SyrlinksHandler`: Go to startup immediately because the Syrlinks device should always be on
+  by default.
+- `SyrlinksHandler`: Go to normal mode at startup.
+
+## Added
+
+- The Syrlinks handler has submodes for the TX mode now: RX Only (0), RX and TX default
+  datarate (1), RX and TX Low Rate (2), RX and TX High Rate (3) and TX Carrier Wave (4).
+  The submodes apply for both ON and NORMAL mode. The default datarate can be updated using
+  a parameter command (domain ID 0 and unique ID 0) with value 0 for low rate and 1 for high rate.
+- The Syrlinks handler always sets TX to standby when switching off
+- The Syrlinks handler triggers a new TX_ON event when the transmitter was switched on successfully
+  and a TX_OFF event when it was switched off successfully.
+- Startracker temperature set and PCDU switcher set are diagnostic now
+- The CCSDS handler can accept mode commands now. It accepts ON and OFF commands. Furthermore
+  it has a submode for low datarate (1) and high datarate (2) for the ON command.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/352
+
+# [v1.20.0] 2023-01-24
+
 ## Added

 - The Q7S SW now checks for a file named `boot_delay_secs.txt` in the home directory.
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -10,7 +10,7 @@
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
-set(OBSW_VERSION_MINOR_IF_GIT_FAILS 20)
+set(OBSW_VERSION_MINOR_IF_GIT_FAILS 22)
 set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)

 # set(CMAKE_VERBOSE TRUE)
@ -150,7 +150,7 @@ set(OBSW_ADD_SCEX_DEVICE
    ${INIT_VAL}
    CACHE STRING "Add Solar Cell Experiment module")
 set(OBSW_SYRLINKS_SIMULATED
-    ${OBSW_Q7S_EM}
+    0
    CACHE STRING "Syrlinks is simulated")

 # ##############################################################################
--- a/bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp
+++ b/bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp
@ -44,12 +44,11 @@ ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);

-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);

  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -48,6 +48,7 @@
 #include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/acsModeTree.h"
+#include "mission/system/tree/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "tmtc/pusIds.h"
@ -56,6 +57,7 @@
 #endif
 #include <mission/devices/ImtqHandler.h>
 #include <mission/devices/PcduHandler.h>
+#include <mission/devices/SyrlinksHandler.h>

 #include <sstream>

@ -88,7 +90,6 @@
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
-#include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
@ -580,15 +581,17 @@ 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 SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                          pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
  syrlinksHandler->setPowerSwitcher(pwrSwitcher);
+  syrlinksHandler->setStartUpImmediately();
+  syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
 #if OBSW_DEBUG_SYRLINKS == 1
  syrlinksHandler->setDebugMode(true);
 #endif
@ -799,6 +802,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
  vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
  (*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);

+  ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    sif::error
+        << "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
+        << std::endl;
+  }
+
  GpioCookie* gpioCookiePdec = new GpioCookie;
  consumer.str("");
  consumer << "0x" << std::hex << objects::PDEC_HANDLER;
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@ -1,6 +1,7 @@
 #include "scheduling.h"

 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/subsystem/Subsystem.h>
 #include <linux/scheduling.h>

 #include <iostream>
@ -142,10 +143,14 @@ void scheduling::initTasks() {
 #endif
 #endif

-#if OBSW_ADD_CCSDS_IP_CORES == 1
-  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
+  PeriodicTaskIF* comTask = factory->createPeriodicTask(
      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
+  result = comTask->addComponent(objects::COM_SUBSYSTEM);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
+  }
+#if OBSW_ADD_CCSDS_IP_CORES == 1
+  result = comTask->addComponent(objects::CCSDS_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }
@ -380,8 +385,8 @@ void scheduling::initTasks() {
 #endif
 #endif

+  comTask->startTask();
 #if OBSW_ADD_CCSDS_IP_CORES == 1
-  ccsdsHandlerTask->startTask();
  pdecHandlerTask->startTask();
 #endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -14,6 +14,7 @@
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/system/tree/comModeTree.h"

 void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
@ -108,4 +109,5 @@ void ObjectFactory::produce(void* args) {
                       pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
  createAcsController(true);
+  satsystem::com::init();
 }
--- a/common/config/eive/definitions.h
+++ b/common/config/eive/definitions.h
@ -50,6 +50,11 @@ static constexpr uint8_t VC1_QUEUE_SIZE = 80;
 static constexpr uint8_t VC2_QUEUE_SIZE = 50;
 static constexpr uint8_t VC3_QUEUE_SIZE = 50;

+static constexpr uint32_t MAX_PUS_FUNNEL_QUEUE_DEPTH = 100;
+
+static constexpr uint32_t MAX_STORED_CMDS_UDP = 120;
+static constexpr uint32_t MAX_STORED_CMDS_TCP = 120;
+
 }  // namespace config

 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */
--- a/common/config/eive/eventSubsystemIds.h
+++ b/common/config/eive/eventSubsystemIds.h
@ -35,6 +35,7 @@ enum : uint8_t {
  SYRLINKS = 137,
  SCEX_HANDLER = 138,
  CONFIGHANDLER = 139,
+  CORE = 140,
  COMMON_SUBSYSTEM_ID_END

 };
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@ -117,7 +117,9 @@ 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,
+  // might be obsolete, was not used in Q7S FM SW
+  // CCSDS_IP_CORE_BRIDGE = 0x73500000,

  /* 0x49 ('I') for Communication Interfaces */
  SPI_RTD_COM_IF = 0x49020006,
@ -142,6 +144,8 @@ enum commonObjects : uint32_t {
  ACS_SUBSYSTEM = 0x73010001,
  PL_SUBSYSTEM = 0x73010002,
  TCS_SUBSYSTEM = 0x73010003,
+  COM_SUBSYSTEM = 0x73010004,
+
  TM_FUNNEL = 0x73000100,
  PUS_TM_FUNNEL = 0x73000101,
  CFDP_TM_FUNNEL = 0x73000102,
--- a/dummies/helpers.cpp
+++ b/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) {
--- a/2
+++ b/2
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -226,11 +226,9 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h
 13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
 13632;0x3540;HDLC_CRC_ERROR;INFO;;linux/devices/ploc/PlocSupvUartMan.h
-13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
-13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
-13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
-13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
-13704;0x3588;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
+13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
+13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h
 13800;0x35e8;MISSING_PACKET;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13801;0x35e9;EXPERIMENT_TIMEDOUT;LOW;;mission/devices/devicedefinitions/ScexDefinitions.h
 13802;0x35ea;MULTI_PACKET_COMMAND_DONE;INFO;;mission/devices/devicedefinitions/ScexDefinitions.h
@ -239,3 +237,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 13903;0x364f;INSERT_CONFIGFILEVALUE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
 13904;0x3650;WRITE_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
 13905;0x3651;READ_CONFIGFILE_FAILED;MEDIUM;;mission/utility/GlobalConfigHandler.h
+14000;0x36b0;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+14001;0x36b1;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+14002;0x36b2;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+14003;0x36b3;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+14004;0x36b4;NO_SD_CARD_ACTIVE;HIGH;No SD card was active. Core controller will attempt to re-initialize a SD card.;bsp_q7s/core/CoreController.h
--- a/generators/bsp_q7s_objects.csv
+++ b/generators/bsp_q7s_objects.csv
@ -72,7 +72,7 @@
 0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER
 0x44420030;RTD_14_IC17_TCS_BOARD
 0x44420031;RTD_15_IC18_IMTQ
-0x445300A3;SYRLINKS_HK_HANDLER
+0x445300A3;SYRLINKS_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
 0x49010006;SCEX_UART_READER
@ -147,5 +147,6 @@
 0x73010001;ACS_SUBSYSTEM
 0x73010002;PL_SUBSYSTEM
 0x73010003;TCS_SUBSYSTEM
+0x73010004;COM_SUBSYSTEM
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@ -35,15 +35,15 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x51a5;IMTQ_RejectedWithoutReason;;165;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x51a6;IMTQ_CmdErrUnknown;;166;IMTQ_HANDLER;mission/devices/ImtqHandler.h
 0x51a7;IMTQ_UnexpectedSelfTestReply;The status reply to a self test command was received but no self test command has been sent. This should normally never happen.;167;IMTQ_HANDLER;mission/devices/ImtqHandler.h
-0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
-0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHkHandler.h
+0x50a0;SYRLINKS_CrcFailure;;160;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a1;SYRLINKS_UartFraminOrParityErrorAck;;161;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a2;SYRLINKS_BadCharacterAck;;162;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a3;SYRLINKS_BadParameterValueAck;;163;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a4;SYRLINKS_BadEndOfFrameAck;;164;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a5;SYRLINKS_UnknownCommandIdAck;;165;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a6;SYRLINKS_BadCrcAck;;166;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a7;SYRLINKS_ReplyWrongSize;;167;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
+0x50a8;SYRLINKS_MissingStartFrameCharacter;;168;SYRLINKS_HANDLER;mission/devices/SyrlinksHandler.h
 0x66a0;SADPL_CommandNotSupported;;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
 0x66a1;SADPL_DeploymentAlreadyExecuting;;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
 0x66a2;SADPL_MainSwitchTimeoutFailure;;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 240 translations.
+ * @brief    Auto-generated event translation file. Contains 243 translations.
 * @details
- * Generated on: 2023-01-23 11:30:32
+ * Generated on: 2023-01-28 14:57:13
 */
 #include "translateEvents.h"

