HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r205:2bc5b89e7f11

rev 3.0.0.2

paul -

r205:2bc5b89e7f11 R3

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r205:2bc5b89e7f11

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src/fsw_init.c +2 -2

             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 20
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
             #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
             #define CONFIGURE_MAXIMUM_TIMERS 5  // STAT (1s), send SWF (0.3s), send CWF3 (1s)
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             #include "GscMemoryLPP.hpp"
             void initCache()
             {
                 unsigned int cacheControlRegister;
                 cacheControlRegister = getCacheControlRegister();
                 printf("(0) cacheControlRegister = %x\n", cacheControlRegister);
                 resetCacheControlRegister();
                 enableInstructionCache();
                 enableDataCache();
                 enableInstructionBurstFetch();
                 cacheControlRegister = getCacheControlRegister();
                 printf("(1) cacheControlRegister = %x\n", cacheControlRegister);
             }
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it is the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 //***********
                 // INIT CACHE
                 unsigned char *vhdlVersion;
                 reset_lfr();
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 // UART settings
                 send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 enable_apbuart_transmitter();
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 initCache();
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d.", SW_VERSION_N1)
                 PRINTF1("%d."   , SW_VERSION_N2)
                 PRINTF1("%d."   , SW_VERSION_N3)
                 PRINTF1("%d             **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d.", vhdlVersion[1])
                 PRINTF1("%d."   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_kcoefficients_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 init_k_coefficients_f0();
                 init_k_coefficients_f1();
                 init_k_coefficients_f2();
                 // waveform picker initialization
                 WFP_init_rings();      // initialize the waveform rings
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 // spectral matrices initialization
                 SM_init_rings();            // initialize spectral matrices rings
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 // configure calibration
                 configureCalibration( false );   // true means interleaved mode, false is for normal mode
                 updateLFRCurrentMode();
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 grspw_timecode_callback = &timecode_irq_handler;
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 //******************************
                 // <SPECTRAL MATRICES SIMULATOR>
                 LEON_Mask_interrupt( IRQ_SM_SIMULATOR );
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu );
                 // </SPECTRAL MATRICES SIMULATOR>
                 //*******************************
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
                 unsigned int i;
                 // LOCAL PARAMETERS
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
                 // init sequence counters
                 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
                 {
                     sequenceCounters_TC_EXE[i] = 0x00;
                 }
                 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
                 sequenceCounters_SCIENCE_SBM1_SBM2 =    0x00;
                 sequenceCounterHK =                     TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                 sequenceCounterParameterDump =          TM_PACKET_SEQ_CTRL_STANDALONE << 8;
             }
             void reset_local_time( void )
             {
                 time_management_regs->ctrl = time_management_regs->ctrl | 0x02;  // [0010] software reset, coarse time = 0x80000000
             }
             void create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
                 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
                 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
                 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
                 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
                 // rate monotonic period names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
                 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
                 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
                 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // WTDG
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // STAT
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS]
                     );
                 }
                 return status;
             }
             int start_recv_send_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 return status;
             }
             int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // WTDG
                 {
                     status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF1
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC1
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF2
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC2
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // STAT
                 {
                     status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_q_p0;
                 rtems_status_code status_q_p1;
                 rtems_status_code status_q_p2;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f0
                 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
                                                           MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f1
                 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
                                                           MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f2
                 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
                                                           MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
                 }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else if( status_q_p0 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p0;
                 }
                 else if( status_q_p1 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p1;
                 }
                 else
                 {
                     ret = status_q_p2;
                 }
                 return ret;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max )
             {
                 u_int32_t count;
                 rtems_status_code status;
                 status = rtems_message_queue_get_number_pending( queue_id, &count );
                 count = count + 1;
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in update_queue_max_count *** ERR = %d\n", status)
                 }
                 else
                 {
                     if (count > *fifo_size_max)
                     {
                         *fifo_size_max = count;
                     }
                 }
             }
             void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize )
             {
                 unsigned char i;
                 //***************
                 // BUFFER ADDRESS
                 for(i=0; i<nbNodes; i++)
                 {
-                    ring[i].coarseTime = 0x00;
+                    ring[i].coarseTime = 0xffffffff;
-                    ring[i].fineTime = 0x00;
+                    ring[i].fineTime = 0xffffffff;
                     ring[i].sid = 0x00;
                     ring[i].status = 0x00;
                     ring[i].buffer_address  = (int) &buffer[ i * bufferSize ];
                 }
                 //*****
                 // NEXT
                  ring[ nbNodes - 1 ].next  = (ring_node*) &ring[ 0 ];
                  for(i=0; i<nbNodes-1; i++)
                  {
                      ring[i].next      = (ring_node*) &ring[ i + 1 ];
                  }
                 //*********
                 // PREVIOUS
                 ring[ 0 ].previous       = (ring_node*) &ring[ nbNodes - 1 ];
                 for(i=1; i<nbNodes; i++)
                 {
                     ring[i].previous   = (ring_node*) &ring[ i - 1 ];
                 }
             }

src/wf_handler.c +4 -2

             /** Functions and tasks related to waveform packet generation.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle waveforms, in snapshot or continuous format.\n
              *
              */
             #include "wf_handler.h"
             //***************
             // waveform rings
             // F0
             ring_node waveform_ring_f0[NB_RING_NODES_F0];
             ring_node *current_ring_node_f0;
             ring_node *ring_node_to_send_swf_f0;
             // F1
             ring_node waveform_ring_f1[NB_RING_NODES_F1];
             ring_node *current_ring_node_f1;
             ring_node *ring_node_to_send_swf_f1;
             ring_node *ring_node_to_send_cwf_f1;
             // F2
             ring_node waveform_ring_f2[NB_RING_NODES_F2];
             ring_node *current_ring_node_f2;
             ring_node *ring_node_to_send_swf_f2;
             ring_node *ring_node_to_send_cwf_f2;
             // F3
             ring_node waveform_ring_f3[NB_RING_NODES_F3];
             ring_node *current_ring_node_f3;
             ring_node *ring_node_to_send_cwf_f3;
