HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r46:72fea9e87fcb

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FSW-qt/Makefile +2 -2

             #############################################################################
             # Makefile for building: bin/fsw
-            # Generated by qmake (2.01a) (Qt 4.8.5) on: Fri Oct 18 15:44:51 2013
+            # Generated by qmake (2.01a) (Qt 4.8.5) on: Thu Oct 24 15:59:05 2013
             # Project:  fsw-qt.pro
             # Template: app
             # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             #############################################################################
             ####### Compiler, tools and options
             CC            = sparc-rtems-gcc
             CXX           = sparc-rtems-g++
-            DEFINES       = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=16 -DPRINT_MESSAGES_ON_CONSOLE
+            DEFINES       = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=16 -DPRINT_MESSAGES_ON_CONSOLE -DPRINT_TASK_STATISTICS
             CFLAGS        = -pipe -O3 -Wall $(DEFINES)
             CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
             INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header
             LINK          = sparc-rtems-g++
             LFLAGS        =
             LIBS          = $(SUBLIBS)
             AR            = sparc-rtems-ar rcs
             RANLIB        =
             QMAKE         = /usr/bin/qmake-qt4
             TAR           = tar -cf
             COMPRESS      = gzip -9f
             COPY          = cp -f
             SED           = sed
             COPY_FILE     = $(COPY)
             COPY_DIR      = $(COPY) -r
             STRIP         = sparc-rtems-strip
             INSTALL_FILE  = install -m 644 -p
             INSTALL_DIR   = $(COPY_DIR)
             INSTALL_PROGRAM = install -m 755 -p
             DEL_FILE      = rm -f
             SYMLINK       = ln -f -s
             DEL_DIR       = rmdir
             MOVE          = mv -f
             CHK_DIR_EXISTS= test -d
             MKDIR         = mkdir -p
             ####### Output directory
             OBJECTS_DIR   = obj/
             ####### Files
             SOURCES       = ../src/wf_handler.c \
             		../src/tc_handler.c \
             		../src/fsw_processing.c \
             		../src/fsw_misc.c \
             		../src/fsw_init.c \
             		../src/fsw_globals.c \
             		../src/fsw_spacewire.c \
             		../src/tc_load_dump_parameters.c \
             		../src/tm_lfr_tc_exe.c \
             		../src/tc_acceptance.c
             OBJECTS       = obj/wf_handler.o \
             		obj/tc_handler.o \
             		obj/fsw_processing.o \
             		obj/fsw_misc.o \
             		obj/fsw_init.o \
             		obj/fsw_globals.o \
             		obj/fsw_spacewire.o \
             		obj/tc_load_dump_parameters.o \
             		obj/tm_lfr_tc_exe.o \
             		obj/tc_acceptance.o
             DIST          = /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/shared.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf \
             		fsw-qt.pro
             QMAKE_TARGET  = fsw
             DESTDIR       = bin/
             TARGET        = bin/fsw
             first: all
             ####### Implicit rules
             .SUFFIXES: .o .c .cpp .cc .cxx .C
             .cpp.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cc.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cxx.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .C.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .c.o:
             	$(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
             ####### Build rules
             all: Makefile $(TARGET)
             $(TARGET):  $(OBJECTS)
             	@$(CHK_DIR_EXISTS) bin/ || $(MKDIR) bin/
             	$(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
             Makefile: fsw-qt.pro  /usr/lib64/qt4/mkspecs/linux-g++/qmake.conf /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/shared.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf
             	$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             /usr/lib64/qt4/mkspecs/common/unix.conf:
             /usr/lib64/qt4/mkspecs/common/linux.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf:
             /usr/lib64/qt4/mkspecs/common/g++-base.conf:
             /usr/lib64/qt4/mkspecs/common/g++-unix.conf:
             /usr/lib64/qt4/mkspecs/qconfig.pri:
             /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri:
             /usr/lib64/qt4/mkspecs/features/qt_functions.prf:
             /usr/lib64/qt4/mkspecs/features/qt_config.prf:
             /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf:
             /usr/lib64/qt4/mkspecs/features/default_pre.prf:
             sparc.pri:
             /usr/lib64/qt4/mkspecs/features/release.prf:
             /usr/lib64/qt4/mkspecs/features/default_post.prf:
             /usr/lib64/qt4/mkspecs/features/shared.prf:
             /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
             /usr/lib64/qt4/mkspecs/features/warn_on.prf:
             /usr/lib64/qt4/mkspecs/features/resources.prf:
             /usr/lib64/qt4/mkspecs/features/uic.prf:
             /usr/lib64/qt4/mkspecs/features/yacc.prf:
             /usr/lib64/qt4/mkspecs/features/lex.prf:
             /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
             qmake:  FORCE
             	@$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             dist:
             	@$(CHK_DIR_EXISTS) obj/fsw1.0.0 || $(MKDIR) obj/fsw1.0.0
             	$(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw1.0.0/ && (cd `dirname obj/fsw1.0.0` && $(TAR) fsw1.0.0.tar fsw1.0.0 && $(COMPRESS) fsw1.0.0.tar) && $(MOVE) `dirname obj/fsw1.0.0`/fsw1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw1.0.0
             clean:compiler_clean
             	-$(DEL_FILE) $(OBJECTS)
             	-$(DEL_FILE) *~ core *.core
             ####### Sub-libraries
             distclean: clean
             	-$(DEL_FILE) $(TARGET)
             	-$(DEL_FILE) Makefile
             grmon:
             	cd bin && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
             check: first
             compiler_rcc_make_all:
             compiler_rcc_clean:
             compiler_uic_make_all:
             compiler_uic_clean:
             compiler_image_collection_make_all: qmake_image_collection.cpp
             compiler_image_collection_clean:
             	-$(DEL_FILE) qmake_image_collection.cpp
             compiler_yacc_decl_make_all:
             compiler_yacc_decl_clean:
             compiler_yacc_impl_make_all:
             compiler_yacc_impl_clean:
             compiler_lex_make_all:
             compiler_lex_clean:
             compiler_clean:
             ####### Compile
             obj/wf_handler.o: ../src/wf_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/wf_handler.o ../src/wf_handler.c
             obj/tc_handler.o: ../src/tc_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_handler.o ../src/tc_handler.c
             obj/fsw_processing.o: ../src/fsw_processing.c ../src/fsw_processing_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
             obj/fsw_misc.o: ../src/fsw_misc.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
             obj/fsw_init.o: ../src/fsw_init.c ../src/fsw_config.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
             obj/fsw_globals.o: ../src/fsw_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
             obj/fsw_spacewire.o: ../src/fsw_spacewire.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spacewire.o ../src/fsw_spacewire.c
             obj/tc_load_dump_parameters.o: ../src/tc_load_dump_parameters.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_load_dump_parameters.o ../src/tc_load_dump_parameters.c
             obj/tm_lfr_tc_exe.o: ../src/tm_lfr_tc_exe.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tm_lfr_tc_exe.o ../src/tm_lfr_tc_exe.c
             obj/tc_acceptance.o: ../src/tc_acceptance.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_acceptance.o ../src/tc_acceptance.c
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