@ -228,11 +228,8 @@ const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
 const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
 const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
 const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
-const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
-const char *REBOOT_SW_STRING = "REBOOT_SW";
-const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
-const char *REBOOT_HW_STRING = "REBOOT_HW";
-const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *TX_ON_STRING = "TX_ON";
+const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@ -241,6 +238,11 @@ const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
 const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
 const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";

 const char *translateEvents(Event event) {
  switch ((event & 0xFFFF)) {
@ -690,16 +692,10 @@ const char *translateEvents(Event event) {
      return HDLC_FRAME_REMOVAL_ERROR_STRING;
    case (13632):
      return HDLC_CRC_ERROR_STRING;
-    case (13700):
-      return ALLOC_FAILURE_STRING;
    case (13701):
-      return REBOOT_SW_STRING;
+      return TX_ON_STRING;
    case (13702):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
-    case (13703):
-      return REBOOT_HW_STRING;
-    case (13704):
-      return NO_SD_CARD_ACTIVE_STRING;
+      return TX_OFF_STRING;
    case (13800):
      return MISSING_PACKET_STRING;
    case (13801):
@ -716,6 +712,16 @@ const char *translateEvents(Event event) {
      return WRITE_CONFIGFILE_FAILED_STRING;
    case (13905):
      return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
    default:
      return "UNKNOWN_EVENT";
  }
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -1,8 +1,8 @@
 /**
 * @brief  Auto-generated object translation file.
 * @details
- * Contains 151 translations.
- * Generated on: 2023-01-23 11:30:32
+ * Contains 152 translations.
+ * Generated on: 2023-01-28 14:57:13
 */
 #include "translateObjects.h"

@ -80,7 +80,7 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
 const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
-const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
+const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@ -155,6 +155,7 @@ const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";

@ -309,7 +310,7 @@ const char *translateObject(object_id_t object) {
    case 0x44420031:
      return RTD_15_IC18_IMTQ_STRING;
    case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
+      return SYRLINKS_HANDLER_STRING;
    case 0x49000000:
      return ARDUINO_COM_IF_STRING;
    case 0x49010005:
@ -458,6 +459,8 @@ const char *translateObject(object_id_t object) {
      return PL_SUBSYSTEM_STRING;
    case 0x73010003:
      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
    case 0x73500000:
      return CCSDS_IP_CORE_BRIDGE_STRING;
    case 0xFFFFFFFF:
--- a/linux/devices/startracker/StarTrackerHandler.cpp
+++ b/linux/devices/startracker/StarTrackerHandler.cpp
@ -1210,8 +1210,8 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l

  localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));

-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(powerSet.getSid(), false, 10.0));
  poolManager.subscribeForRegularPeriodicPacket(
--- a/linux/fsfwconfig/events/subsystemIdRanges.h
+++ b/linux/fsfwconfig/events/subsystemIdRanges.h
@ -13,7 +13,6 @@
 namespace SUBSYSTEM_ID {
 enum : uint8_t {
  SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END,
-  CORE = 137,
 };
 }

--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 240 translations.
+ * @brief    Auto-generated event translation file. Contains 243 translations.
 * @details
- * Generated on: 2023-01-23 11:30:32
+ * Generated on: 2023-01-28 14:57:13
 */
 #include "translateEvents.h"

@ -228,11 +228,8 @@ const char *SUPV_REPLY_CRC_MISSMATCH_STRING = "SUPV_REPLY_CRC_MISSMATCH";
 const char *SUPV_UPDATE_PROGRESS_STRING = "SUPV_UPDATE_PROGRESS";
 const char *HDLC_FRAME_REMOVAL_ERROR_STRING = "HDLC_FRAME_REMOVAL_ERROR";
 const char *HDLC_CRC_ERROR_STRING = "HDLC_CRC_ERROR";
-const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
-const char *REBOOT_SW_STRING = "REBOOT_SW";
-const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
-const char *REBOOT_HW_STRING = "REBOOT_HW";
-const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";
+const char *TX_ON_STRING = "TX_ON";
+const char *TX_OFF_STRING = "TX_OFF";
 const char *MISSING_PACKET_STRING = "MISSING_PACKET";
 const char *EXPERIMENT_TIMEDOUT_STRING = "EXPERIMENT_TIMEDOUT";
 const char *MULTI_PACKET_COMMAND_DONE_STRING = "MULTI_PACKET_COMMAND_DONE";
@ -241,6 +238,11 @@ const char *GET_CONFIGFILEVALUE_FAILED_STRING = "GET_CONFIGFILEVALUE_FAILED";
 const char *INSERT_CONFIGFILEVALUE_FAILED_STRING = "INSERT_CONFIGFILEVALUE_FAILED";
 const char *WRITE_CONFIGFILE_FAILED_STRING = "WRITE_CONFIGFILE_FAILED";
 const char *READ_CONFIGFILE_FAILED_STRING = "READ_CONFIGFILE_FAILED";
+const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
+const char *REBOOT_SW_STRING = "REBOOT_SW";
+const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
+const char *REBOOT_HW_STRING = "REBOOT_HW";
+const char *NO_SD_CARD_ACTIVE_STRING = "NO_SD_CARD_ACTIVE";

 const char *translateEvents(Event event) {
  switch ((event & 0xFFFF)) {
@ -690,16 +692,10 @@ const char *translateEvents(Event event) {
      return HDLC_FRAME_REMOVAL_ERROR_STRING;
    case (13632):
      return HDLC_CRC_ERROR_STRING;
-    case (13700):
-      return ALLOC_FAILURE_STRING;
    case (13701):
-      return REBOOT_SW_STRING;
+      return TX_ON_STRING;
    case (13702):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
-    case (13703):
-      return REBOOT_HW_STRING;
-    case (13704):
-      return NO_SD_CARD_ACTIVE_STRING;
+      return TX_OFF_STRING;
    case (13800):
      return MISSING_PACKET_STRING;
    case (13801):
@ -716,6 +712,16 @@ const char *translateEvents(Event event) {
      return WRITE_CONFIGFILE_FAILED_STRING;
    case (13905):
      return READ_CONFIGFILE_FAILED_STRING;
+    case (14000):
+      return ALLOC_FAILURE_STRING;
+    case (14001):
+      return REBOOT_SW_STRING;
+    case (14002):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (14003):
+      return REBOOT_HW_STRING;
+    case (14004):
+      return NO_SD_CARD_ACTIVE_STRING;
    default:
      return "UNKNOWN_EVENT";
  }
--- a/linux/fsfwconfig/objects/systemObjectList.h
+++ b/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,
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -1,8 +1,8 @@
 /**
 * @brief  Auto-generated object translation file.
 * @details
- * Contains 151 translations.
- * Generated on: 2023-01-23 11:30:32
+ * Contains 152 translations.
+ * Generated on: 2023-01-28 14:57:13
 */
 #include "translateObjects.h"

@ -80,7 +80,7 @@ const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
 const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
 const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
 const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
-const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
+const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
 const char *SCEX_UART_READER_STRING = "SCEX_UART_READER";
@ -155,6 +155,7 @@ const char *EIVE_SYSTEM_STRING = "EIVE_SYSTEM";
 const char *ACS_SUBSYSTEM_STRING = "ACS_SUBSYSTEM";
 const char *PL_SUBSYSTEM_STRING = "PL_SUBSYSTEM";
 const char *TCS_SUBSYSTEM_STRING = "TCS_SUBSYSTEM";
+const char *COM_SUBSYSTEM_STRING = "COM_SUBSYSTEM";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";

@ -309,7 +310,7 @@ const char *translateObject(object_id_t object) {
    case 0x44420031:
      return RTD_15_IC18_IMTQ_STRING;
    case 0x445300A3:
-      return SYRLINKS_HK_HANDLER_STRING;
+      return SYRLINKS_HANDLER_STRING;
    case 0x49000000:
      return ARDUINO_COM_IF_STRING;
    case 0x49010005:
@ -458,6 +459,8 @@ const char *translateObject(object_id_t object) {
      return PL_SUBSYSTEM_STRING;
    case 0x73010003:
      return TCS_SUBSYSTEM_STRING;
+    case 0x73010004:
+      return COM_SUBSYSTEM_STRING;
    case 0x73500000:
      return CCSDS_IP_CORE_BRIDGE_STRING;
    case 0xFFFFFFFF:
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/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,
-                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif

 #if OBSW_ADD_STAR_TRACKER == 1
--- a/mission/CMakeLists.txt
+++ b/mission/CMakeLists.txt
@ -7,3 +7,4 @@ add_subdirectory(tmtc)
 add_subdirectory(system)
 add_subdirectory(csp)
 add_subdirectory(cfdp)
+add_subdirectory(config)
--- a/mission/comDefs.h
+++ b/mission/comDefs.h
@ -0,0 +1,31 @@
+#ifndef MISSION_COMDEFS_H_
+#define MISSION_COMDEFS_H_
+
+namespace com {
+
+enum class Datarate : uint8_t {
+  LOW_RATE_MODULATION_BPSK,
+  HIGH_RATE_MODULATION_0QPSK,
+  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,
+  DATARATE_DEFAULT = 3
+};
+enum class ParameterId : uint8_t { DATARATE = 0 };
+
+}  // namespace com
+
+#endif /* MISSION_COMDEFS_H_ */
--- a/mission/config/CMakeLists.txt
+++ b/mission/config/CMakeLists.txt
@ -0,0 +1 @@
+target_sources(${LIB_EIVE_MISSION} PRIVATE comCfg.cpp torquer.cpp)
--- a/mission/config/comCfg.cpp
+++ b/mission/config/comCfg.cpp
@ -0,0 +1,26 @@
+#include "comCfg.h"
+
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/ipc/MutexGuard.h>
+
+com::Datarate DATARATE_CFG_RAW = com::Datarate::LOW_RATE_MODULATION_BPSK;
+MutexIF* DATARATE_LOCK = nullptr;
+
+MutexIF* lazyLock();
+
+com::Datarate com::getCurrentDatarate() {
+  MutexGuard mg(lazyLock());
+  return DATARATE_CFG_RAW;
+}
+
+void com::setCurrentDatarate(com::Datarate newRate) {
+  MutexGuard mg(lazyLock());
+  DATARATE_CFG_RAW = newRate;
+}
+
+MutexIF* lazyLock() {
+  if (DATARATE_LOCK == nullptr) {
+    return MutexFactory::instance()->createMutex();
+  }
+  return DATARATE_LOCK;
+}
--- a/mission/config/comCfg.h
+++ b/mission/config/comCfg.h
@ -0,0 +1,15 @@
+#ifndef MISSION_COMCFG_H_
+#define MISSION_COMCFG_H_
+
+#include <fsfw/ipc/MutexIF.h>
+
+#include "mission/comDefs.h"
+
+namespace com {
+
+com::Datarate getCurrentDatarate();
+void setCurrentDatarate(com::Datarate newRate);
+
+}  // namespace com
+
+#endif /* MISSION_COMCFG_H_ */
--- a/mission/devices/torquer.cpp
+++ b/mission/devices/torquer.cpp
--- a/mission/devices/torquer.h
+++ b/mission/devices/torquer.h
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -2,7 +2,7 @@

 #include <fsfw/datapool/PoolReadGuard.h>

-#include "mission/devices/torquer.h"
+#include "mission/config/torquer.h"

 AcsController::AcsController(object_id_t objectId)
    : ExtendedControllerBase(objectId),
--- a/mission/controller/ThermalController.cpp
+++ b/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"
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@ -37,21 +37,24 @@ class AcsParameters /*: public HasParametersIF*/ {
    float mgm3orientationMatrix[3][3] = {{0, 0, 1}, {0, -1, 0}, {1, 0, 0}};
    float mgm4orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};

-    float mgm0hardIronOffset[3] = {19.89364, -29.94111, -31.07508};
-    float mgm1hardIronOffset[3] = {10.95500, -8.053403, -33.36383};
-    float mgm2hardIronOffset[3] = {15.72181, -26.87090, -62.19010};
+    float mgm0hardIronOffset[3] = {0.0, 0.0, 0.0};  //{19.89364, -29.94111, -31.07508};
+    float mgm1hardIronOffset[3] = {0.0, 0.0, 0.0};  //{10.95500, -8.053403, -33.36383};
+    float mgm2hardIronOffset[3] = {0.0, 0.0, 0.0};  //{15.72181, -26.87090, -62.19010};
    float mgm3hardIronOffset[3] = {0.0, 0.0, 0.0};
    float mgm4hardIronOffset[3] = {0.0, 0.0, 0.0};

-    float mgm0softIronInverse[3][3] = {{1420.727e-3, 9.352825e-3, -127.1979e-3},
-                                       {9.352825e-3, 1031.965e-3, -80.02734e-3},
-                                       {-127.1979e-3, -80.02734e-3, 934.8899e-3}};
-    float mgm1softIronInverse[3][3] = {{126.7325e-2, -4.146410e-2, -18.37963e-2},
-                                       {-4.146410e-2, 109.3310e-2, -5.246314e-2},
-                                       {-18.37963e-2, -5.246314e-2, 105.7300e-2}};
-    float mgm2softIronInverse[3][3] = {{143.0438e-2, 7.095763e-2, 15.67482e-2},
-                                       {7.095763e-2, 99.65167e-2, -6.958760e-2},
-                                       {15.67482e-2, -6.958760e-2, 94.50124e-2}};
+    float mgm0softIronInverse[3][3] = {
+        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{1420.727e-3, 9.352825e-3,
+         -127.1979e-3}, {9.352825e-3, 1031.965e-3, -80.02734e-3},
+         {-127.1979e-3, -80.02734e-3, 934.8899e-3}};*/
+    float mgm1softIronInverse[3][3] = {
+        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{126.7325e-2, -4.146410e-2, -18.37963e-2},
+         {-4.146410e-2, 109.3310e-2, -5.246314e-2},
+         {-18.37963e-2, -5.246314e-2, 105.7300e-2}};*/
+    float mgm2softIronInverse[3][3] = {
+        {1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /*{{143.0438e-2, 7.095763e-2,
+         15.67482e-2}, {7.095763e-2, 99.65167e-2, -6.958760e-2},
+         {15.67482e-2, -6.958760e-2, 94.50124e-2}};*/
    float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
    float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
    float mgm02variance[3] = {1, 1, 1};
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@ -103,7 +103,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
  }
  if (mgm4valid) {
    float mgm4ValueNT[3];
-    VectorOperations<float>::mulScalar(mgm4Value, 1e3, mgm4ValueNT, 3);  // uT to nT
+    VectorOperations<float>::mulScalar(mgm4Value, 1e-3, mgm4ValueNT, 3);  // uT to nT
    VectorOperations<float>::subtract(mgm4ValueNT, mgmParameters->mgm4hardIronOffset,
                                      mgm4ValueNoBias, 3);
    MatrixOperations<float>::multiply(mgmParameters->mgm4softIronInverse[0], mgm4ValueNoBias,
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@ -104,7 +104,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
  new UdpTcPollingTask(objects::UDP_TMTC_POLLING_TASK, objects::UDP_TMTC_SERVER);
  sif::info << "Created UDP server for TMTC commanding with listener port "
            << udpBridge->getUdpPort() << std::endl;
-  udpBridge->setMaxNumberOfPacketsStored(150);
+  udpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_UDP);
 #endif
 #if OBSW_ADD_TMTC_TCP_SERVER == 1
  auto tcpBridge = new TcpTmTcBridge(objects::TCP_TMTC_SERVER, objects::CCSDS_PACKET_DISTRIBUTOR);
@ -113,7 +113,7 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
  tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
  sif::info << "Created TCP server for TMTC commanding with listener port "
            << tcpServer->getTcpPort() << std::endl;
-  tcpBridge->setMaxNumberOfPacketsStored(150);
+  tcpBridge->setMaxNumberOfPacketsStored(config::MAX_STORED_CMDS_TCP);
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
 #endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */

@ -122,7 +122,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
  new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);

  *cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmStore, 50);
-  *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore, 100);
+  *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, *timeStamper, *tmStore,
+                               config::MAX_PUS_FUNNEL_QUEUE_DEPTH);
 #if OBSW_ADD_TCPIP_SERVERS == 1
 #if OBSW_ADD_TMTC_UDP_SERVER == 1
  (*cfdpFunnel)->addDestination(*udpBridge, 0);
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@ -8,7 +8,7 @@ target_sources(
          PDU1Handler.cpp
          PDU2Handler.cpp
          ACUHandler.cpp
-          SyrlinksHkHandler.cpp
+          SyrlinksHandler.cpp
          Max31865PT1000Handler.cpp
          Max31865EiveHandler.cpp
          ImtqHandler.cpp
@ -20,7 +20,6 @@ target_sources(
          SusHandler.cpp
          PayloadPcduHandler.cpp
          SolarArrayDeploymentHandler.cpp
-          ScexDeviceHandler.cpp
-          torquer.cpp)
+          ScexDeviceHandler.cpp)

 add_subdirectory(devicedefinitions)
--- a/mission/devices/ImtqHandler.cpp
+++ b/mission/devices/ImtqHandler.cpp
@ -25,7 +25,7 @@
 #include <cmath>
 #include <fsfw/datapoollocal/LocalPoolVariable.tpp>

-#include "mission/devices/torquer.h"
+#include "mission/config/torquer.h"

 static constexpr bool ACTUATION_WIRETAPPING = false;

--- a/mission/devices/PcduHandler.cpp
+++ b/mission/devices/PcduHandler.cpp
@ -424,8 +424,8 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
  localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
  localDataPoolMap.emplace(PoolIds::PDU2_SWITCHES, &pdu2Switches);
  localDataPoolMap.emplace(PoolIds::P60DOCK_SWITCHES, &p60Dock5VSwitch);
-  poolManager.subscribeForRegularPeriodicPacket(
-      subdp::RegularHkPeriodicParams(switcherSet.getSid(), false, 5.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(switcherSet.getSid(), false, 5.0));
  return returnvalue::OK;
 }

--- a/mission/devices/SyrlinksHkHandler.cpp
+++ b/mission/devices/SyrlinksHkHandler.cpp
@ -1,11 +1,12 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/CRC.h>
-#include <mission/devices/SyrlinksHkHandler.h>
+#include <mission/devices/SyrlinksHandler.h>

 #include "OBSWConfig.h"
+#include "mission/config/comCfg.h"

-SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                     power::Switch_t powerSwitch, FailureIsolationBase* customFdir)
+SyrlinksHandler::SyrlinksHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+                                 power::Switch_t powerSwitch, FailureIsolationBase* customFdir)
    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
      rxDataset(this),
      txDataset(this),
@ -16,29 +17,40 @@ SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, Co
  }
 }

-SyrlinksHkHandler::~SyrlinksHkHandler() {}
+SyrlinksHandler::~SyrlinksHandler() = default;

-void SyrlinksHkHandler::doStartUp() {
-  switch (startupState) {
-    case StartupState::OFF: {
-      startupState = StartupState::ENABLE_TEMPERATURE_PROTECTION;
-      break;
+void SyrlinksHandler::doStartUp() {
+  if (internalState == InternalState::OFF) {
+    internalState = InternalState::ENABLE_TEMPERATURE_PROTECTION;
+    commandExecuted = false;
+  }
+  if (internalState == InternalState::ENABLE_TEMPERATURE_PROTECTION) {
+    if (commandExecuted) {
+      // Go to normal mode immediately and disable transmitter on startup.
+      setMode(_MODE_TO_NORMAL);
+      internalState = InternalState::IDLE;
+      commandExecuted = false;
    }
-    case StartupState::DONE: {
-      setMode(_MODE_TO_ON);
-      break;
-    }
-    default:
-      break;
  }
 }

-void SyrlinksHkHandler::doShutDown() {
-  setMode(_MODE_POWER_DOWN);
-  temperatureSet.setValidity(false, true);
+void SyrlinksHandler::doShutDown() {
+  // In any case, always disable TX first.
+  if (internalState != InternalState::SET_TX_STANDBY) {
+    internalState = InternalState::SET_TX_STANDBY;
+    commandExecuted = false;
+  }
+  if (internalState == InternalState::SET_TX_STANDBY) {
+    if (commandExecuted) {
+      temperatureSet.setValidity(false, true);
+      internalState = InternalState::OFF;
+      commandExecuted = false;
+      setMode(_MODE_POWER_DOWN);
+    }
+  }
 }

-ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+ReturnValue_t SyrlinksHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
  switch (nextCommand) {
    case (syrlinks::READ_RX_STATUS_REGISTERS):
      *id = syrlinks::READ_RX_STATUS_REGISTERS;
@ -84,21 +96,41 @@ ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand(DeviceCommandId_t* id)
  return buildCommandFromCommand(*id, nullptr, 0);
 }

-ReturnValue_t SyrlinksHkHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  switch (startupState) {
-    case StartupState::ENABLE_TEMPERATURE_PROTECTION: {
+ReturnValue_t SyrlinksHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  switch (internalState) {
+    case InternalState::ENABLE_TEMPERATURE_PROTECTION: {
      *id = syrlinks::WRITE_LCL_CONFIG;
      return buildCommandFromCommand(*id, nullptr, 0);
    }
+    case InternalState::SET_TX_MODULATION: {
+      *id = syrlinks::SET_TX_MODE_MODULATION;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case InternalState::SELECT_MODULATION_BPSK: {
+      *id = syrlinks::SET_WAVEFORM_BPSK;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case InternalState::SELECT_MODULATION_0QPSK: {
+      *id = syrlinks::SET_WAVEFORM_0QPSK;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case InternalState::SET_TX_CW: {
+      *id = syrlinks::SET_TX_MODE_CW;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case InternalState::SET_TX_STANDBY: {
+      *id = syrlinks::SET_TX_MODE_STANDBY;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
    default:
      break;
  }
  return NOTHING_TO_SEND;
 }

-ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-                                                         const uint8_t* commandData,
-                                                         size_t commandDataLen) {
+ReturnValue_t SyrlinksHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                       const uint8_t* commandData,
+                                                       size_t commandDataLen) {
  switch (deviceCommand) {
    case (syrlinks::RESET_UNIT): {
      prepareCommand(resetCommand, deviceCommand);
@ -160,11 +192,11 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
      prepareCommand(tempBasebandBoardLowByte, deviceCommand);
      return returnvalue::OK;
    }
-    case (syrlinks::CONFIG_BPSK): {
+    case (syrlinks::SET_WAVEFORM_BPSK): {
      prepareCommand(configBPSK, deviceCommand);
      return returnvalue::OK;
    }
-    case (syrlinks::CONFIG_OQPSK): {
+    case (syrlinks::SET_WAVEFORM_0QPSK): {
      prepareCommand(configOQPSK, deviceCommand);
      return returnvalue::OK;
    }
@ -184,7 +216,7 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
  return returnvalue::FAILED;
 }

-void SyrlinksHkHandler::fillCommandAndReplyMap() {
+void SyrlinksHandler::fillCommandAndReplyMap() {
  this->insertInCommandAndReplyMap(syrlinks::RESET_UNIT, 1, nullptr, syrlinks::ACK_SIZE, false,
                                   true, syrlinks::ACK_REPLY);
  this->insertInCommandAndReplyMap(syrlinks::SET_TX_MODE_STANDBY, 1, nullptr, syrlinks::ACK_SIZE,
@ -195,10 +227,10 @@ void SyrlinksHkHandler::fillCommandAndReplyMap() {
                                   true, syrlinks::ACK_REPLY);
  this->insertInCommandAndReplyMap(syrlinks::WRITE_LCL_CONFIG, 1, nullptr, syrlinks::ACK_SIZE,
                                   false, true, syrlinks::ACK_REPLY);
-  this->insertInCommandAndReplyMap(syrlinks::CONFIG_BPSK, 1, nullptr, syrlinks::ACK_SIZE, false,
-                                   true, syrlinks::ACK_REPLY);
-  this->insertInCommandAndReplyMap(syrlinks::CONFIG_OQPSK, 1, nullptr, syrlinks::ACK_SIZE, false,
-                                   true, syrlinks::ACK_REPLY);
+  this->insertInCommandAndReplyMap(syrlinks::SET_WAVEFORM_BPSK, 1, nullptr, syrlinks::ACK_SIZE,
+                                   false, true, syrlinks::ACK_REPLY);
+  this->insertInCommandAndReplyMap(syrlinks::SET_WAVEFORM_0QPSK, 1, nullptr, syrlinks::ACK_SIZE,
+                                   false, true, syrlinks::ACK_REPLY);
  this->insertInCommandMap(syrlinks::ENABLE_DEBUG);
  this->insertInCommandMap(syrlinks::DISABLE_DEBUG);
  this->insertInCommandAndReplyMap(syrlinks::READ_LCL_CONFIG, 1, nullptr,
@ -223,8 +255,8 @@ void SyrlinksHkHandler::fillCommandAndReplyMap() {
                                   syrlinks::RX_STATUS_REGISTERS_REPLY_SIZE);
 }

-ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t* start, size_t remainingSize,
-                                              DeviceCommandId_t* foundId, size_t* foundLen) {
+ReturnValue_t SyrlinksHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+                                            DeviceCommandId_t* foundId, size_t* foundLen) {
  ReturnValue_t result = returnvalue::OK;

  if (*start != '<') {
@ -254,7 +286,7 @@ ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t* start, size_t remai
  return result;
 }

-ReturnValue_t SyrlinksHkHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
+ReturnValue_t SyrlinksHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
  if (powerSwitch == power::NO_SWITCH) {
    return DeviceHandlerBase::NO_SWITCH;
  }
@ -263,7 +295,7 @@ ReturnValue_t SyrlinksHkHandler::getSwitches(const uint8_t** switches, uint8_t*
  return returnvalue::OK;
 }

-ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
+ReturnValue_t SyrlinksHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
  ReturnValue_t result;

  switch (id) {
@ -414,7 +446,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
  return returnvalue::OK;
 }

-LocalPoolDataSetBase* SyrlinksHkHandler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase* SyrlinksHandler::getDataSetHandle(sid_t sid) {
  if (sid == rxDataset.getSid()) {
    return &rxDataset;
  } else if (sid == txDataset.getSid()) {
@ -427,13 +459,13 @@ LocalPoolDataSetBase* SyrlinksHkHandler::getDataSetHandle(sid_t sid) {
  }
 }

-std::string SyrlinksHkHandler::convertUint16ToHexString(uint16_t intValue) {
+std::string SyrlinksHandler::convertUint16ToHexString(uint16_t intValue) {
  std::stringstream stream;
  stream << std::setfill('0') << std::setw(4) << std::hex << std::uppercase << intValue;
  return stream.str();
 }

-uint8_t SyrlinksHkHandler::convertHexStringToUint8(const char* twoChars) {
+uint8_t SyrlinksHandler::convertHexStringToUint8(const char* twoChars) {
  uint32_t value;
  std::string hexString(twoChars, 2);
  std::stringstream stream;
@ -442,13 +474,13 @@ uint8_t SyrlinksHkHandler::convertHexStringToUint8(const char* twoChars) {
  return static_cast<uint8_t>(value);
 }

-uint16_t SyrlinksHkHandler::convertHexStringToUint16(const char* fourChars) {
+uint16_t SyrlinksHandler::convertHexStringToUint16(const char* fourChars) {
  uint16_t value = 0;
  value = convertHexStringToUint8(fourChars) << 8 | convertHexStringToUint8(fourChars + 2);
  return value;
 }