             char wf_cont_f3_light[ (NB_SAMPLES_PER_SNAPSHOT) * NB_BYTES_CWF3_LIGHT_BLK ];
             bool extractSWF = false;
             bool swf_f0_ready = false;
             bool swf_f1_ready = false;
             bool swf_f2_ready = false;
             int wf_snap_extracted[ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) ];
             ring_node ring_node_wf_snap_extracted;
             //*********************
             // Interrupt SubRoutine
             ring_node * getRingNodeToSendCWF( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case 1:
                     node = ring_node_to_send_cwf_f1;
                     break;
                 case 2:
                     node = ring_node_to_send_cwf_f2;
                     break;
                 case 3:
                     node = ring_node_to_send_cwf_f3;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             ring_node * getRingNodeToSendSWF( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case 0:
                     node = ring_node_to_send_swf_f0;
                     break;
                 case 1:
                     node = ring_node_to_send_swf_f1;
                     break;
                 case 2:
                     node = ring_node_to_send_swf_f2;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             void reset_extractSWF( void )
             {
                 extractSWF = false;
                 swf_f0_ready = false;
                 swf_f1_ready = false;
                 swf_f2_ready = false;
             }
             inline void waveforms_isr_f3( void )
             {
                 rtems_status_code spare_status;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_BURST)  // in BURST the data are used to place v, e1 and e2 in the HK packet
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     //***
                     // F3
                     if ( (waveform_picker_regs->status & 0xc0) != 0x00 ) {  // [1100 0000] check the f3 full bits
                         ring_node_to_send_cwf_f3    = current_ring_node_f3->previous;
                         current_ring_node_f3        = current_ring_node_f3->next;
                         if ((waveform_picker_regs->status & 0x40) == 0x40){         // [0100 0000] f3 buffer 0 is full
                             ring_node_to_send_cwf_f3->coarseTime    = waveform_picker_regs->f3_0_coarse_time;
                             ring_node_to_send_cwf_f3->fineTime      = waveform_picker_regs->f3_0_fine_time;
                             waveform_picker_regs->addr_data_f3_0    = current_ring_node_f3->buffer_address;
                             waveform_picker_regs->status            = waveform_picker_regs->status & 0x00008840; // [1000 1000 0100 0000]
                         }
                         else if ((waveform_picker_regs->status & 0x80) == 0x80){     // [1000 0000] f3 buffer 1 is full
                             ring_node_to_send_cwf_f3->coarseTime    = waveform_picker_regs->f3_1_coarse_time;
                             ring_node_to_send_cwf_f3->fineTime      = waveform_picker_regs->f3_1_fine_time;
                             waveform_picker_regs->addr_data_f3_1    = current_ring_node_f3->buffer_address;
                             waveform_picker_regs->status            = waveform_picker_regs->status & 0x00008880; // [1000 1000 1000 0000]
                         }
                         if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                             spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                         }
                     }
                 }
             }
             inline void waveforms_isr_normal( void )
             {
                 rtems_status_code status;
                 if ( ( (waveform_picker_regs->status & 0x30) != 0x00 )      // [0011 0000] check the f2 full bits
                      && ( (waveform_picker_regs->status & 0x0c) != 0x00 )   // [0000 1100] check the f1 full bits
                      && ( (waveform_picker_regs->status & 0x03) != 0x00 ))  // [0000 0011] check the f0 full bits
                 {
                     //***
                     // F0
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                     //***
                     // F1
                     ring_node_to_send_swf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                     //***
                     // F2
                     ring_node_to_send_swf_f2    = current_ring_node_f2->previous;
                     current_ring_node_f2        = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                     //
                     status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL );
                     if ( status != RTEMS_SUCCESSFUL)
                     {
                         status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                 }
             }
             inline void waveforms_isr_burst( void )
             {
                 unsigned char status;
                 rtems_status_code spare_status;
                 status = (waveform_picker_regs->status & 0x30) >> 4;   // [0011 0000] get the status bits for f2
                 switch(status)
                 {
                 case 1:
                     ring_node_to_send_cwf_f2                = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid           = SID_BURST_CWF_F2;
                     ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                     ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                     current_ring_node_f2                    = current_ring_node_f2->next;
                     waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                     if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                     waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     break;
                 case 2:
                     ring_node_to_send_cwf_f2                = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid           = SID_BURST_CWF_F2;
                     ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                     ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                     current_ring_node_f2                    = current_ring_node_f2->next;
                     waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                     if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                     waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     break;
                 default:
                     break;
                 }
             }
             inline void waveforms_isr_sbm1( void )
             {
                 rtems_status_code status;
                 //***
                 // F1
                 if ( (waveform_picker_regs->status & 0x0c) != 0x00 ) {  // [0000 1100] check the f1 full bits
                     // (1) change the receiving buffer for the waveform picker
                     ring_node_to_send_cwf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_cwf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_cwf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_cwf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_cwf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                     // (2) send an event for the the CWF1 task for transmission (and snapshot extraction if needed)
                     status = rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 );
                 }
                 //***
                 // F0
                 if ( (waveform_picker_regs->status & 0x03) != 0x00 ) {  // [0000 0011] check the f0 full bits
                     swf_f0_ready = true;
                     // change f0 buffer
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                 }
                 //***
                 // F2
                 if ( (waveform_picker_regs->status & 0x30) != 0x00 ) {  // [0011 0000] check the f2 full bits
                     swf_f2_ready = true;
                     // change f2 buffer
                     ring_node_to_send_swf_f2    = current_ring_node_f2->previous;
                     current_ring_node_f2        = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                 }
             }
             inline void waveforms_isr_sbm2( void )
             {
                 rtems_status_code status;
                 //***
                 // F2
                 if ( (waveform_picker_regs->status & 0x30) != 0x00 ) {  // [0011 0000] check the f2 full bit
                     // (1) change the receiving buffer for the waveform picker
                     ring_node_to_send_cwf_f2      = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid = SID_SBM2_CWF_F2;
                     current_ring_node_f2          = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                     // (2) send an event for the waveforms transmission
                     status = rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 );
                 }
                 //***
                 // F0
                 if ( (waveform_picker_regs->status & 0x03) != 0x00 ) {  // [0000 0011] check the f0 full bit
                     swf_f0_ready = true;
                     // change f0 buffer
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                 }
                 //***
                 // F1
                 if ( (waveform_picker_regs->status & 0x0c) != 0x00 ) {  // [0000 1100] check the f1 full bit
                     swf_f1_ready = true;
                     ring_node_to_send_swf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                 }
             }
             rtems_isr waveforms_isr( rtems_vector_number vector )
             {
                 /** This is the interrupt sub routine called by the waveform picker core.