FSW-qt/bin/fsw binary modified 0 0

NO CONTENT: modified file, binary diff hidden

FSW-qt/fsw-qt.pro +1 -1

             TEMPLATE = app
             # CONFIG += console v8 sim
             # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** gsa
-            CONFIG += console verbose
+            CONFIG += console verbose cpu_usage_report
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
             SWVERSION=-0-16
             DEFINES += SW_VERSION_N1=0
             DEFINES += SW_VERSION_N2=0
             DEFINES += SW_VERSION_N3=0
             DEFINES += SW_VERSION_N4=16
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
             contains( CONFIG, stack_report ) {
                 DEFINES += PRINT_STACK_REPORT
             }
             contains( CONFIG, boot_messages ) {
                 DEFINES += BOOT_MESSAGES
             }
             #doxygen.target = doxygen
             #doxygen.commands = doxygen ../doc/Doxyfile
             #QMAKE_EXTRA_TARGETS += doxygen
             TARGET = fsw
             contains( CONFIG, gsa ) {
                 DEFINES += GSA
                 TARGET = fsw-gsa
             }
             INCLUDEPATH += \
                 ../src \
                 ../header
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_processing.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
                 ../src/fsw_globals.c \
                 ../src/fsw_spacewire.c \
                 ../src/tc_load_dump_parameters.c \
                 ../src/tm_lfr_tc_exe.c \
                 ../src/tc_acceptance.c
             HEADERS += \
                 ../header/wf_handler.h \
                 ../header/tc_handler.h \
                 ../header/grlib_regs.h \
                 ../header/fsw_processing.h \
                 ../header/fsw_params.h \
                 ../header/fsw_misc.h \
                 ../header/fsw_init.h \
                 ../header/ccsds_types.h \
                 ../header/fsw_params_processing.h \
                 ../header/fsw_spacewire.h \
                 ../header/tm_byte_positions.h \
                 ../header/tc_load_dump_parameters.h \
                 ../header/tm_lfr_tc_exe.h \
                 ../header/tc_acceptance.h

FSW-qt/fsw-qt.pro.user +1 -1

             <?xml version="1.0" encoding="UTF-8"?>
             <!DOCTYPE QtCreatorProject>
-            <!-- Written by QtCreator 2.8.0, 2013-10-18T15:44:56. -->
+            <!-- Written by QtCreator 2.8.0, 2013-10-24T06:53:47. -->
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                 <value type="QString" key="language">Cpp</value>
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                 <value type="QString" key="language">QmlJS</value>
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header/ccsds_types.h +14 0