-ReturnValue_t SyrlinksHkHandler::parseReplyStatus(const char* status) {
+ReturnValue_t SyrlinksHandler::parseReplyStatus(const char* status) {
  switch (*status) {
    case '0':
      return returnvalue::OK;
@ -480,7 +512,7 @@ ReturnValue_t SyrlinksHkHandler::parseReplyStatus(const char* status) {
  }
 }

-ReturnValue_t SyrlinksHkHandler::verifyReply(const uint8_t* packet, uint8_t size) {
+ReturnValue_t SyrlinksHandler::verifyReply(const uint8_t* packet, uint8_t size) {
  int result = 0;
  /* Calculate crc from received packet */
  uint16_t crc =
@ -500,7 +532,7 @@ ReturnValue_t SyrlinksHkHandler::verifyReply(const uint8_t* packet, uint8_t size
  return returnvalue::OK;
 }

-void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
+void SyrlinksHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
  PoolReadGuard readHelper(&rxDataset);
  uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
  rxDataset.rxStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
@ -540,7 +572,7 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
  }
 }

-void SyrlinksHkHandler::parseLclConfigReply(const uint8_t* packet) {
+void SyrlinksHandler::parseLclConfigReply(const uint8_t* packet) {
  uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
  uint8_t lclConfig = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
  if (debugMode) {
@ -549,7 +581,7 @@ void SyrlinksHkHandler::parseLclConfigReply(const uint8_t* packet) {
  }
 }

-void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
+void SyrlinksHandler::parseTxStatusReply(const uint8_t* packet) {
  PoolReadGuard readHelper(&txDataset);
  uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
  txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
@ -560,7 +592,7 @@ void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
  }
 }

-void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
+void SyrlinksHandler::parseTxWaveformReply(const uint8_t* packet) {
  PoolReadGuard readHelper(&txDataset);
  uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
  txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
@ -571,7 +603,7 @@ void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
  }
 }

-void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
+void SyrlinksHandler::parseAgcLowByte(const uint8_t* packet) {
  PoolReadGuard readHelper(&txDataset);
  uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
  txDataset.txAgcValue = agcValueHighByte << 8 |
@ -582,18 +614,18 @@ void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
  }
 }

-void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) {
+void SyrlinksHandler::parseAgcHighByte(const uint8_t* packet) {
  PoolReadGuard readHelper(&txDataset);
  uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
  agcValueHighByte = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 }

-void SyrlinksHkHandler::setNormalDatapoolEntriesInvalid() {}
+void SyrlinksHandler::setNormalDatapoolEntriesInvalid() {}

-uint32_t SyrlinksHkHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+uint32_t SyrlinksHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2500; }

-ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                         LocalDataPoolManager& poolManager) {
+ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                       LocalDataPoolManager& poolManager) {
  localDataPoolMap.emplace(syrlinks::RX_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(syrlinks::RX_SENSITIVITY, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(syrlinks::RX_FREQUENCY_SHIFT, new PoolEntry<int32_t>({0}));
@ -618,26 +650,162 @@ ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& lo
  return returnvalue::OK;
 }

-void SyrlinksHkHandler::setModeNormal() { setMode(MODE_NORMAL); }
+void SyrlinksHandler::setModeNormal() { setMode(MODE_NORMAL); }

-float SyrlinksHkHandler::calcTempVal(uint16_t raw) { return 0.126984 * raw - 67.87; }
+float SyrlinksHandler::calcTempVal(uint16_t raw) { return 0.126984 * raw - 67.87; }

-ReturnValue_t SyrlinksHkHandler::handleAckReply(const uint8_t* packet) {
+ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
  ReturnValue_t result =
      parseReplyStatus(reinterpret_cast<const char*>(packet + syrlinks::MESSAGE_HEADER_SIZE));
-  if (rememberCommandId == syrlinks::WRITE_LCL_CONFIG and result != returnvalue::OK) {
-    startupState = StartupState::OFF;
-  } else if (rememberCommandId == syrlinks::WRITE_LCL_CONFIG and result == returnvalue::OK) {
-    startupState = StartupState::DONE;
+  switch (rememberCommandId) {
+    case (syrlinks::WRITE_LCL_CONFIG): {
+      if (isTransitionalMode()) {
+        if (result != returnvalue::OK) {
+          internalState = InternalState::OFF;
+        } else if (result == returnvalue::OK) {
+          commandExecuted = true;
+        }
+      }
+      break;
+    }
+    case (syrlinks::SET_WAVEFORM_BPSK):
+    case (syrlinks::SET_WAVEFORM_0QPSK):
+    case (syrlinks::SET_TX_MODE_STANDBY):
+    case (syrlinks::SET_TX_MODE_MODULATION):
+    case (syrlinks::SET_TX_MODE_CW): {
+      if (result == returnvalue::OK and isTransitionalMode()) {
+        commandExecuted = true;
+      }
+      break;
+    }
+  }
+  switch (rememberCommandId) {
+    case (syrlinks::SET_TX_MODE_STANDBY): {
+      triggerEvent(syrlinks::TX_OFF, 0, 0);
+      break;
+    }
+    case (syrlinks::SET_TX_MODE_MODULATION):
+    case (syrlinks::SET_TX_MODE_CW): {
+      triggerEvent(syrlinks::TX_ON, getSubmode(), static_cast<uint8_t>(com::getCurrentDatarate()));
+      break;
+    }
  }
  return result;
 }

-void SyrlinksHkHandler::prepareCommand(std::string command, DeviceCommandId_t commandId) {
+ReturnValue_t SyrlinksHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if (mode == HasModesIF::MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
+    if (submode >= com::Submode::NUM_SUBMODES) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
+    return returnvalue::OK;
+  }
+  return DeviceHandlerBase::isModeCombinationValid(mode, submode);
+}
+
+ReturnValue_t SyrlinksHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
+                                            ParameterWrapper* parameterWrapper,
+                                            const ParameterWrapper* newValues,
+                                            uint16_t startAtIndex) {
+  return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
+                                         startAtIndex);
+}
+
+void SyrlinksHandler::prepareCommand(std::string command, DeviceCommandId_t commandId) {
  command.copy(reinterpret_cast<char*>(commandBuffer), command.size(), 0);
  rawPacketLen = command.size();
  rememberCommandId = commandId;
  rawPacket = commandBuffer;
 }

-void SyrlinksHkHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+void SyrlinksHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+
+void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  Mode_t tgtMode = getBaseMode(getMode());
+  auto commandDone = [&]() {
+    setMode(tgtMode);
+    internalState = InternalState::IDLE;
+  };
+  auto txOnHandler = [&](InternalState selMod) {
+    if (internalState == InternalState::IDLE) {
+      commandExecuted = false;
+      internalState = selMod;
+    }
+    // Select modulation first (BPSK or 0QPSK).
+    if (internalState == selMod) {
+      if (commandExecuted) {
+        internalState = InternalState::SET_TX_MODULATION;
+        commandExecuted = false;
+      }
+    }
+    // Now go into modulation mode.
+    if (internalState == InternalState::SET_TX_MODULATION) {
+      if (commandExecuted) {
+        commandDone();
+        return true;
+      }
+    }
+    return false;
+  };
+  auto txStandbyHandler = [&]() {
+    if (internalState == InternalState::IDLE) {
+      internalState = InternalState::SET_TX_STANDBY;
+      commandExecuted = false;
+    }
+    if (internalState == InternalState::SET_TX_STANDBY) {
+      if (commandExecuted) {
+        commandDone();
+        return;
+      }
+    }
+  };
+  if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
+    switch (getSubmode()) {
+      case (com::Submode::RX_AND_TX_DEFAULT_DATARATE): {
+        auto currentDatarate = com::getCurrentDatarate();
+        if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
+          if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
+            return;
+          }
+        } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
+          if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
+            return;
+          }
+        }
+        break;
+      }
+      case (com::Submode::RX_AND_TX_LOW_DATARATE): {
+        if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
+          return;
+        }
+        break;
+      }
+      case (com::Submode::RX_AND_TX_HIGH_DATARATE): {
+        if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
+          return;
+        }
+        break;
+      }
+      case (com::Submode::RX_ONLY): {
+        txStandbyHandler();
+        return;
+      }
+      case (com::Submode::RX_AND_TX_CW): {
+        if (internalState == InternalState::IDLE) {
+          internalState = InternalState::SET_TX_STANDBY;
+          commandExecuted = false;
+        }
+        if (commandExecuted) {
+          commandDone();
+          return;
+        }
+        break;
+      }
+      default: {
+        commandDone();
+      }
+    }
+  } else if (tgtMode == HasModesIF::MODE_OFF) {
+    txStandbyHandler();
+  }
+}
--- a/mission/devices/SyrlinksHkHandler.h
+++ b/mission/devices/SyrlinksHkHandler.h
@ -1,5 +1,5 @@
-#ifndef MISSION_DEVICES_SYRLINKSHKHANDLER_H_
-#define MISSION_DEVICES_SYRLINKSHKHANDLER_H_
+#ifndef MISSION_DEVICES_SYRLINKSHANDLER_H_
+#define MISSION_DEVICES_SYRLINKSHANDLER_H_

 #include <string.h>

@ -7,6 +7,7 @@
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
+#include "mission/comDefs.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "returnvalues/classIds.h"