                  *
                  * This ISR launch different actions depending mainly on two pieces of information:
                  * 1. the values read in the registers of the waveform picker.
                  * 2. the current LFR mode.
                  *
                  */
                 // STATUS
                 // new error        error buffer full
                 // 15 14 13 12      11 10 9  8
                 // f3 f2 f1 f0      f3 f2 f1 f0
                 //
                 // ready buffer
                 // 7    6    5    4    3    2    1    0
                 // f3_1 f3_0 f2_1 f2_0 f1_1 f1_0 f0_1 f0_0
                 rtems_status_code spare_status;
                 waveforms_isr_f3();
                 if ( (waveform_picker_regs->status & 0xff00) != 0x00)    // [1111 1111 0000 0000] check the error bits
                 {
                     spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_10 );
                 }
                 switch(lfrCurrentMode)
                 {
                     //********
                     // STANDBY
                     case(LFR_MODE_STANDBY):
                     break;
                     //******
                     // NORMAL
                     case(LFR_MODE_NORMAL):
                     waveforms_isr_normal();
                     break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
                     waveforms_isr_burst();
                     break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
                     waveforms_isr_sbm1();
                     break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
                     waveforms_isr_sbm2();
                     break;
                     //********
                     // DEFAULT
                     default:
                     break;
                 }
             }
             //************
             // RTEMS TASKS
             rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of snapshots of the NORMAL mode.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packets are sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F0
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F1
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 bool resynchronisationEngaged;
                 ring_node *ring_node_wf_snap_extracted_ptr;
                 ring_node_wf_snap_extracted_ptr = (ring_node *) &ring_node_wf_snap_extracted;
                 resynchronisationEngaged = false;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in WFRM *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in WFRM ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive(RTEMS_EVENT_MODE_NORMAL | RTEMS_EVENT_MODE_SBM1
                                         | RTEMS_EVENT_MODE_SBM2 | RTEMS_EVENT_MODE_SBM2_WFRM,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if(resynchronisationEngaged == false)
                     {   // engage resynchronisation
                         snapshot_resynchronization( (unsigned char *)  &ring_node_to_send_swf_f0->coarseTime );
                         resynchronisationEngaged = true;
                     }
                     else
                     {   // reset delta_snapshot to the nominal value
                         PRINTF("no resynchronisation, reset delta_snapshot to the nominal value\n")
                         set_wfp_delta_snapshot();
                         resynchronisationEngaged = false;
                     }
                     //
                     if (event_out == RTEMS_EVENT_MODE_NORMAL)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_NORMAL\n")
                         ring_node_to_send_swf_f0->sid = SID_NORM_SWF_F0;
                         ring_node_to_send_swf_f1->sid = SID_NORM_SWF_F1;
                         ring_node_to_send_swf_f2->sid = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f1, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f2, sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM1\n")
                         ring_node_to_send_swf_f0->sid           = SID_NORM_SWF_F0;
                         ring_node_wf_snap_extracted_ptr->sid    = SID_NORM_SWF_F1;
                         ring_node_to_send_swf_f2->sid           = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_wf_snap_extracted_ptr, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f2,        sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM2\n")
                         ring_node_to_send_swf_f0->sid           = SID_NORM_SWF_F0;
                         ring_node_to_send_swf_f1->sid           = SID_NORM_SWF_F1;
                         ring_node_wf_snap_extracted_ptr->sid    = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f1,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_wf_snap_extracted_ptr, sizeof( ring_node* ) );
                     }
                 }
             }
             rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f3.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_CWF_F3
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node ring_node_cwf3_light;
+                ring_node *ring_node_to_send_cwf;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF3 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 ring_node_to_send_cwf_f3->sid = SID_NORM_CWF_LONG_F3;
                 // init the ring_node_cwf3_light structure
                 ring_node_cwf3_light.buffer_address = (int) wf_cont_f3_light;
                 ring_node_cwf3_light.coarseTime = 0x00;
                 ring_node_cwf3_light.fineTime = 0x00;
                 ring_node_cwf3_light.next = NULL;
                 ring_node_cwf3_light.previous = NULL;
                 ring_node_cwf3_light.sid = SID_NORM_CWF_F3;
                 ring_node_cwf3_light.status = 0x00;
                 BOOT_PRINTF("in CWF3 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                          || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode==LFR_MODE_SBM2) )
                     {
+                        ring_node_to_send_cwf = getRingNodeToSendCWF( 3 );
                         if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                         {
                             PRINTF("send CWF_LONG_F3\n")
                             ring_node_to_send_cwf_f3->sid = SID_NORM_CWF_LONG_F3;
-                            status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf_f3, sizeof( ring_node* ) );
+                            status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf, sizeof( ring_node* ) );
                         }
                         else
                         {
                             PRINTF("send CWF_F3 (light)\n")