             #ifndef CCSDS_TYPES_H_INCLUDED
             #define CCSDS_TYPES_H_INCLUDED
             #define CCSDS_PROTOCOLE_EXTRA_BYTES 4
             #define CCSDS_TELEMETRY_HEADER_LENGTH 16+4
             #define CCSDS_TM_PKT_MAX_SIZE 4412
             #define CCSDS_TELECOMMAND_HEADER_LENGTH 10+4
             #define CCSDS_TC_PKT_MAX_SIZE 256
             #define CCSDS_TC_PKT_MIN_SIZE 16
             #define CCSDS_TC_TM_PACKET_OFFSET 7
             #define CCSDS_PROCESS_ID 76
             #define CCSDS_PACKET_CATEGORY 12
             #define CCSDS_NODE_ADDRESS 0xfe
             #define CCSDS_USER_APP 0x00
             #define DEFAULT_SPARE1_PUSVERSION_SPARE2 0x10
             #define DEFAULT_RESERVED 0x00
             #define DEFAULT_HKBIA 0x1e  // 0001 1110
             // PACKET ID
             #define TM_PACKET_ID_TC_EXE                     0x0cc1 // PID 76 CAT 1
             #define TM_PACKET_ID_HK                         0x0cc4 // PID 76 CAT 4
             #define TM_PACKET_ID_PARAMETER_DUMP             0x0cc9 // PID 76 CAT 9
             #define TM_PACKET_ID_SCIENCE_NORMAL_BURST       0x0ccc // PID 76 CAT 12
             #define TM_PACKET_ID_SCIENCE_SBM1_SBM2          0x0cfc // PID 79 CAT 12
             #define TM_PACKET_PID_DEFAULT                   76
             #define TM_PACKET_PID_BURST_SBM1_SBM2           79
             #define TM_PACKET_CAT_TC_EXE                    1
             #define TM_PACKET_CAT_HK                        4
             #define TM_PACKET_CAT_PARAMETER_DUMP            9
             #define TM_PACKET_CAT_SCIENCE                   12
             // PACKET SEQUENCE CONTROL
             #define TM_PACKET_SEQ_CTRL_CONTINUATION 0x00    // [0000 0000]
             #define TM_PACKET_SEQ_CTRL_FIRST        0x40    // [0100 0000]
             #define TM_PACKET_SEQ_CTRL_LAST         0x80    // [1000 0000]
             #define TM_PACKET_SEQ_CTRL_STANDALONE   0xc0    // [1100 0000]
             #define TM_PACKET_SEQ_CNT_DEFAULT       0x00    // [0000 0000]
             // DESTINATION ID
             #define TM_DESTINATION_ID_GROUND 0
             #define TM_DESTINATION_ID_MISSION_TIMELINE 110
             #define TM_DESTINATION_ID_TC_SEQUENCES 111
             #define TM_DESTINATION_ID_RECOVERY_ACTION_COMMAND 112
             #define TM_DESTINATION_ID_BACKUP_MISSION_TIMELINE 113
             #define TM_DESTINATION_ID_DIRECT_CMD 120
             #define TM_DESTINATION_ID_SPARE_GRD_SRC1 121
             #define TM_DESTINATION_ID_SPARE_GRD_SRC2 122
             #define TM_DESTINATION_ID_OBCP 15
             #define TM_DESTINATION_ID_SYSTEM_CONTROL 14
             #define TM_DESTINATION_ID_AOCS 11
             #define CCSDS_DESTINATION_ID 0x01
             #define CCSDS_PROTOCOLE_ID 0x02
             #define CCSDS_RESERVED 0x00
             #define CCSDS_USER_APP 0x00
             #define SIZE_TM_LFR_TC_EXE_NOT_IMPLEMENTED 24
             #define SIZE_TM_LFR_TC_EXE_CORRUPTED 32
             #define SIZE_HK_PARAMETERS 112
             // TC TYPES
             #define TC_TYPE_GEN 181
             #define TC_TYPE_TIME 9
             // TC SUBTYPES
             #define TC_SUBTYPE_RESET 1
             #define TC_SUBTYPE_LOAD_COMM 11
             #define TC_SUBTYPE_LOAD_NORM 13
             #define TC_SUBTYPE_LOAD_BURST 19
             #define TC_SUBTYPE_LOAD_SBM1 25
             #define TC_SUBTYPE_LOAD_SBM2 27
             #define TC_SUBTYPE_DUMP 31
             #define TC_SUBTYPE_ENTER 41
             #define TC_SUBTYPE_UPDT_INFO 51
             #define TC_SUBTYPE_EN_CAL 61
             #define TC_SUBTYPE_DIS_CAL 63
             #define TC_SUBTYPE_UPDT_TIME 129
             // TC LEN
             #define TC_LEN_RESET 12
             #define TC_LEN_LOAD_COMM 14
             #define TC_LEN_LOAD_NORM 20
             #define TC_LEN_LOAD_BURST 14
             #define TC_LEN_LOAD_SBM1 14
             #define TC_LEN_LOAD_SBM2 14
             #define TC_LEN_DUMP 12
             #define TC_LEN_ENTER 20
             #define TC_LEN_UPDT_INFO 48
             #define TC_LEN_EN_CAL 12
             #define TC_LEN_DIS_CAL 12
             #define TC_LEN_UPDT_TIME 18
             // TM TYPES
             #define TM_TYPE_TC_EXE 1
             #define TM_TYPE_HK 3
             #define TM_TYPE_PARAMETER_DUMP 3
             #define TM_TYPE_LFR_SCIENCE 21
             // TM SUBTYPES
             #define TM_SUBTYPE_EXE_OK 7
             #define TM_SUBTYPE_EXE_NOK 8
             #define TM_SUBTYPE_HK 25
             #define TM_SUBTYPE_PARAMETER_DUMP 25
             #define TM_SUBTYPE_SCIENCE 3
             #define TM_SUBTYPE_LFR_SCIENCE 3
             // FAILURE CODES
             #define ILLEGAL_APID        0
             #define WRONG_LEN_PACKET    1
             #define INCOR_CHECKSUM      2
             #define ILL_TYPE            3
             #define ILL_SUBTYPE         4
             #define WRONG_APP_DATA      5           // 0x00 0x05
             //
             #define CCSDS_TM_VALID      7
             #define TC_NOT_EXE          42000   // 0xa4 0x10
             #define FUNCT_NOT_IMPL      42002   // 0xa4 0x12
             #define FAIL_DETECTED       42003   // 0xa4 0x13
             #define CORRUPTED           42005   // 0xa4 0x15
+            #define SID_TC_DEFAULT      0       // the default SID for TC sent to the LFR
+            #define SID_TC_GROUND       0
+            #define SID_TC_MISSION_TIMELINE         110
+            #define SID_TC_TC_SEQUENCES             111
+            #define SID_TC_RECOVERY_ACTION_CMD      112
+            #define SID_TC_BACKUP_MISSION_TIMELINE  113
+            #define SID_TC_DIRECT_CMD               120
+            #define SID_TC_SPARE_GRD_SRC1           121
+            #define SID_TC_SPARE_GRD_SRC2           122
+            #define SID_TC_OBCP                     15
+            #define SID_TC_SYSTEM_CONTROL           14
+            #define SID_TC_AOCS                     11
+            #define SID_TC_RPW_INTERNAL             254
             // TM SID
             #define SID_HK 1
             #define SID_PARAMETER_DUMP 10
             #define SID_NORM_SWF_F0 3
             #define SID_NORM_SWF_F1 4
             #define SID_NORM_SWF_F2 5
             #define SID_NORM_CWF_F3 1
             #define SID_BURST_CWF_F2 2
             #define SID_SBM1_CWF_F1 24
             #define SID_SBM2_CWF_F2 25
             #define SID_NORM_ASM_F0 11
             #define SID_NORM_ASM_F1 12
             #define SID_NORM_ASM_F2 13
             #define SID_NORM_BP1_F0 14
             #define SID_NORM_BP1_F1 15
             #define SID_NORM_BP1_F2 16
             #define SID_NORM_BP2_F0 19
             #define SID_NORM_BP2_F1 20
             #define SID_NORM_BP2_F2 21
             #define SID_BURST_BP1_F0 17
             #define SID_BURST_BP2_F0 22
             #define SID_BURST_BP1_F1 18
             #define SID_BURST_BP2_F1 23
             #define SID_SBM1_BP1_F0 28
             #define SID_SBM1_BP2_F0 31
             #define SID_SBM2_BP1_F0 29
             #define SID_SBM2_BP2_F0 32
             #define SID_SBM2_BP1_F1 30
             #define SID_SBM2_BP2_F1 33
             // LENGTH (BYTES)
             #define LENGTH_TM_LFR_TC_EXE_MAX 32
             #define LENGTH_TM_LFR_HK 126
             // HEADER_LENGTH
             #define TM_HEADER_LEN 16
             #define HEADER_LENGTH_TM_LFR_SCIENCE_ASM 28
             // PACKET_LENGTH
             #define PACKET_LENGTH_TC_EXE_SUCCESS            (20 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_INCONSISTENT       (26 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     (26 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED    (24 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_ERROR              (24 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_CORRUPTED          (32 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_HK                        (126 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_PARAMETER_DUMP            (34 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM        (TOTAL_SIZE_SM + HEADER_LENGTH_TM_LFR_SCIENCE_ASM - CCSDS_TC_TM_PACKET_OFFSET)
             #define SPARE1_PUSVERSION_SPARE2 0x10
             #define LEN_TM_LFR_HK               130     // 126 + 4
             #define LEN_TM_LFR_TC_EXE_NOT_IMP   28      // 24 + 4
             #define TM_LEN_SCI_SWF_340          4101    // 340 * 12 + 10 + 12 - 1
             #define TM_LEN_SCI_SWF_8            117     //   8 * 12 + 10 + 12 - 1
             #define TM_LEN_SCI_CWF_340          4099    // 340 * 12 + 10 + 10 - 1
             #define TM_LEN_SCI_CWF_8            115     //   8 * 12 + 10 + 10 - 1
             #define TM_LEN_SCI_CWF3_LIGHT_340   2059    // 340 * 6  + 10 + 10 - 1
             #define TM_LEN_SCI_CWF3_LIGHT_8     67      //   8 * 6  + 10 + 10 - 1
             #define DEFAULT_PKTCNT  0x07
             #define BLK_NR_340      0x0154
             #define BLK_NR_8        0x0008
             enum TM_TYPE{
                 TM_LFR_TC_EXE_OK,
                 TM_LFR_TC_EXE_ERR,
                 TM_LFR_HK,
                 TM_LFR_SCI,
                 TM_LFR_SCI_SBM,
                 TM_LFR_PAR_DUMP
             };
             struct TMHeader_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
             };
             typedef struct TMHeader_str TMHeader_t;
             struct Packet_TM_LFR_TC_EXE_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 volatile unsigned char data[LENGTH_TM_LFR_TC_EXE_MAX - 10 + 1];
             };
             typedef struct Packet_TM_LFR_TC_EXE_str Packet_TM_LFR_TC_EXE_t;
             struct Packet_TM_LFR_TC_EXE_SUCCESS_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 // PACKET HEADER
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 //
                 volatile unsigned char telecommand_pkt_id[2];
                 volatile unsigned char pkt_seq_control[2];
             };
             typedef struct Packet_TM_LFR_TC_EXE_SUCCESS_str Packet_TM_LFR_TC_EXE_SUCCESS_t;
             struct Packet_TM_LFR_TC_EXE_INCONSISTENT_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 // PACKET HEADER
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 //
                 volatile unsigned char tc_failure_code[2];
                 volatile unsigned char telecommand_pkt_id[2];
                 volatile unsigned char pkt_seq_control[2];