@ -18,11 +19,11 @@
 *
 * @author	J. Meier
 */
-class SyrlinksHkHandler : public DeviceHandlerBase {
+class SyrlinksHandler : public DeviceHandlerBase {
 public:
-  SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                    power::Switch_t powerSwitch, FailureIsolationBase* customFdir);
-  virtual ~SyrlinksHkHandler();
+  SyrlinksHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+                  power::Switch_t powerSwitch, FailureIsolationBase* customFdir);
+  virtual ~SyrlinksHandler();

  /**
   * @brief   Sets mode to MODE_NORMAL. Can be used for debugging.
@ -34,6 +35,8 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 protected:
  void doStartUp() override;
  void doShutDown() override;
+  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
@ -49,6 +52,10 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
                                        LocalDataPoolManager& poolManager) override;
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;

+  // Parameter IF
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
+
 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::SYRLINKS_HANDLER;

@ -104,12 +111,22 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
  uint16_t rawTempBasebandBoard = 0;
  float tempPowerAmplifier = 0;
  float tempBasebandBoard = 0;
+  bool commandExecuted = false;

  uint8_t commandBuffer[syrlinks::MAX_COMMAND_SIZE];

-  enum class StartupState { OFF, ENABLE_TEMPERATURE_PROTECTION, DONE };
+  enum class InternalState {
+    OFF,
+    ENABLE_TEMPERATURE_PROTECTION,
+    SELECT_MODULATION_BPSK,
+    SELECT_MODULATION_0QPSK,
+    SET_TX_MODULATION,
+    SET_TX_CW,
+    SET_TX_STANDBY,
+    IDLE
+  };

-  StartupState startupState = StartupState::OFF;
+  InternalState internalState = InternalState::OFF;

  /**
   * This object is used to store the id of the next command to execute. This controls the
@ -216,7 +233,7 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 };

 template <typename T>
-T SyrlinksHkHandler::convertHexStringTo32bit(const char* characters, uint8_t numberOfChars) {
+T SyrlinksHandler::convertHexStringTo32bit(const char* characters, uint8_t numberOfChars) {
  if (sizeof(T) < 4) {
    sif::error << "SyrlinksHkHandler::convertHexStringToRaw: Only works for 32-bit conversion"
               << std::endl;
@ -244,4 +261,4 @@ T SyrlinksHkHandler::convertHexStringTo32bit(const char* characters, uint8_t num
      return 0;
  }
 }
-#endif /* MISSION_DEVICES_SYRLINKSHKHANDLER_H_ */
+#endif /* MISSION_DEVICES_SYRLINKSHANDLER_H_ */
--- a/mission/devices/devicedefinitions/SyrlinksDefinitions.h
+++ b/mission/devices/devicedefinitions/SyrlinksDefinitions.h
@ -6,9 +6,15 @@

 namespace syrlinks {

+enum class ParameterId : uint8_t { DATARATE = 0 };
+
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS;

 static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] Transmitter is on now. P1: Submode, P2: Current default datarate.
+static constexpr Event TX_ON = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
+//! [EXPORT] : [COMMENT] Transmitter is off now.
+static constexpr Event TX_OFF = event::makeEvent(SUBSYSTEM_ID, 2, severity::INFO);

 static const DeviceCommandId_t NONE = 0;
 static const DeviceCommandId_t RESET_UNIT = 1;
@ -31,9 +37,9 @@ static const DeviceCommandId_t TEMP_POWER_AMPLIFIER_HIGH_BYTE = 13;
 static const DeviceCommandId_t TEMP_POWER_AMPLIFIER_LOW_BYTE = 14;
 static const DeviceCommandId_t TEMP_BASEBAND_BOARD_HIGH_BYTE = 15;
 static const DeviceCommandId_t TEMP_BASEBAND_BOARD_LOW_BYTE = 16;
-static const DeviceCommandId_t CONFIG_OQPSK = 17;
+static const DeviceCommandId_t SET_WAVEFORM_0QPSK = 17;
 // After startup syrlinks always in BSPK configuration
-static const DeviceCommandId_t CONFIG_BPSK = 18;
+static const DeviceCommandId_t SET_WAVEFORM_BPSK = 18;
 static const DeviceCommandId_t ENABLE_DEBUG = 20;
 static const DeviceCommandId_t DISABLE_DEBUG = 21;

--- a/mission/system/objects/ComSubsystem.cpp
+++ b/mission/system/objects/ComSubsystem.cpp
@ -1,5 +1,48 @@
 #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;
+}
+
+ReturnValue_t ComSubsystem::handleCommandMessage(CommandMessage *message) {
+  ReturnValue_t result = paramHelper.handleParameterMessage(message);
+  if (result == returnvalue::OK) {
+    return result;
+  }
+  return Subsystem::handleCommandMessage(message);
+}
+
+ReturnValue_t ComSubsystem::initialize() {
+  ReturnValue_t result = paramHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return Subsystem::initialize();
+}
--- a/mission/system/objects/ComSubsystem.h
+++ b/mission/system/objects/ComSubsystem.h
@ -1,13 +1,29 @@
 #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);
+  virtual ~ComSubsystem() = default;
+
+  MessageQueueId_t getCommandQueue() const override;
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
+                             ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
+                             uint16_t startAtIndex) override;

 private:
+  ReturnValue_t handleCommandMessage(CommandMessage *message) override;
+
+  ReturnValue_t initialize() override;
+
+  uint8_t datarateCfg = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
+  ParameterHelper paramHelper;
 };

 #endif /* MISSION_SYSTEM_COMSUBSYSTEM_H_ */
--- a/mission/system/tree/CMakeLists.txt
+++ b/mission/system/tree/CMakeLists.txt
@ -1,2 +1,4 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp
-                                           tcsModeTree.cpp system.cpp util.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE acsModeTree.cpp payloadModeTree.cpp comModeTree.cpp tcsModeTree.cpp
+          system.cpp util.cpp)
--- a/mission/system/tree/comModeTree.cpp
+++ b/mission/system/tree/comModeTree.cpp
@ -0,0 +1,281 @@
+#include "comModeTree.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;
+
+ComSubsystem satsystem::com::SUBSYSTEM = ComSubsystem(objects::COM_SUBSYSTEM, 12, 24);
+
+static const auto OFF = HasModesIF::MODE_OFF;
+static const auto ON = HasModesIF::MODE_ON;
+static const auto NML = DeviceHandlerIF::MODE_NORMAL;
+
+auto COM_SEQUENCE_RX_ONLY =
+    std::make_pair(::com::Submode::RX_ONLY, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TGT =
+    std::make_pair((::com::Submode::RX_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TRANS_0 =
+    std::make_pair((::com::Submode::RX_ONLY << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_ONLY_TRANS_1 =
+    std::make_pair((::com::Submode::RX_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+
+auto COM_SEQUENCE_RX_AND_TX_LOW_RATE =
+    std::make_pair(::com::Submode::RX_AND_TX_LOW_DATARATE, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TGT = std::make_pair(
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_0 = std::make_pair(
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1 = std::make_pair(
+    (::com::Submode::RX_AND_TX_LOW_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+
+auto COM_SEQUENCE_RX_AND_TX_HIGH_RATE =
+    std::make_pair(::com::Submode::RX_AND_TX_HIGH_DATARATE, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TGT = std::make_pair(
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_0 = std::make_pair(
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1 = std::make_pair(
+    (::com::Submode::RX_AND_TX_HIGH_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+
+auto COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE =
+    std::make_pair(::com::Submode::RX_AND_TX_DEFAULT_DATARATE, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT = std::make_pair(
+    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 1, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0 = std::make_pair(
+    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 2, FixedArrayList<ModeListEntry, 3>());
+auto COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1 = std::make_pair(
+    (::com::Submode::RX_AND_TX_DEFAULT_DATARATE << 24) | 3, FixedArrayList<ModeListEntry, 3>());
+
+namespace {
+
+void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh);
+void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh);
+void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh);
+void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh);
+
+}  // namespace
+
+void satsystem::com::init() {
+  ModeListEntry entry;
+  buildRxOnlySequence(SUBSYSTEM, entry);
+  buildTxAndRxLowRateSequence(SUBSYSTEM, entry);
+  buildTxAndRxHighRateSequence(SUBSYSTEM, entry);
+  buildTxAndRxDefaultRateSequence(SUBSYSTEM, entry);
+  SUBSYSTEM.setInitialMode(NML, ::com::Submode::RX_ONLY);
+}
+
+namespace {
+
+void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
+  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) {
+    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 Only table. We could track the state of the CCSDS IP core handler
+  // as well but I do not think this is necessary because enabling that should
+  // 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 RX Only transition 0
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_ONLY, COM_TABLE_RX_ONLY_TRANS_0.second);
+  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_HANDLER, 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_RX_ONLY.second, COM_TABLE_RX_ONLY_TGT.first, 0, true);
+  ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TRANS_0.first, 0, false);
+  ihs(COM_SEQUENCE_RX_ONLY.second, COM_TABLE_RX_ONLY_TRANS_1.first, 0, false);
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_ONLY.first, &COM_SEQUENCE_RX_ONLY.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
+        ctxc);
+}
+
+void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
+  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) {
+    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_LOW_DATARATE,
+      COM_TABLE_RX_AND_TX_LOW_RATE_TGT.second);
+  iht(objects::CCSDS_HANDLER, 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 and RX low datarate transition 0, switch CCSDS handler first
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
+      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 and RX low transition 1
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_LOW_DATARATE,
+      COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.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, false);
+  ihs(COM_SEQUENCE_RX_AND_TX_LOW_RATE.second, COM_TABLE_RX_AND_TX_LOW_RATE_TRANS_1.first, 0, false);
+  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 high 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_HANDLER, 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 high datarate transition 0, switch CCSDS handler first
+  iht(objects::CCSDS_HANDLER, 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 high 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,
+      false);
+  ihs(COM_SEQUENCE_RX_AND_TX_HIGH_RATE.second, COM_TABLE_RX_AND_TX_HIGH_RATE_TRANS_1.first, 0,
+      false);
+  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);
+}
+
+void buildTxAndRxDefaultRateSequence(Subsystem& ss, ModeListEntry& eh) {
+  std::string context = "satsystem::com::buildTxAndRxDefaultRateSequence";
+  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 default datarate table.
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
+      COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_DEFAULT),
+      COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.first,
+                               &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.second)),
+        ctxc);
+
+  // Build TX and RX low datarate transition 0, switch CCSDS handler first
+  iht(objects::CCSDS_HANDLER, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_DEFAULT),
+      COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0.first,
+                               &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0.second)),
+        ctxc);
+
+  // Build TX and RX default transition 1
+  iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_DEFAULT_DATARATE,
+      COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second);
+  check(ss.addTable(TableEntry(COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first,
+                               &COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.second)),
+        ctxc);
+
+  // Build TX and RX default datarate sequence
+  ihs(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.second, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TGT.first, 0,
+      true);
+  ihs(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.second, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_0.first, 0,
+      false);
+  ihs(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.second, COM_TABLE_RX_AND_TX_DEFAULT_RATE_TRANS_1.first, 0,
+      false);
+  check(ss.addSequence(SequenceEntry(COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.first,
+                                     &COM_SEQUENCE_RX_AND_TX_DEFAULT_RATE.second,
+                                     COM_SEQUENCE_RX_ONLY.first)),
+        ctxc);
+}
+
+}  // namespace
--- a/mission/system/tree/comModeTree.h
+++ b/mission/system/tree/comModeTree.h
@ -0,0 +1,16 @@
+#ifndef MISSION_SYSTEM_TREE_COMMODETREE_H_
+#define MISSION_SYSTEM_TREE_COMMODETREE_H_
+
+#include <mission/system/objects/ComSubsystem.h>
+
+namespace satsystem {
+
+namespace com {
+extern ComSubsystem SUBSYSTEM;
+
+void init();
+}  // namespace com
+
+}  // namespace satsystem
+
+#endif /* MISSION_SYSTEM_TREE_COMMODETREE_H_ */
--- a/mission/system/tree/system.cpp
+++ b/mission/system/tree/system.cpp
@ -1,6 +1,7 @@
 #include "system.h"