-                            send_waveform_CWF3_light( ring_node_to_send_cwf_f3, &ring_node_cwf3_light, queue_id );
+                            send_waveform_CWF3_light( ring_node_to_send_cwf, &ring_node_cwf3_light, queue_id );
                         }
                     }
                     else
                     {
                         PRINTF1("in CWF3 *** lfrCurrentMode is %d, no data will be sent\n", lfrCurrentMode)
                     }
                 }
             }
             rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f2.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_BURST_CWF_F2
                  * - TM_LFR_SCIENCE_SBM2_CWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node *ring_node_to_send;
                 unsigned long long int acquisitionTimeF0_asLong;
                 acquisitionTimeF0_asLong = 0x00;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF2 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF2 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_BURST | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     ring_node_to_send = getRingNodeToSendCWF( 2 );
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send, sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send, sizeof( ring_node* ) );
                         // launch snapshot extraction if needed
                         if (extractSWF == true)
                         {
                             ring_node_to_send_swf_f2 = ring_node_to_send_cwf_f2;
                             // extract the snapshot
                             build_snapshot_from_ring( ring_node_to_send_swf_f2, 2, acquisitionTimeF0_asLong );
                             // send the snapshot when built
                             status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 );
                             extractSWF = false;
                         }
                         if (swf_f0_ready && swf_f1_ready)
                         {
                             extractSWF = true;
                             // record the acquition time of the fà snapshot to use to build the snapshot at f2
                             acquisitionTimeF0_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send_swf_f0->coarseTime );
                             swf_f0_ready = false;
                             swf_f1_ready = false;
                         }
                     }
                 }
             }
             rtems_task cwf1_task(rtems_task_argument argument)  // ONLY USED IN SBM1
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f1.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_SBM1_CWF_F1
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node *ring_node_to_send_cwf;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF1 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF1 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     ring_node_to_send_cwf = getRingNodeToSendCWF( 1 );
                     ring_node_to_send_cwf_f1->sid = SID_SBM1_CWF_F1;
                     status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf, sizeof( ring_node* ) );
                     if (status != 0)
                         printf("cwf sending failed\n");
                     // launch snapshot extraction if needed
                     if (extractSWF == true)
                     {
                         ring_node_to_send_swf_f1 = ring_node_to_send_cwf;
                         // launch the snapshot extraction
                         status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_SBM1 );
                         extractSWF = false;
                     }
                     if (swf_f0_ready == true)
                     {
                         extractSWF = true;
                         swf_f0_ready = false;   // this step shall be executed only one time
                     }
                     if ((swf_f1_ready == true) && (swf_f2_ready == true))   // swf_f1 is ready after the extraction
                     {
                         status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM1 );
                         swf_f1_ready = false;
                         swf_f2_ready = false;
                     }
                 }
             }
             rtems_task swbd_task(rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the building of snapshots from different continuous waveforms buffers.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 unsigned long long int acquisitionTimeF0_asLong;
                 acquisitionTimeF0_asLong = 0x00;
                 BOOT_PRINTF("in SWBD ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1 | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         acquisitionTimeF0_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send_swf_f0->coarseTime );
                         build_snapshot_from_ring( ring_node_to_send_swf_f1, 1, acquisitionTimeF0_asLong );
                         swf_f1_ready = true;    // the snapshot has been extracted and is ready to be sent
                     }
                     else
                     {
                         PRINTF1("in SWBD *** unexpected rtems event received %x\n", (int) event_out)
                     }
                 }
             }
             //******************
             // general functions
             void WFP_init_rings( void )
             {
                 // F0 RING
                 init_ring( waveform_ring_f0, NB_RING_NODES_F0, wf_buffer_f0, WFRM_BUFFER );
                 // F1 RING
                 init_ring( waveform_ring_f1, NB_RING_NODES_F1, wf_buffer_f1, WFRM_BUFFER );
                 // F2 RING
                 init_ring( waveform_ring_f2, NB_RING_NODES_F2, wf_buffer_f2, WFRM_BUFFER );
                 // F3 RING
                 init_ring( waveform_ring_f3, NB_RING_NODES_F3, wf_buffer_f3, WFRM_BUFFER );
                 ring_node_wf_snap_extracted.buffer_address = (int) wf_snap_extracted;
                 DEBUG_PRINTF1("waveform_ring_f0 @%x\n", (unsigned int) waveform_ring_f0)
                 DEBUG_PRINTF1("waveform_ring_f1 @%x\n", (unsigned int) waveform_ring_f1)
                 DEBUG_PRINTF1("waveform_ring_f2 @%x\n", (unsigned int) waveform_ring_f2)
                 DEBUG_PRINTF1("waveform_ring_f3 @%x\n", (unsigned int) waveform_ring_f3)
                 DEBUG_PRINTF1("wf_buffer_f0 @%x\n", (unsigned int) wf_buffer_f0)
                 DEBUG_PRINTF1("wf_buffer_f1 @%x\n", (unsigned int) wf_buffer_f1)
                 DEBUG_PRINTF1("wf_buffer_f2 @%x\n", (unsigned int) wf_buffer_f2)
                 DEBUG_PRINTF1("wf_buffer_f3 @%x\n", (unsigned int) wf_buffer_f3)
             }