                 volatile unsigned char tc_service;
                 volatile unsigned char tc_subtype;
                 volatile unsigned char byte_position;
                 volatile unsigned char rcv_value;
             };
             typedef struct Packet_TM_LFR_TC_EXE_INCONSISTENT_str Packet_TM_LFR_TC_EXE_INCONSISTENT_t;
             struct Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 // PACKET HEADER
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 //
                 volatile unsigned char tc_failure_code[2];
                 volatile unsigned char telecommand_pkt_id[2];
                 volatile unsigned char pkt_seq_control[2];
                 volatile unsigned char tc_service;
                 volatile unsigned char tc_subtype;
                 volatile unsigned char lfr_status_word[2];
             };
             typedef struct Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_str Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_t;
             struct Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 // PACKET HEADER
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 //
                 volatile unsigned char tc_failure_code[2];
                 volatile unsigned char telecommand_pkt_id[2];
                 volatile unsigned char pkt_seq_control[2];
                 volatile unsigned char tc_service;
                 volatile unsigned char tc_subtype;
             };
             typedef struct Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_str Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_t;
             struct Packet_TM_LFR_TC_EXE_ERROR_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 // PACKET HEADER
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 //
                 volatile unsigned char tc_failure_code[2];
                 volatile unsigned char telecommand_pkt_id[2];
                 volatile unsigned char pkt_seq_control[2];
                 volatile unsigned char tc_service;
                 volatile unsigned char tc_subtype;
             };
             typedef struct Packet_TM_LFR_TC_EXE_ERROR_str Packet_TM_LFR_TC_EXE_ERROR_t;
             struct Packet_TM_LFR_TC_EXE_CORRUPTED_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 // PACKET HEADER
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 //
                 volatile unsigned char tc_failure_code[2];
                 volatile unsigned char telecommand_pkt_id[2];
                 volatile unsigned char pkt_seq_control[2];
                 volatile unsigned char tc_service;
                 volatile unsigned char tc_subtype;
                 volatile unsigned char pkt_len_rcv_value[2];
                 volatile unsigned char pkt_datafieldsize_cnt[2];
                 volatile unsigned char rcv_crc[2];
                 volatile unsigned char computed_crc[2];
             };
             typedef struct Packet_TM_LFR_TC_EXE_CORRUPTED_str Packet_TM_LFR_TC_EXE_CORRUPTED_t;
             struct Header_TM_LFR_SCIENCE_SWF_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY HEADER
                 volatile unsigned char sid;
                 volatile unsigned char hkBIA;
                 volatile unsigned char pktCnt;
                 volatile unsigned char pktNr;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_SWF_str Header_TM_LFR_SCIENCE_SWF_t;
             struct Header_TM_LFR_SCIENCE_CWF_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY DATA HEADER
                 volatile unsigned char sid;
                 volatile unsigned char hkBIA;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_CWF_str Header_TM_LFR_SCIENCE_CWF_t;
             struct Header_TM_LFR_SCIENCE_ASM_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY HEADER
                 volatile unsigned char sid;
                 volatile unsigned char biaStatusInfo;
                 volatile unsigned char cntASM;
                 volatile unsigned char nrASM;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_ASM_str Header_TM_LFR_SCIENCE_ASM_t;
             struct ccsdsTelecommandPacket_str
             {
                 //unsigned char targetLogicalAddress; // removed by the grspw module
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char headerFlag_pusVersion_Ack;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char sourceID;
                 volatile unsigned char dataAndCRC[CCSDS_TC_PKT_MAX_SIZE-10];
             };
             typedef struct ccsdsTelecommandPacket_str ccsdsTelecommandPacket_t;
             struct Packet_TM_LFR_HK_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 volatile unsigned char sid;
                 //**************
                 // HK PARAMETERS
                 unsigned char lfr_status_word[2];
                 unsigned char lfr_sw_version[4];
                 // tc statistics
                 unsigned char hk_lfr_update_info_tc_cnt[2];
                 unsigned char hk_lfr_update_time_tc_cnt[2];
                 unsigned char hk_dpu_exe_tc_lfr_cnt[2];
                 unsigned char hk_dpu_rej_tc_lfr_cnt[2];
                 unsigned char hk_lfr_last_exe_tc_id[2];
                 unsigned char hk_lfr_last_exe_tc_type[2];
                 unsigned char hk_lfr_last_exe_tc_subtype[2];
                 unsigned char hk_lfr_last_exe_tc_time[6];
                 unsigned char hk_lfr_last_rej_tc_id[2];
                 unsigned char hk_lfr_last_rej_tc_type[2];
                 unsigned char hk_lfr_last_rej_tc_subtype[2];
                 unsigned char hk_lfr_last_rej_tc_time[6];
                 // anomaly statistics
                 unsigned char hk_lfr_le_cnt[2];
                 unsigned char hk_lfr_me_cnt[2];
                 unsigned char hk_lfr_he_cnt[2];
                 unsigned char hk_lfr_last_er_rid[2];
                 unsigned char hk_lfr_last_er_code;
                 unsigned char hk_lfr_last_er_time[6];
                 // vhdl_blk_status
                 unsigned char hk_lfr_vhdl_aa_sm;
                 unsigned char hk_lfr_vhdl_fft_sr;
                 unsigned char hk_lfr_vhdl_cic_hk;
                 unsigned char hk_lfr_vhdl_iir_cal;
                 // spacewire_if_statistics
                 unsigned char hk_lfr_dpu_spw_pkt_rcv_cnt[2];
                 unsigned char hk_lfr_dpu_spw_pkt_sent_cnt[2];
                 unsigned char hk_lfr_dpu_spw_tick_out_cnt;
                 unsigned char hk_lfr_dpu_spw_last_timc;
                 // ahb error statistics
                 unsigned int hk_lfr_last_fail_addr;
                 // temperatures
                 unsigned char hk_lfr_temp_scm[2];
                 unsigned char hk_lfr_temp_pcb[2];
                 unsigned char hk_lfr_temp_fpga[2];
                 // error counters
                 unsigned char hk_lfr_dpu_spw_parity;
                 unsigned char hk_lfr_dpu_spw_disconnect;
                 unsigned char hk_lfr_dpu_spw_escape;
                 unsigned char hk_lfr_dpu_spw_credit;
                 unsigned char hk_lfr_dpu_spw_write_sync;
                 unsigned char hk_lfr_dpu_spw_rx_ahb;
                 unsigned char hk_lfr_dpu_spw_tx_ahb;
                 unsigned char hk_lfr_dpu_spw_header_crc;
                 unsigned char hk_lfr_dpu_spw_data_crc;
                 unsigned char hk_lfr_dpu_spw_early_eop;
                 unsigned char hk_lfr_dpu_spw_invalid_addr;
                 unsigned char hk_lfr_dpu_spw_eep;
                 unsigned char hk_lfr_dpu_spw_rx_too_big;
                 // timecode
                 unsigned char hk_lfr_timecode_erroneous;
                 unsigned char hk_lfr_timecode_missing;
                 unsigned char hk_lfr_timecode_invalid;
                 // time
                 unsigned char hk_lfr_time_timecode_it;
                 unsigned char hk_lfr_time_not_synchro;
                 unsigned char hk_lfr_time_timecode_ctr;
                 // hk_lfr_buffer_dpu_
                 unsigned char hk_lfr_buffer_dpu_tc_fifo;
                 unsigned char hk_lfr_buffer_dpu_tm_fifo;
                 // hk_lfr_ahb_
                 unsigned char hk_lfr_ahb_correctable;
                 unsigned char hk_lfr_ahb_uncorrectable;
                 unsigned char hk_lfr_ahb_fails_trans;
                 // hk_lfr_adc_
                 unsigned char hk_lfr_adc_failure;
                 unsigned char hk_lfr_adc_timeout;
                 unsigned char hk_lfr_toomany_err;
                 // hk_lfr_cpu_
                 unsigned char hk_lfr_cpu_write_err;
                 unsigned char hk_lfr_cpu_ins_access_err;
                 unsigned char hk_lfr_cpu_illegal_ins;
                 unsigned char hk_lfr_cpu_privilegied_ins;
                 unsigned char hk_lfr_cpu_register_hw;
                 unsigned char hk_lfr_cpu_not_aligned;
                 unsigned char hk_lfr_cpu_data_exception;
                 unsigned char hk_lfr_cpu_div_exception;
                 unsigned char hk_lfr_cpu_arith_overflow;
             };
             typedef struct Packet_TM_LFR_HK_str Packet_TM_LFR_HK_t;
             struct Packet_TM_LFR_PARAMETER_DUMP_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 volatile unsigned char sid;
                 //******************
                 // COMMON PARAMETERS
                 volatile unsigned char unused0;
                 volatile unsigned char bw_sp0_sp1_r0_r1;
                 //******************
                 // NORMAL PARAMETERS
                 volatile unsigned char sy_lfr_n_swf_l[2];
                 volatile unsigned char sy_lfr_n_swf_p[2];
                 volatile unsigned char sy_lfr_n_asm_p[2];
                 volatile unsigned char sy_lfr_n_bp_p0;
                 volatile unsigned char sy_lfr_n_bp_p1;
                 //*****************
                 // BURST PARAMETERS
                 volatile unsigned char sy_lfr_b_bp_p0;
                 volatile unsigned char sy_lfr_b_bp_p1;
                 //****************
                 // SBM1 PARAMETERS
                 volatile unsigned char sy_lfr_s1_bp_p0;
                 volatile unsigned char sy_lfr_s1_bp_p1;
                 //****************
                 // SBM2 PARAMETERS
                 volatile unsigned char sy_lfr_s2_bp_p0;
                 volatile unsigned char sy_lfr_s2_bp_p1;
             };
             typedef struct Packet_TM_LFR_PARAMETER_DUMP_str Packet_TM_LFR_PARAMETER_DUMP_t;
             #endif // CCSDS_TYPES_H_INCLUDED