 #include "acsModeTree.h"
+#include "comModeTree.h"
 #include "payloadModeTree.h"
 #include "tcsModeTree.h"

@ -8,4 +9,5 @@ void satsystem::init() {
  acs::init();
  pl::init();
  tcs::init();
+  com::init();
 }
--- a/mission/tmtc/CcsdsIpCoreHandler.cpp
+++ b/mission/tmtc/CcsdsIpCoreHandler.cpp
@ -1,7 +1,9 @@
 #include "CcsdsIpCoreHandler.h"

+#include <fsfw/subsystem/helper.h>
 #include <linux/ipcore/PdecHandler.h>
 #include <linux/ipcore/PtmeConfig.h>
+#include <mission/config/comCfg.h>

 #include "eive/definitions.h"
 #include "fsfw/events/EventManagerIF.h"
@ -21,6 +23,7 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
      tcDestination(tcDestination),
      parameterHelper(this),
      actionHelper(this, nullptr),
+      modeHelper(this),
      ptmeConfig(ptmeConfig),
      gpioIF(gpioIF),
      enTxClock(enTxClock),
@ -81,6 +84,11 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
    return result;
  }

+  result = modeHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
  VirtualChannelMapIter iter;
  for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
    result = iter->second->initialize();
@ -152,6 +160,10 @@ void CcsdsIpCoreHandler::readCommandQueue(void) {
    if (result == returnvalue::OK) {
      return;
    }
+    result = modeHelper.handleModeCommand(&commandMessage);
+    if (result == returnvalue::OK) {
+      return;
+    }
    CommandMessage reply;
    reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
    commandQueue->reply(&reply);
@ -218,10 +230,12 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
  ReturnValue_t result = returnvalue::OK;
  switch (actionId) {
    case SET_LOW_RATE: {
+      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
      result = ptmeConfig->setRate(RATE_100KBPS);
      break;
    }
    case SET_HIGH_RATE: {
+      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
      result = ptmeConfig->setRate(RATE_500KBPS);
      break;
    }
@ -233,10 +247,16 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
    }
    case EN_TRANSMITTER: {
      enableTransmit();
+      if (mode == HasModesIF::MODE_OFF) {
+        mode = HasModesIF::MODE_ON;
+      }
      return EXECUTION_FINISHED;
    }
    case DISABLE_TRANSMITTER: {
      disableTransmit();
+      if (mode == HasModesIF::MODE_ON) {
+        mode = HasModesIF::MODE_OFF;
+      }
      return EXECUTION_FINISHED;
    }
    case ENABLE_TX_CLK_MANIPULATOR: {
@ -339,6 +359,65 @@ void CcsdsIpCoreHandler::checkTxTimer() {
  }
 }

+void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
+  *mode = this->mode;
+  *submode = this->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>(com::CcsdsSubmode::DATARATE_HIGH) and
+        submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW) and
+        submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
+  } else if (mode != HasModesIF::MODE_OFF) {
+    return returnvalue::FAILED;
+  }
+  *msToReachTheMode = 2000;
+  return returnvalue::OK;
+}
+
+void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
+  auto rateHigh = [&]() {
+    ReturnValue_t result = ptmeConfig->setRate(RATE_500KBPS);
+    if (result == returnvalue::OK) {
+      this->mode = HasModesIF::MODE_ON;
+    }
+  };
+  auto rateLow = [&]() {
+    ReturnValue_t result = ptmeConfig->setRate(RATE_100KBPS);
+    if (result == returnvalue::OK) {
+      this->mode = HasModesIF::MODE_ON;
+    }
+  };
+  if (mode == HasModesIF::MODE_ON) {
+    enableTransmit();
+    if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
+      com::Datarate currentDatarate = com::getCurrentDatarate();
+      if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
+        rateLow();
+      } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
+        rateHigh();
+      }
+    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
+      rateHigh();
+    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
+      rateLow();
+    }
+
+  } else if (mode == HasModesIF::MODE_OFF) {
+    disableTransmit();
+    this->mode = HasModesIF::MODE_OFF;
+  }
+  this->submode = submode;
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}
+
+void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
+
 void CcsdsIpCoreHandler::disableTransmit() {
 #ifndef TE0720_1CFA
  gpioIF->pullLow(enTxClock);
@ -350,3 +429,15 @@ void CcsdsIpCoreHandler::disableTransmit() {
 }

 const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
+
+const HasHealthIF* CcsdsIpCoreHandler::getOptHealthIF() const { return nullptr; }
+
+const HasModesIF& CcsdsIpCoreHandler::getModeIF() const { return *this; }
+
+ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
+}
+
+ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
+
+object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
--- a/mission/tmtc/CcsdsIpCoreHandler.h
+++ b/mission/tmtc/CcsdsIpCoreHandler.h
@ -1,6 +1,8 @@
 #ifndef CCSDSHANDLER_H_
 #define CCSDSHANDLER_H_

+#include <fsfw/modes/HasModesIF.h>
+
 #include <cstdint>
 #include <unordered_map>

@ -13,6 +15,7 @@
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/parameters/ParameterHelper.h"
 #include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/subsystem/ModeTreeConnectionIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
@ -20,6 +23,7 @@
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "linux/ipcore/PtmeConfig.h"
+#include "mission/comDefs.h"

 /**
 * @brief   This class handles the data exchange with the CCSDS IP cores implemented in the
@ -32,6 +36,9 @@
 */
 class CcsdsIpCoreHandler : public SystemObject,
                           public ExecutableObjectIF,
+                           public ModeTreeChildIF,
+                           public ModeTreeConnectionIF,
+                           public HasModesIF,
                           public AcceptsTelemetryIF,
                           public AcceptsTelecommandsIF,
                           public ReceivesParameterMessagesIF,
@ -59,7 +66,14 @@ class CcsdsIpCoreHandler : public SystemObject,

  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
  ReturnValue_t initialize();
-  MessageQueueId_t getCommandQueue() const;
+  MessageQueueId_t getCommandQueue() const override;
+
+  // ModesIF
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void announceMode(bool recursive) override;

  /**
   * @brief   Function to add a virtual channel
@ -80,6 +94,11 @@ class CcsdsIpCoreHandler : public SystemObject,

  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                      const uint8_t* data, size_t size);
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+  object_id_t getObjectId() const override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+  ModeTreeChildIF& getModeTreeChildIF() override;

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
@ -126,6 +145,9 @@ class CcsdsIpCoreHandler : public SystemObject,
  ParameterHelper parameterHelper;