             void WFP_reset_current_ring_nodes( void )
             {
                 current_ring_node_f0      = waveform_ring_f0[0].next;
                 current_ring_node_f1      = waveform_ring_f1[0].next;
                 current_ring_node_f2      = waveform_ring_f2[0].next;
                 current_ring_node_f3      = waveform_ring_f3[0].next;
                 ring_node_to_send_swf_f0  = waveform_ring_f0;
                 ring_node_to_send_swf_f1  = waveform_ring_f1;
                 ring_node_to_send_swf_f2  = waveform_ring_f2;
                 ring_node_to_send_cwf_f1  = waveform_ring_f1;
                 ring_node_to_send_cwf_f2  = waveform_ring_f2;
                 ring_node_to_send_cwf_f3  = waveform_ring_f3;
             }
             int send_waveform_CWF3_light( ring_node *ring_node_to_send, ring_node *ring_node_cwf3_light, rtems_id queue_id )
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 char *sample;
                 int *dataPtr;
                 ret = LFR_DEFAULT;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 ring_node_cwf3_light->coarseTime = ring_node_to_send->coarseTime;
                 ring_node_cwf3_light->fineTime = ring_node_to_send->fineTime;
                 //**********************
                 // BUILD CWF3_light DATA
                 for ( i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     sample = (char*) &dataPtr[ (i * NB_WORDS_SWF_BLK) ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK)     ] = sample[ 0 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 1 ] = sample[ 1 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 2 ] = sample[ 2 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 3 ] = sample[ 3 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 4 ] = sample[ 4 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 5 ] = sample[ 5 ];
                 }
                 // SEND PACKET
                 status =  rtems_message_queue_send( queue_id, &ring_node_cwf3_light, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     printf("%d-%d, ERR %d\n", SID_NORM_CWF_F3, i, (int) status);
                     ret = LFR_DEFAULT;
                 }
                 return ret;
             }
             void compute_acquisition_time( unsigned int coarseTime, unsigned int fineTime,
                                            unsigned int sid, unsigned char pa_lfr_pkt_nr, unsigned char * acquisitionTime )
             {
                 unsigned long long int acquisitionTimeAsLong;
                 unsigned char localAcquisitionTime[6];
                 double deltaT;
                 deltaT = 0.;
                 localAcquisitionTime[0] = (unsigned char) ( coarseTime >> 24 );
                 localAcquisitionTime[1] = (unsigned char) ( coarseTime >> 16 );
                 localAcquisitionTime[2] = (unsigned char) ( coarseTime >> 8  );
                 localAcquisitionTime[3] = (unsigned char) ( coarseTime       );
                 localAcquisitionTime[4] = (unsigned char) ( fineTime   >> 8  );
                 localAcquisitionTime[5] = (unsigned char) ( fineTime         );
                 acquisitionTimeAsLong = ( (unsigned long long int) localAcquisitionTime[0] << 40 )
                         + ( (unsigned long long int) localAcquisitionTime[1] << 32 )
                         + ( (unsigned long long int) localAcquisitionTime[2] << 24 )
                         + ( (unsigned long long int) localAcquisitionTime[3] << 16 )
                         + ( (unsigned long long int) localAcquisitionTime[4] << 8  )
                         + ( (unsigned long long int) localAcquisitionTime[5]       );
                 switch( sid )
                 {
                 case SID_NORM_SWF_F0:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 24576. ;
                     break;
                 case SID_NORM_SWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 4096. ;
                     break;
                 case SID_NORM_SWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 256. ;
                     break;
                 case SID_SBM1_CWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 4096. ;
                     break;
                 case SID_SBM2_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_BURST_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_NORM_CWF_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF_SHORT_F3 * 65536. / 16. ;
                     break;
                 case SID_NORM_CWF_LONG_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 16. ;
                     break;
                 default:
                     PRINTF1("in compute_acquisition_time *** ERR unexpected sid %d\n", sid)
                     deltaT = 0.;
                     break;
                 }
                 acquisitionTimeAsLong = acquisitionTimeAsLong + (unsigned long long int) deltaT;
                 //
                 acquisitionTime[0] = (unsigned char) (acquisitionTimeAsLong >> 40);
                 acquisitionTime[1] = (unsigned char) (acquisitionTimeAsLong >> 32);
                 acquisitionTime[2] = (unsigned char) (acquisitionTimeAsLong >> 24);
                 acquisitionTime[3] = (unsigned char) (acquisitionTimeAsLong >> 16);
                 acquisitionTime[4] = (unsigned char) (acquisitionTimeAsLong >> 8 );
                 acquisitionTime[5] = (unsigned char) (acquisitionTimeAsLong      );
             }
             void build_snapshot_from_ring( ring_node *ring_node_to_send, unsigned char frequencyChannel, unsigned long long int acquisitionTimeF0_asLong )
             {
                 unsigned int i;
                 unsigned long long int centerTime_asLong;
                 unsigned long long int acquisitionTime_asLong;
                 unsigned long long int bufferAcquisitionTime_asLong;
                 unsigned char *ptr1;
                 unsigned char *ptr2;
                 unsigned char *timeCharPtr;
                 unsigned char nb_ring_nodes;
                 unsigned long long int frequency_asLong;
                 unsigned long long int nbTicksPerSample_asLong;
                 unsigned long long int nbSamplesPart1_asLong;
                 unsigned long long int sampleOffset_asLong;
                 unsigned int deltaT_F0;
                 unsigned int deltaT_F1;
                 unsigned long long int deltaT_F2;
                 deltaT_F0 = 2731;      // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 deltaT_F1 = 16384;  // (2048. / 4096.  / 2.) * 65536. = 16384;
                 deltaT_F2 = 262144; // (2048. / 256.   / 2.) * 65536. = 262144;
                 sampleOffset_asLong = 0x00;
                 // (1) get the f0 acquisition time => the value is passed in argument