header/fsw_init.h +3 -4

             #ifndef FSW_INIT_H_INCLUDED
             #define FSW_INIT_H_INCLUDED
             #include <rtems.h>
             #include <leon.h>
             #include "fsw_params.h"
             #include "fsw_misc.h"
             #include "fsw_processing.h"
             #include "tc_handler.h"
             #include "wf_handler.h"
             #include "fsw_spacewire.h"
             extern rtems_name  misc_name[5];
             extern rtems_id    misc_id[5];
             extern rtems_name  Task_name[20];       /* array of task names */
             extern rtems_id    Task_id[20];         /* array of task ids */
             extern unsigned int maxCount;
             extern int fdSPW;   // grspw file descriptor
             extern int fdUART;  // uart file descriptor
             extern unsigned char lfrCurrentMode;
             // MODE PARAMETERS
             extern struct param_local_str param_local;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             extern unsigned short sequenceCounters[SEQ_CNT_NB_PID][SEQ_CNT_NB_CAT][SEQ_CNT_NB_DEST_ID];
             // RTEMS TASKS
             rtems_task Init( rtems_task_argument argument);
             // OTHER functions
-            int create_names( void );
+            void create_names( void );
+            rtems_status_code create_message_queues( void );
             int create_all_tasks( void );
             int start_all_tasks( void );
-            rtems_status_code create_message_queues( void );
+            int start_recv_send_tasks( void );
             //
-            void init_parameter_dump( void );
             void init_local_mode_parameters( void );
-            void init_housekeeping_parameters( void );
             extern int rtems_cpu_usage_report( void );
             extern int rtems_cpu_usage_reset( void );
             extern void rtems_stack_checker_report_usage( void );
             extern int sched_yield( void );
             extern int errno;
             #endif // FSW_INIT_H_INCLUDED

header/fsw_misc.h +3 -1

             #ifndef FSW_MISC_H_INCLUDED
             #define FSW_MISC_H_INCLUDED
             #include <rtems.h>
             #include <stdio.h>
             #include <grspw.h>
             #include "fsw_params.h"
             #include "fsw_spacewire.h"
-            rtems_name HK_name;     // name of the HK rate monotonic
+            rtems_name name_hk_rate_monotonic;     // name of the HK rate monotonic
             rtems_id HK_id;         // id of the HK rate monotonic period
             extern rtems_name  misc_name[5];
             time_management_regs_t *time_management_regs;
             extern Packet_TM_LFR_HK_t housekeeping_packet;
             int configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() );
             int timer_start( gptimer_regs_t *gptimer_regs, unsigned char timer );
             int timer_stop( gptimer_regs_t *gptimer_regs, unsigned char timer );
             int timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider);
             // SERIAL LINK
             int send_console_outputs_on_apbuart_port( void );
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value);
             // RTEMS TASKS
             rtems_task stat_task( rtems_task_argument argument );
             rtems_task hous_task( rtems_task_argument argument );
             rtems_task dumb_task( rtems_task_argument unused );
+            void init_housekeeping_parameters( void );
             #endif // FSW_MISC_H_INCLUDED

