bsp_q7s/core/scheduling.cpp

@@ -142,10 +142,14 @@ void scheduling::initTasks() {
 #endif
 #endif
 
-#if OBSW_ADD_CCSDS_IP_CORES == 1
+  PeriodicTaskIF* comTask = factory->createPeriodicTask(
-  PeriodicTaskIF* ccsdsHandlerTask = 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 +384,8 @@ 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 */
 

common/config/eive/objects.h

@@ -118,7 +118,8 @@ enum commonObjects : uint32_t {
   SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
   SYRLINKS_HANDLER = 0x445300A3,
-  CCSDS_IP_CORE_BRIDGE = 0x73500000,
+  // 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,

mission/system/tree/comModeTree.cpp

@@ -87,7 +87,7 @@ void buildRxOnlySequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build RX Only transition 1
-  iht(objects::CCSDS_IP_CORE_BRIDGE, OFF, 0, COM_TABLE_RX_ONLY_TRANS_1.second);
+  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);
 
@@ -122,14 +122,14 @@ void buildTxAndRxLowRateSequence(Subsystem& ss, ModeListEntry& eh) {
   // 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_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
+  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_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_LOW),
+  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)),
@@ -174,14 +174,14 @@ void buildTxAndRxHighRateSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build RX and TX low datarate table.
   iht(objects::SYRLINKS_HANDLER, NML, ::com::Submode::RX_AND_TX_HIGH_DATARATE,
       COM_TABLE_RX_AND_TX_HIGH_RATE_TGT.second);
-  iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
+  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 low datarate transition 0, switch CCSDS handler first
-  iht(objects::CCSDS_IP_CORE_BRIDGE, ON, static_cast<Submode_t>(::com::CcsdsSubmode::DATARATE_HIGH),
+  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)),

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();
 }