                 // (2) compute the central reference time
                 centerTime_asLong = acquisitionTimeF0_asLong + deltaT_F0;
                 // (3) compute the acquisition time of the current snapshot
                 switch(frequencyChannel)
                 {
                 case 1: // 1 is for F1 = 4096 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F1;
                     nb_ring_nodes = NB_RING_NODES_F1;
                     frequency_asLong = 4096;
                     nbTicksPerSample_asLong = 16;  // 65536 / 4096;
                     break;
                 case 2: // 2 is for F2 = 256 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F2;
                     nb_ring_nodes = NB_RING_NODES_F2;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;  // 65536 / 256;
                     break;
                 default:
                     acquisitionTime_asLong = centerTime_asLong;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;
                     break;
                 }
                 //****************************************************************************
                 // (4) search the ring_node with the acquisition time <= acquisitionTime_asLong
                 for (i=0; i<nb_ring_nodes; i++)
                 {
                     PRINTF1("%d ... ", i)
                     bufferAcquisitionTime_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send->coarseTime );
                     if (bufferAcquisitionTime_asLong <= acquisitionTime_asLong)
                     {
                         PRINTF1("buffer found with acquisition time = %llx\n", bufferAcquisitionTime_asLong)
                         break;
                     }
                     ring_node_to_send = ring_node_to_send->previous;
                 }
                 // (5) compute the number of samples to take in the current buffer
                 sampleOffset_asLong = ((acquisitionTime_asLong - bufferAcquisitionTime_asLong) * frequency_asLong ) >> 16;
                 nbSamplesPart1_asLong = NB_SAMPLES_PER_SNAPSHOT - sampleOffset_asLong;
                 PRINTF2("sampleOffset_asLong = %lld, nbSamplesPart1_asLong = %lld\n", sampleOffset_asLong, nbSamplesPart1_asLong)
                 // (6) compute the final acquisition time
                 acquisitionTime_asLong = bufferAcquisitionTime_asLong +
                         sampleOffset_asLong * nbTicksPerSample_asLong;
                 // (7) copy the acquisition time at the beginning of the extrated snapshot
                 ptr1 = (unsigned char*) &acquisitionTime_asLong;
                 // fine time
                 ptr2 = (unsigned char*) &ring_node_wf_snap_extracted.fineTime;
                 ptr2[2] = ptr1[ 4 + 2 ];
                 ptr2[3] = ptr1[ 5 + 2 ];
                 // coarse time
                 ptr2 = (unsigned char*) &ring_node_wf_snap_extracted.coarseTime;
                 ptr2[0] = ptr1[ 0 + 2 ];
                 ptr2[1] = ptr1[ 1 + 2 ];
                 ptr2[2] = ptr1[ 2 + 2 ];
                 ptr2[3] = ptr1[ 3 + 2 ];
                 // re set the synchronization bit
                 timeCharPtr = (unsigned char*) &ring_node_to_send->coarseTime;
                 ptr2[0] = ptr2[0] | (timeCharPtr[0] & 0x80); // [1000 0000]
                 if ( (nbSamplesPart1_asLong >= NB_SAMPLES_PER_SNAPSHOT) | (nbSamplesPart1_asLong < 0) )
                 {
                     nbSamplesPart1_asLong = 0;
                 }
                 // copy the part 1 of the snapshot in the extracted buffer
                 for ( i = 0; i < (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i++ )
                 {
                     wf_snap_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ i + (sampleOffset_asLong * NB_WORDS_SWF_BLK) ];
                 }
                 // copy the part 2 of the snapshot in the extracted buffer
                 ring_node_to_send = ring_node_to_send->next;
                 for ( i = (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i < (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK); i++ )
                 {
                     wf_snap_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ (i-(nbSamplesPart1_asLong * NB_WORDS_SWF_BLK)) ];
                 }
             }
             void snapshot_resynchronization( unsigned char *timePtr )
             {
                 unsigned long long int acquisitionTime;
                 unsigned long long int centerTime;
                 unsigned long long int previousTick;
                 unsigned long long int nextTick;
                 unsigned long long int deltaPreviousTick;
                 unsigned long long int deltaNextTick;
                 unsigned int deltaTickInF2;
                 double deltaPrevious;
                 double deltaNext;
                 acquisitionTime = get_acquisition_time( timePtr );
                 // compute center time
                 centerTime = acquisitionTime + 2731;    // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 previousTick = centerTime - (centerTime & 0xffff);
                 nextTick = previousTick + 65536;
                 deltaPreviousTick   = centerTime - previousTick;
                 deltaNextTick       = nextTick - centerTime;
                 deltaPrevious       = ((double) deltaPreviousTick) / 65536. * 1000.;
                 deltaNext           = ((double) deltaNextTick) / 65536. * 1000.;
                 PRINTF2("delta previous = %f ms, delta next = %f ms\n", deltaPrevious, deltaNext)
                 PRINTF2("delta previous = %llu, delta next = %llu\n", deltaPreviousTick, deltaNextTick)
                 // which tick is the closest
                 if (deltaPreviousTick > deltaNextTick)
                 {
                     deltaTickInF2 = floor( (deltaNext * 256. / 1000.) ); // the division by 2 is important here
                     waveform_picker_regs->delta_snapshot = waveform_picker_regs->delta_snapshot + deltaTickInF2;
                     printf("correction of = + %u\n", deltaTickInF2);
                 }
                 else
                 {
                     deltaTickInF2 = floor( (deltaPrevious * 256. / 1000.) ); // the division by 2 is important here
                     waveform_picker_regs->delta_snapshot = waveform_picker_regs->delta_snapshot - deltaTickInF2;
                     printf("correction of = - %u\n", deltaTickInF2);
                 }
             }
             //**************
             // wfp registers
             void reset_wfp_burst_enable( void )
             {
                 /** This function resets the waveform picker burst_enable register.