header/fsw_params.h +17 -9

             #ifndef FSW_PARAMS_H_INCLUDED
             #define FSW_PARAMS_H_INCLUDED
             #include "grlib_regs.h"
             #include "fsw_params_processing.h"
             #include "tm_byte_positions.h"
             #include "ccsds_types.h"
             #define GRSPW_DEVICE_NAME "/dev/grspw0"
             #define UART_DEVICE_NAME "/dev/console"
             //************************
             // flight software version
             // this parameters is handled by the Qt project options
             //**********
             // LFR MODES
             #define LFR_MODE_STANDBY 0
             #define LFR_MODE_NORMAL 1
             #define LFR_MODE_BURST 2
             #define LFR_MODE_SBM1 3
             #define LFR_MODE_SBM2 4
             #define LFR_MODE_NORMAL_CWF_F3 5
             #define RTEMS_EVENT_MODE_STANDBY RTEMS_EVENT_0
             #define RTEMS_EVENT_MODE_NORMAL RTEMS_EVENT_1
             #define RTEMS_EVENT_MODE_BURST RTEMS_EVENT_2
             #define RTEMS_EVENT_MODE_SBM1 RTEMS_EVENT_3
             #define RTEMS_EVENT_MODE_SBM2 RTEMS_EVENT_4
             #define RTEMS_EVENT_MODE_SBM2_WFRM RTEMS_EVENT_5
             //****************************
             // LFR DEFAULT MODE PARAMETERS
             // COMMON
             #define DEFAULT_SY_LFR_COMMON0 0x00
             #define DEFAULT_SY_LFR_COMMON1 0x10 // default value 0 0 0 1 0 0 0 0
             // NORM
-            #define DEFAULT_SY_LFR_N_SWF_L 2048 // nb sample
+            #define SY_LFR_N_SWF_L 2048 // nb sample
-            #define DEFAULT_SY_LFR_N_SWF_P 16   // sec
+            #define SY_LFR_N_SWF_P 300  // sec
-            #define DEFAULT_SY_LFR_N_ASM_P 16   // sec
+            #define SY_LFR_N_ASM_P 3600 // sec
-            #define DEFAULT_SY_LFR_N_BP_P0 4    // sec
+            #define SY_LFR_N_BP_P0 4    // sec
-            #define DEFAULT_SY_LFR_N_BP_P1 20   // sec
+            #define SY_LFR_N_BP_P1 20   // sec
             #define MIN_DELTA_SNAPSHOT 16       // sec
             // BURST
             #define DEFAULT_SY_LFR_B_BP_P0 1    // sec
             #define DEFAULT_SY_LFR_B_BP_P1 5    // sec
             // SBM1
             #define DEFAULT_SY_LFR_S1_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S1_BP_P1 1   // sec
             // SBM2
             #define DEFAULT_SY_LFR_S2_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S2_BP_P1 5   // sec
             // ADDITIONAL PARAMETERS
             #define TIME_BETWEEN_TWO_SWF_PACKETS 30     // nb x 10 ms => 300 ms
-            #define TIME_BETWEEN_TWO_CWF3_PACKETS 1000 // nb x 10 ms => 10 s
+            #define TIME_BETWEEN_TWO_CWF3_PACKETS 1000  // nb x 10 ms => 10 s
+            // STATUS WORD
+            #define DEFAULT_STATUS_WORD_BYTE0 0x0d  // [0000] [1] [101] mode 4 bits / SPW enabled 1 bit / state is run 3 bits
+            #define DEFAULT_STATUS_WORD_BYTE1 0x00
             //
+            #define SY_LFR_DPU_CONNECT_TIMEOUT 100  // 100 * 10 ms = 1 s
+            #define SY_LFR_DPU_CONNECT_ATTEMPT 3
             //****************************
             //*****************************
             // APB REGISTERS BASE ADDRESSES
             #define REGS_ADDR_APBUART 0x80000100
             #define REGS_ADDR_GPTIMER 0x80000300
             #define REGS_ADDR_GRSPW 0x80000500
             #define REGS_ADDR_TIME_MANAGEMENT 0x80000600
             #define REGS_ADDR_SPECTRAL_MATRIX 0x80000f00
             #ifdef GSA
             #else
                 #define REGS_ADDR_WAVEFORM_PICKER 0x80000f20
             #endif
             #define APBUART_CTRL_REG_MASK_DB 0xfffff7ff
             #define APBUART_SCALER_RELOAD_VALUE 0x00000050      // 25 MHz => about 38400 (0x50)
             //**********
             // IRQ LINES
             #define IRQ_SM 9
             #define IRQ_SPARC_SM 0x19               // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_WF 10
             #define IRQ_SPARC_WF 0x1a               // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_TIME1 12
             #define IRQ_SPARC_TIME1 0x1c            // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_TIME2 13
             #define IRQ_SPARC_TIME2 0x1d            // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_WAVEFORM_PICKER 14
             #define IRQ_SPARC_WAVEFORM_PICKER 0x1e  // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_SPECTRAL_MATRIX 6
             #define IRQ_SPARC_SPECTRAL_MATRIX 0x16  // see sparcv8.pdf p.76 for interrupt levels
             //*****
             // TIME
             #define CLKDIV_SM_SIMULATOR (10000 - 1)     // 10 ms
             #define CLKDIV_WF_SIMULATOR (10000000 - 1)  // 10 000 000 * 1 us = 10 s
             #define TIMER_SM_SIMULATOR 1
             #define TIMER_WF_SIMULATOR 2
             #define HK_PERIOD 100 // 100 * 10ms => 1sec
             //**********
             // LPP CODES
             #define LFR_SUCCESSFUL 0
             #define LFR_DEFAULT 1
             //******
             // RTEMS
             #define TASKID_RECV 1
             #define TASKID_ACTN 2
             #define TASKID_SPIQ 3
             #define TASKID_SMIQ 4
             #define TASKID_STAT 5
             #define TASKID_AVF0 6
             #define TASKID_BPF0 7
             #define TASKID_WFRM 8
             #define TASKID_DUMB 9
             #define TASKID_HOUS 10
             #define TASKID_MATR 11
             #define TASKID_CWF3 12
             #define TASKID_CWF2 13
             #define TASKID_CWF1 14
             #define TASKID_SEND 15
+            #define TASKID_WTDG 16
             #define TASK_PRIORITY_SPIQ 5
             #define TASK_PRIORITY_SMIQ 10
             //
-            #define TASK_PRIORITY_RECV 20
+            #define TASK_PRIORITY_WTDG 20
+            //
             #define TASK_PRIORITY_ACTN 30
             //
             #define TASK_PRIORITY_HOUS 40
             #define TASK_PRIORITY_CWF1 40
             #define TASK_PRIORITY_CWF2 40
             #define TASK_PRIORITY_WFRM 40
             #define TASK_PRIORITY_CWF3 40
+            #define TASK_PRIORITY_SEND 40
             //
-            #define TASK_PRIORITY_SEND 40
+            #define TASK_PRIORITY_RECV 50   // this priority prevents the blocking of of other tasks in case of link deconnexion
             //
             #define TASK_PRIORITY_AVF0 60
             #define TASK_PRIORITY_BPF0 60
             #define TASK_PRIORITY_MATR 100
             #define TASK_PRIORITY_STAT 200
             #define TASK_PRIORITY_DUMB 200
             #define ACTION_MSG_QUEUE_COUNT 10
             #define ACTION_MSG_PKTS_COUNT 50
-            #define ACTION_MSG_PKTS_MAX_SIZE (PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES)
+            #define ACTION_MSG_PKTS_MAX_SIZE (PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES)
             #define ACTION_MSG_SPW_IOCTL_SEND_SIZE 24                   // hlen *hdr dlen *data sent options
             #define QUEUE_RECV 0
             #define QUEUE_SEND 1
             //*******
             // MACROS
             #ifdef PRINT_MESSAGES_ON_CONSOLE
             #define PRINTF(x) printf(x);
             #define PRINTF1(x,y) printf(x,y);
             #define PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define PRINTF(x) ;
             #define PRINTF1(x,y) ;
             #define PRINTF2(x,y,z) ;
             #endif
             #ifdef BOOT_MESSAGES
             #define BOOT_PRINTF(x) printf(x);
             #define BOOT_PRINTF1(x,y) printf(x,y);
             #define BOOT_PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define BOOT_PRINTF(x) ;
             #define BOOT_PRINTF1(x,y) ;
             #define BOOT_PRINTF2(x,y,z) ;
             #endif
             #ifdef DEBUG_MESSAGES
             #define DEBUG_PRINTF(x) printf(x);
             #define DEBUG_PRINTF1(x,y) printf(x,y);
             #define DEBUG_PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define DEBUG_PRINTF(x) ;
             #define DEBUG_PRINTF1(x,y) ;
             #define DEBUG_PRINTF2(x,y,z) ;
             #endif
             #define CPU_USAGE_REPORT_PERIOD 6   // * 10 s = period
             #define NB_SAMPLES_PER_SNAPSHOT 2048
             #define TIME_OFFSET 2
             #define WAVEFORM_EXTENDED_HEADER_OFFSET 22
             #define NB_BYTES_SWF_BLK (2 * 6)
             #define NB_WORDS_SWF_BLK 3
             #define NB_BYTES_CWF3_LIGHT_BLK 6
             #define WFRM_INDEX_OF_LAST_PACKET 6  // waveforms are transmitted in groups of 2048 blocks, 6 packets of 340 and 1 of 8
             //******************
             // SEQUENCE COUNTERS
             #define SEQ_CNT_NB_PID 2
             #define SEQ_CNT_NB_CAT 4
             #define SEQ_CNT_NB_DEST_ID 11
             // pid
             #define SEQ_CNT_PID_76 0
             #define SEQ_CNT_PID_79 1
             //cat
             #define SEQ_CNT_CAT_1 0
             #define SEQ_CNT_CAT_4 1
             #define SEQ_CNT_CAT_9 2
             #define SEQ_CNT_CAT_12 3
             // destination id
             #define SEQ_CNT_DST_ID_GROUND 0
             #define SEQ_CNT_DST_ID_MISSION_TIMELINE 1
             #define SEQ_CNT_DST_ID_TC_SEQUENCES 2
             #define SEQ_CNT_DST_ID_RECOVERY_ACTION_CMD 3
             #define SEQ_CNT_DST_ID_BACKUP_MISSION_TIMELINE 4
             #define SEQ_CNT_DST_ID_DIRECT_CMD 5
             #define SEQ_CNT_DST_ID_SPARE_GRD_SRC1 6
             #define SEQ_CNT_DST_ID_SPARE_GRD_SRC2 7
             #define SEQ_CNT_DST_ID_OBCP 8
             #define SEQ_CNT_DST_ID_SYSTEM_CONTROL 9
             #define SEQ_CNT_DST_ID_AOCS 10
             struct param_local_str{
                 unsigned int local_sbm1_nb_cwf_sent;
                 unsigned int local_sbm1_nb_cwf_max;
                 unsigned int local_sbm2_nb_cwf_sent;
                 unsigned int local_sbm2_nb_cwf_max;
                 unsigned int local_nb_interrupt_f0_MAX;
             };
             #endif // FSW_PARAMS_H_INCLUDED