  ActionHelper actionHelper;
+  Mode_t mode = HasModesIF::MODE_OFF;
+  Submode_t submode = static_cast<Submode_t>(com::CcsdsSubmode::UNSET);
+  ModeHelper modeHelper;

  MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;

--- a/scripts/q7s-port-em.sh
+++ b/scripts/q7s-port-em.sh
@ -0,0 +1,11 @@
+#!/bin/bash
+echo "Setting up all Q7S ports for EM"
+echo "-L 1538:192.168.133.10:1534 for connection to the TCF agent on the EM"
+echo "-L 1539:192.168.133.10:22 for file transfers to the EM"
+echo "-L 1540:192.168.133.10:7301 for TMTC commanding using the TCP/IP IF on the EM"
+
+ssh -L 1538:192.168.133.10:1534 \
+   -L 1539:192.168.133.10:22 \
+   -L 1540:192.168.133.10:7301 \
+   eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
+   -t 'CONSOLE_PREFIX="[Q7S Tunnel]" /bin/bash'
--- a/2
+++ b/2
Author	SHA1	Message	Date
Robin Müller	bf5e72af8e	Merge pull request 'COM Subsystem' (#358 ) from com_subsystem into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #358	2023-01-28 14:58:01 +01:00
Robin Mueller	079228e559	update retvals Some checks are pending EIVE/eive-obsw/pipeline/pr-develop Build started... Details	2023-01-28 14:57:40 +01:00
Robin Mueller	ddce821295	prepare for v1.22.0 Some checks are pending EIVE/eive-obsw/pipeline/pr-develop Build started... Details	2023-01-28 14:55:41 +01:00
Robin Mueller	c63ca66f68	done All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-28 14:49:28 +01:00
Robin Mueller	036b388928	do not check transitions in COM SS All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-28 12:52:00 +01:00
Robin Mueller	13a3f78e56	finally fixed the stupid bug All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-28 12:47:21 +01:00
Robin Mueller	8f7ff3da7c	some dumb bug All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-27 20:23:55 +01:00
Robin Mueller	7bbf40a5ab	update changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-27 19:04:31 +01:00
Robin Mueller	13f3963f69	Update All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details - COM Subsystem now handles datarate config - torquer config and comCfg moved to mission/config folder - CCSDS Handler: Added default rate submode	2023-01-27 18:38:36 +01:00
Robin Mueller	54e6c4826f	fix hosted build All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-27 17:40:42 +01:00
Robin Mueller	8d9eb9ac58	last tweaks, all works now	2023-01-27 17:34:22 +01:00
Robin Mueller	83ab34dfc3	slightly larger delay Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 17:13:32 +01:00
Robin Mueller	4707581c41	update generated files, COM subsystem first tests Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 15:57:18 +01:00
Robin Mueller	d9e1a331b2	COM mode tree Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 15:42:49 +01:00
Robin Mueller	9ad34aa395	schedule COM subsystem Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 15:19:09 +01:00
Robin Mueller	9b211e1de7	do COM SS interconnect Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 15:10:26 +01:00
Robin Mueller	438f9f3358	com subsystem Some checks failed EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-27 14:44:40 +01:00
Robin Mueller	d58e79d1ec	Merge remote-tracking branch 'origin/develop' into com_subsystem	2023-01-27 13:26:48 +01:00
Robin Mueller	c9f8d2e219	COM compiles again All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-27 11:29:13 +01:00
Robin Mueller	e2f98778f8	move config constants All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-27 11:02:04 +01:00
Robin Mueller	1a7b4ded27	bump tmtc All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 20:53:36 +01:00
Robin Mueller	0c595c5aeb	update changelog All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 20:33:16 +01:00
Robin Mueller	0536522ed3	bump changelog All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 20:04:50 +01:00
Robin Mueller	985c71fa2a	afmt All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 20:03:33 +01:00
Robin Mueller	f6bdbe897f	bump minor version All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 20:03:18 +01:00
Robin Mueller	5ac549a384	update returnvalues All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 20:03:00 +01:00
Robin Müller	e387a61278	Merge pull request 'Syrlinks Update' (#353 ) from refactor_syrlinks into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #353 Reviewed-by: Jakob Meier <meierj@irs.uni-stuttgart.de>	2023-01-26 19:18:31 +01:00
Robin Mueller	7182d9b8cc	start to manually transfer com mode tree from old PR Some checks failed EIVE/eive-obsw/pipeline/head There was a failure building this commit Details EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit Details	2023-01-26 17:18:05 +01:00
Robin Mueller	241da2c591	bump tmtc All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-26 17:14:05 +01:00
Robin Mueller	bc2a8cba94	Merge remote-tracking branch 'origin/develop' into refactor_syrlinks All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 17:06:42 +01:00
Robin Müller	ecc5ec05f3	Merge pull request 'Add CCSDS handler modes' (#352 ) from add_ccsds_handler_modes into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #352	2023-01-26 17:04:07 +01:00
Robin Mueller	c07f188542	parameter update seems to work now All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 17:01:16 +01:00
Robin Mueller	fa8a2c7666	add new syrlinks events All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 16:45:28 +01:00
Robin Mueller	693613037a	logic tweak All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 16:33:11 +01:00
Robin Mueller	311c2e947a	bump changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 16:22:15 +01:00
Robin Mueller	bd1031b92a	event update All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 16:21:37 +01:00
Robin Mueller	694b885c0f	move core subsystem ID	2023-01-26 16:20:46 +01:00
Robin Mueller	7d1bf3f9ba	update retvals All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 16:19:10 +01:00
Robin Mueller	77761ee9e3	try to add shutdown handling All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 16:16:23 +01:00
Robin Mueller	e1e690d487	submodes seem to work All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 15:52:49 +01:00
Robin Mueller	e234f4c6b0	add some buffer time All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 14:58:03 +01:00
Robin Mueller	4725882ada	larger transition delay All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 14:57:33 +01:00
Robin Mueller	d8e191e5c3	i dont think the default mode is required All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 14:52:58 +01:00
Robin Mueller	4ad6584782	afmt and possible bugfix All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 14:42:13 +01:00
Robin Mueller	03a3c3a761	changelog correction All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 14:39:23 +01:00
Robin Mueller	4dca9f21d4	add new submode for default datarate handling All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 14:00:39 +01:00
Robin Mueller	9410902454	go to startup immediately All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 13:02:29 +01:00
Robin Mueller	915f66f248	syrlinks: go to normal mode immdaitely	2023-01-26 13:00:03 +01:00
Robin Müller	4deee6b98f	Merge branch 'develop' into add_ccsds_handler_modes Some checks are pending EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details EIVE/eive-obsw/pipeline/head Build queued... Details	2023-01-26 12:22:31 +01:00
Robin Mueller	744f689556	this should be the complete impl for new submodes All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 12:21:49 +01:00
Robin Mueller	1128d355bb	added some missing mode helper usage All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-26 12:04:58 +01:00
Robin Mueller	b879533d41	extend syrlinks code a bit All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-25 17:02:46 +01:00
Robin Müller	46da8508c3	Merge pull request 'Disable MGM Calibration' (#355 ) from disable-mgm-calib into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #355 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2023-01-25 16:31:31 +01:00
Marius Eggert	3319a3fa48	removed calibration settings Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-25 16:12:14 +01:00
Robin Mueller	a4bf6d9872	Merge remote-tracking branch 'origin/develop' into refactor_syrlinks All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-25 14:05:23 +01:00
Robin Mueller	eef84f4d09	fixes from PR All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-25 14:03:49 +01:00
Robin Mueller	fbab1a6aa9	Merge remote-tracking branch 'origin/develop' into add_ccsds_handler_modes All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-25 14:02:03 +01:00
Robin Müller	bc82073ebb	Merge pull request 'MGM4 fix' (#354 ) from mgm4-fix into develop All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details Reviewed-on: #354 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>	2023-01-25 13:51:00 +01:00
Robin Mueller	d71c522891	bump changelog Some checks are pending EIVE/eive-obsw/pipeline/pr-develop Build started... Details	2023-01-25 13:47:29 +01:00
Marius Eggert	d9b4250dba	fix Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-25 13:37:29 +01:00
Robin Mueller	4611e32200	update changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-24 19:48:20 +01:00
Robin Mueller	ce12293dcc	update changelog All checks were successful EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-24 19:47:30 +01:00
Robin Mueller	ae6f6538d2	add syrlinks submode handling Some checks are pending EIVE/eive-obsw/pipeline/head Build started... Details EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-24 19:40:27 +01:00
Robin Mueller	1f08d85319	rename syrlinks handler All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-24 19:11:17 +01:00
Robin Mueller	8f8416c078	add modes Some checks are pending EIVE/eive-obsw/pipeline/head Build queued... Details EIVE/eive-obsw/pipeline/pr-develop This commit looks good Details	2023-01-24 19:07:37 +01:00
Robin Mueller	b74db7b087	added EM Only port script All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-24 18:43:00 +01:00
Robin Mueller	fbe0c35373	make some sets diagnostic All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-24 13:18:29 +01:00
Robin Mueller	c2fd3b22f3	update changelog All checks were successful EIVE/eive-obsw/pipeline/head This commit looks good Details	2023-01-24 12:30:23 +01:00
				`@ -0,0 +1 @@`
				`target_sources(${LIB_EIVE_MISSION} PRIVATE comCfg.cpp torquer.cpp)`