                  *
                  * The burst bits [f2 f1 f0] and the enable bits [f3 f2 f1 f0] are set to 0.
                  *
                  */
                 // [1000 000] burst f2, f1, f0     enable f3, f2, f1, f0
                 waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable & 0x80;
             }
             void reset_wfp_status( void )
             {
                 /** This function resets the waveform picker status register.
                  *
                  * All status bits are set to 0 [new_err full_err full].
                  *
                  */
                 waveform_picker_regs->status = 0xffff;
             }
             void reset_wfp_buffer_addresses( void )
             {
                 // F0
                 waveform_picker_regs->addr_data_f0_0 = current_ring_node_f0->previous->buffer_address;  // 0x08
                 waveform_picker_regs->addr_data_f0_1 = current_ring_node_f0->buffer_address;            // 0x0c
                 // F1
                 waveform_picker_regs->addr_data_f1_0 = current_ring_node_f1->previous->buffer_address;  // 0x10
                 waveform_picker_regs->addr_data_f1_1 = current_ring_node_f1->buffer_address;            // 0x14
                 // F2
                 waveform_picker_regs->addr_data_f2_0 = current_ring_node_f2->previous->buffer_address;  // 0x18
                 waveform_picker_regs->addr_data_f2_1 = current_ring_node_f2->buffer_address;            // 0x1c
                 // F3
                 waveform_picker_regs->addr_data_f3_0 = current_ring_node_f3->previous->buffer_address;  // 0x20
                 waveform_picker_regs->addr_data_f3_1 = current_ring_node_f3->buffer_address;            // 0x24
             }
             void reset_waveform_picker_regs( void )
             {
                 /** This function resets the waveform picker module registers.
                 *
                 * The registers affected by this function are located at the following offset addresses:
                 * - 0x00 data_shaping
                 * - 0x04 run_burst_enable
                 * - 0x08 addr_data_f0
                 * - 0x0C addr_data_f1
                 * - 0x10 addr_data_f2
                 * - 0x14 addr_data_f3
                 * - 0x18 status
                 * - 0x1C delta_snapshot
                 * - 0x20 delta_f0
                 * - 0x24 delta_f0_2
                 * - 0x28 delta_f1
                 * - 0x2c delta_f2
                 * - 0x30 nb_data_by_buffer
                 * - 0x34 nb_snapshot_param
                 * - 0x38 start_date
                 * - 0x3c nb_word_in_buffer
                 *
                 */
                 set_wfp_data_shaping();                                     // 0x00 *** R1 R0 SP1 SP0 BW
                 reset_wfp_burst_enable();                                   // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                 reset_wfp_buffer_addresses();
                 reset_wfp_status();                                         // 0x18
                 set_wfp_delta_snapshot();   // 0x1c *** 300 s => 0x12bff
                 set_wfp_delta_f0_f0_2();    // 0x20, 0x24
                 set_wfp_delta_f1();         // 0x28
                 set_wfp_delta_f2();         // 0x2c
                 DEBUG_PRINTF1("delta_snapshot %x\n",    waveform_picker_regs->delta_snapshot)
                 DEBUG_PRINTF1("delta_f0 %x\n",          waveform_picker_regs->delta_f0)
                 DEBUG_PRINTF1("delta_f0_2 %x\n",        waveform_picker_regs->delta_f0_2)
                 DEBUG_PRINTF1("delta_f1 %x\n",          waveform_picker_regs->delta_f1)
                 DEBUG_PRINTF1("delta_f2 %x\n",          waveform_picker_regs->delta_f2)
                 // 2688 = 8 * 336
                 waveform_picker_regs->nb_data_by_buffer = 0xa7f; // 0x30 *** 2688 - 1 => nb samples -1
                 waveform_picker_regs->snapshot_param    = 0xa80; // 0x34 *** 2688 => nb samples
                 waveform_picker_regs->start_date        = 0x7fffffff;  // 0x38
                 //
                 // coarse time and fine time registers are not initialized, they are volatile
                 //
                 waveform_picker_regs->buffer_length     = 0x1f8;// buffer length in burst = 3 * 2688 / 16 = 504 = 0x1f8
             }
             void set_wfp_data_shaping( void )
             {
                 /** This function sets the data_shaping register of the waveform picker module.
                  *
                  * The value is read from one field of the parameter_dump_packet structure:\n
                  * bw_sp0_sp1_r0_r1
                  *
                  */
                 unsigned char data_shaping;
                 // get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
                 // waveform picker : [R1 R0 SP1 SP0 BW]
                 data_shaping = parameter_dump_packet.sy_lfr_common_parameters;
                 waveform_picker_regs->data_shaping =
                           ( (data_shaping & 0x20) >> 5 )     // BW
                         + ( (data_shaping & 0x10) >> 3 )     // SP0
                         + ( (data_shaping & 0x08) >> 1 )     // SP1
                         + ( (data_shaping & 0x04)      )     // R0
                         + ( (data_shaping & 0x02) << 3 )     // R1
                         + ( (data_shaping & 0x01) << 5 );    // R2
             }
             void set_wfp_burst_enable_register( unsigned char mode )
             {
                 /** This function sets the waveform picker burst_enable register depending on the mode.
                  *
                  * @param mode is the LFR mode to launch.
                  *
                  * The burst bits shall be before the enable bits.