header/fsw_params_processing.h +4 -2

             #ifndef FSW_PARAMS_PROCESSING_H
             #define FSW_PARAMS_PROCESSING_H
             #define NB_BINS_PER_SM 128
             #define NB_VALUES_PER_SM 25
-            #define TOTAL_SIZE_SM (NB_BINS_PER_SM * NB_VALUES_PER_SM)
+            //#define TOTAL_SIZE_SM (NB_BINS_PER_SM * NB_VALUES_PER_SM)
-            #define SM_HEADER 4
+            //#define SM_HEADER 4
+            #define TOTAL_SIZE_SM 0
+            #define SM_HEADER 0
             #define NB_BINS_COMPRESSED_SM_F0 11
             #define NB_BINS_COMPRESSED_SM_F1 13
             #define NB_BINS_COMPRESSED_SM_F2 12
             #define TOTAL_SIZE_COMPRESSED_MATRIX_f0 (NB_BINS_COMPRESSED_SM_F0 * NB_VALUES_PER_SM)
             #define NB_AVERAGE_NORMAL_f0 96*4
             #define NB_SM_TO_RECEIVE_BEFORE_AVF0 8
             struct BP1_str{
                 volatile unsigned char PE[2];
                 volatile unsigned char PB[2];
                 volatile unsigned char V0;
                 volatile unsigned char V1;
                 volatile unsigned char V2_ELLIP_DOP;
                 volatile unsigned char SZ;
                 volatile unsigned char VPHI;
             };
             typedef struct BP1_str BP1_t;
             #endif // FSW_PARAMS_PROCESSING_H

header/fsw_spacewire.h +6 -2

             #ifndef FSW_SPACEWIRE_H_INCLUDED
             #define FSW_SPACEWIRE_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <fcntl.h>      // for  O_RDWR
             #include <unistd.h>     // for the read call
             #include <sys/ioctl.h>  // for the ioctl call
             #include <errno.h>
             #include "fsw_params.h"
             #include "tc_handler.h"
             extern spw_stats spacewire_stats;
             extern spw_stats spacewire_stats_backup;
             extern Packet_TM_LFR_HK_t housekeeping_packet;
             extern rtems_id    Task_id[20];         /* array of task ids */
             // RTEMS TASK
             rtems_task spiq_task( rtems_task_argument argument );
             rtems_task recv_task( rtems_task_argument unused );
             rtems_task send_task( rtems_task_argument argument );
+            rtems_task wtdg_task( rtems_task_argument argument );
-            int spacewire_configure_link( void );
+            int spacewire_open_link( void );
-            int spacewire_wait_for_link( void );
+            int spacewire_start_link( int fd );
+            int spacewire_configure_link(int fd );
+            int spacewire_reset_link( void );
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable
             void spacewire_compute_stats_offsets( void );
             void spacewire_update_statistics( void );
             void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc );
+            rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data );
             void (*grspw_timecode_callback) ( void *pDev, void *regs, int minor, unsigned int tc );
             #endif // FSW_SPACEWIRE_H_INCLUDED

header/tc_acceptance.h +1 0

             #ifndef TC_ACCEPTANCE_H_INCLUDED
             #define TC_ACCEPTANCE_H_INCLUDED
             //#include "tm_lfr_tc_exe.h"
             #include "fsw_params.h"
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk);
             void initLookUpTableForCRC( void );
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData);
             //*********************
             // ACCEPTANCE FUNCTIONS
             int tc_parser(ccsdsTelecommandPacket_t * TCPacket, unsigned int TC_LEN_RCV, unsigned char *computed_CRC);
             int tc_check_type( unsigned char packetType );
             int tc_check_subtype( unsigned char packetType );
+            int tc_check_sid( unsigned char sid );
             int tc_check_length( unsigned char packetType, unsigned int length );
             int tc_check_crc(ccsdsTelecommandPacket_t * TCPacket, unsigned int length , unsigned char *computed_CRC);
             #endif // TC_ACCEPTANCE_H_INCLUDED

header/tc_load_dump_parameters.h +2 0

             #ifndef TC_LOAD_DUMP_PARAMETERS_H
             #define TC_LOAD_DUMP_PARAMETERS_H
             #include <rtems.h>
             #include <stdio.h>
             #include "fsw_params.h"
             #include "wf_handler.h"
             #include "tm_lfr_tc_exe.h"
             extern int fdSPW;
             extern unsigned char lfrCurrentMode;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             extern Packet_TM_LFR_HK_t housekeeping_packet;
             int action_load_common_par( ccsdsTelecommandPacket_t *TC );
             int action_load_normal_par( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int action_load_burst_par( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int action_load_sbm1_par( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int action_load_sbm2_par( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int action_dump_par(rtems_id queue_id );
             int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_n_swf_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_n_bp_p1( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
+            void init_parameter_dump( void );
             #endif // TC_LOAD_DUMP_PARAMETERS_H