                  *
                  */
                 // [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                 // the burst bits shall be set first, before the enable bits
                 switch(mode) {
                 case(LFR_MODE_NORMAL):
                     waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enable
                     waveform_picker_regs->run_burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_BURST):
                     waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
             //        waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x04; // [0100] enable f2
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0c; // [1100] enable f3 AND f2
                     break;
                 case(LFR_MODE_SBM1):
                     waveform_picker_regs->run_burst_enable = 0x20;  // [0010 0000] f1 burst enabled
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_SBM2):
                     waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 default:
                     waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enabled, no waveform enabled
                     break;
                 }
             }
             void set_wfp_delta_snapshot( void )
             {
                 /** This function sets the delta_snapshot register of the waveform picker module.
                  *
                  * The value is read from two (unsigned char) of the parameter_dump_packet structure:
                  * - sy_lfr_n_swf_p[0]
                  * - sy_lfr_n_swf_p[1]
                  *
                  */
                 unsigned int delta_snapshot;
                 unsigned int delta_snapshot_in_T2;
                 delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1];
                 delta_snapshot_in_T2 = delta_snapshot * 256;
                 waveform_picker_regs->delta_snapshot = delta_snapshot_in_T2 - 1;    // max 4 bytes
             }
             void set_wfp_delta_f0_f0_2( void )
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f0_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f0_in_float =nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 24576.) * 256.;
                 waveform_picker_regs->delta_f0      =  delta_snapshot - floor( delta_f0_in_float );
                 waveform_picker_regs->delta_f0_2    = 0x30;         // 48 = 11 0000, max 7 bits
             }
             void set_wfp_delta_f1( void )
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f1_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f1_in_float = nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 4096.) * 256.;
                 waveform_picker_regs->delta_f1 = delta_snapshot - floor( delta_f1_in_float );
             }
             void set_wfp_delta_f2()
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 waveform_picker_regs->delta_f2 = delta_snapshot - nb_samples_per_snapshot / 2;
             }
             //*****************
             // local parameters
             void increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid )
             {
                 /** This function increments the parameter "sequence_cnt" depending on the sid passed in argument.
                  *
                  * @param packet_sequence_control is a pointer toward the parameter sequence_cnt to update.
                  * @param sid is the source identifier of the packet being updated.
                  *
                  * REQ-LFR-SRS-5240 / SSS-CP-FS-590
                  * The sequence counters shall wrap around from 2^14 to zero.
                  * The sequence counter shall start at zero at startup.
                  *
                  * REQ-LFR-SRS-5239 / SSS-CP-FS-580
                  * All TM_LFR_SCIENCE_ packets are sent to ground, i.e. destination id = 0
                  *
                  */
                 unsigned short *sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 rtems_mode initial_mode_set;
                 rtems_mode current_mode_set;
                 rtems_status_code status;
                 //******************************************
                 // CHANGE THE MODE OF THE CALLING RTEMS TASK
                 status =  rtems_task_mode( RTEMS_NO_PREEMPT, RTEMS_PREEMPT_MASK, &initial_mode_set );
                 if ( (sid == SID_NORM_SWF_F0)    || (sid == SID_NORM_SWF_F1) || (sid == SID_NORM_SWF_F2)
                      || (sid == SID_NORM_CWF_F3) || (sid == SID_NORM_CWF_LONG_F3)
                      || (sid == SID_BURST_CWF_F2)
                      || (sid == SID_NORM_ASM_F0) || (sid == SID_NORM_ASM_F1) || (sid == SID_NORM_ASM_F2)
                      || (sid == SID_NORM_BP1_F0) || (sid == SID_NORM_BP1_F1) || (sid == SID_NORM_BP1_F2)
                      || (sid == SID_NORM_BP2_F0) || (sid == SID_NORM_BP2_F1) || (sid == SID_NORM_BP2_F2)
                      || (sid == SID_BURST_BP1_F0) || (sid == SID_BURST_BP2_F0)
                      || (sid == SID_BURST_BP1_F1) || (sid == SID_BURST_BP2_F1) )
                 {
                     sequence_cnt = (unsigned short *) &sequenceCounters_SCIENCE_NORMAL_BURST;
                 }
                 else if ( (sid ==SID_SBM1_CWF_F1) || (sid ==SID_SBM2_CWF_F2)
                           || (sid == SID_SBM1_BP1_F0) || (sid == SID_SBM1_BP2_F0)
                           || (sid == SID_SBM2_BP1_F0) || (sid == SID_SBM2_BP2_F0)
                           || (sid == SID_SBM2_BP1_F1) || (sid == SID_SBM2_BP2_F1) )
                 {
                     sequence_cnt = (unsigned short *) &sequenceCounters_SCIENCE_SBM1_SBM2;
                 }
                 else
                 {
                     sequence_cnt = (unsigned short *) NULL;
                     PRINTF1("in increment_seq_counter_source_id *** ERR apid_destid %d not known\n", sid)
                 }
                 if (sequence_cnt != NULL)
                 {
                     segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                     *sequence_cnt                = (*sequence_cnt) & 0x3fff;
                     new_packet_sequence_control = segmentation_grouping_flag | (*sequence_cnt) ;
                     packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
                     packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                     // increment the sequence counter
                     if ( *sequence_cnt < SEQ_CNT_MAX)
                     {
                         *sequence_cnt = *sequence_cnt + 1;
                     }
                     else
                     {
                         *sequence_cnt = 0;
                     }
                 }
                 //***********************************
                 // RESET THE MODE OF THE CALLING TASK
                 status =  rtems_task_mode( initial_mode_set, RTEMS_PREEMPT_MASK, &current_mode_set );
             }

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