header/wf_handler.h +2 0

             #ifndef WF_HANDLER_H_INCLUDED
             #define WF_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <stdio.h>
             #include <math.h>
             #include "fsw_params.h"
             #define pi 3.1415
             extern int fdSPW;
             extern volatile int wf_snap_f0[ ];
             //
             extern volatile int wf_snap_f1[ ];
             extern volatile int wf_snap_f1_bis[ ];
             extern volatile int wf_snap_f1_norm[ ];
             //
             extern volatile int wf_snap_f2[ ];
             extern volatile int wf_snap_f2_bis[ ];
             extern volatile int wf_snap_f2_norm[ ];
             //
             extern volatile int wf_cont_f3[ ];
             extern volatile int wf_cont_f3_bis[ ];
             extern char wf_cont_f3_light[ ];
             extern waveform_picker_regs_t *waveform_picker_regs;
             extern time_management_regs_t *time_management_regs;
             extern Packet_TM_LFR_HK_t housekeeping_packet;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             extern struct param_local_str param_local;
             extern rtems_name  misc_name[5];
+            extern rtems_name  Task_name[20];       /* array of task ids */
             extern rtems_id    Task_id[20];         /* array of task ids */
             extern unsigned char lfrCurrentMode;
             rtems_isr waveforms_isr( rtems_vector_number vector );
             rtems_isr waveforms_simulator_isr( rtems_vector_number vector );
             rtems_task wfrm_task( rtems_task_argument argument );
             rtems_task cwf3_task( rtems_task_argument argument );
             rtems_task cwf2_task( rtems_task_argument argument );
             rtems_task cwf1_task( rtems_task_argument argument );
             //******************
             // general functions
             void init_waveforms( void );
             //
             int init_header_snapshot_wf_table(      unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF );
             int init_header_continuous_wf_table(    unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF );
             int init_header_continuous_wf3_light_table( Header_TM_LFR_SCIENCE_CWF_t *headerCWF );
             //
             void reset_waveforms( void );
             //
             int send_waveform_SWF(  volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF, rtems_id queue_id );
             int send_waveform_CWF(  volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id );
             int send_waveform_CWF3( volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id );
             int send_waveform_CWF3_light( volatile int *waveform, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id );
             //
             rtems_id get_pkts_queue_id( void );
             //**************
             // wfp registers
             void set_wfp_data_shaping();
             char set_wfp_delta_snapshot();
             void set_wfp_burst_enable_register( unsigned char mode);
             void reset_wfp_burst_enable();
             void reset_wfp_status();
             void reset_waveform_picker_regs();
             //*****************
             // local parameters
             void set_local_sbm1_nb_cwf_max();
             void set_local_sbm2_nb_cwf_max();
             void set_local_nb_interrupt_f0_MAX();
             void reset_local_sbm1_nb_cwf_sent();
             void reset_local_sbm2_nb_cwf_sent();
             #endif // WF_HANDLER_H_INCLUDED

src/fsw_init.c +119 -129

             /** 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_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 2
             #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"
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it 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.
                  *
                  */
                 rtems_status_code status;
+                rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 BOOT_PRINTF("\n\n\n\n\n")
                 BOOT_PRINTF("***************************\n")
                 BOOT_PRINTF("** START Flight Software **\n")
                 BOOT_PRINTF("***************************\n")
                 BOOT_PRINTF("\n\n")
                 //send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 init_parameter_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
-                create_names();         // create all names
+                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)
+                }
-                create_message_queues();
+                status = create_all_tasks();                // create all tasks
-                status = create_all_tasks();    // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d", 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)
                 }
+                status = start_recv_send_tasks();
+                if ( status != RTEMS_SUCCESSFUL )
+                {
+                    PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
+                }
                 status = stop_current_mode();   // go in STANDBY mode
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in stop_current_mode, code %d", status)
                 }
-                grspw_timecode_callback = &timecode_irq_handler;
-                spacewire_configure_link();
             #ifdef GSA
                 // mask IRQ lines
                 LEON_Mask_interrupt( IRQ_SM );
                 LEON_Mask_interrupt( IRQ_WF );
                 // Spectral Matrices simulator
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr );
                 // WaveForms
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
                                 IRQ_SPARC_WF, waveforms_simulator_isr );
             #else
                 // mask IRQ lines
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );
                 // reset configuration registers
                 reset_waveform_picker_regs();
                 reset_spectral_matrix_regs();
                 // 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 matrix unit
             //    status = rtems_interrupt_catch( spectral_matrices_isr,
             //                                   IRQ_SPARC_SPECTRAL_MATRIX,
             //                                   &old_isr_handler) ;
                 // Spectral Matrices simulator
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr_simu );
             #endif
+                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_parameter_dump( void )
-                /** This function initialize the parameter_dump_packet global variable with default values.
-                 */
-                parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
-                parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
-                parameter_dump_packet.reserved = CCSDS_RESERVED;
-                parameter_dump_packet.userApplication = CCSDS_USER_APP;
-                parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
-                parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
-                parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
-                parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
-                parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
-                // DATA FIELD HEADER
-                parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
-                parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
-                parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
-                parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
-                parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
-                parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
-                parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
-                parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
-                parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
-                parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
-                parameter_dump_packet.sid = SID_PARAMETER_DUMP;
-                //******************
-                // COMMON PARAMETERS
-                parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
-                parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
-                //******************
-                // NORMAL PARAMETERS
-                parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L >> 8);
-                parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L     );
-                parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P >> 8);
-                parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P     );
-                parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P >> 8);
-                parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P     );
-                parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DEFAULT_SY_LFR_N_BP_P0;
-                parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DEFAULT_SY_LFR_N_BP_P1;
-                //*****************
-                // BURST PARAMETERS
-                parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
-                parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
-                //****************
-                // SBM1 PARAMETERS
-                parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
-                parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
-                //****************
-                // SBM2 PARAMETERS
-                parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
-                parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
+                unsigned int i;
+                unsigned int j;
+                unsigned int k;
                 // LOCAL PARAMETERS
                 set_local_sbm1_nb_cwf_max();
                 set_local_sbm2_nb_cwf_max();
                 set_local_nb_interrupt_f0_MAX();
                 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)
                 reset_local_sbm1_nb_cwf_sent();
                 reset_local_sbm2_nb_cwf_sent();
-            void init_housekeeping_parameters( void )
-                /** This function initialize the housekeeping_packet global variable with default values.
-                 */
-                unsigned int i = 0;
-                unsigned int j = 0;
-                unsigned int k = 0;
-                char *parameters;
-                parameters = (char*) &housekeeping_packet.lfr_status_word;
-                for(i = 0; i< SIZE_HK_PARAMETERS; i++)
-                    parameters[i] = 0x00;
-                // init status word
-                housekeeping_packet.lfr_status_word[0] = 0x00;
-                housekeeping_packet.lfr_status_word[1] = 0x00;
-                // init software version
-                housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
-                housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
-                housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
-                housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init sequence counters
                 for (i = 0; i<SEQ_CNT_NB_PID; i++)
                 {
                     for(j = 0; j<SEQ_CNT_NB_CAT; j++)
                     {
                         for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
                         {
                             sequenceCounters[i][j][k] = 0x00;
                         }
                     }
                 }
-                updateLFRCurrentMode();
             }
-            int create_names( void ) // create all names for tasks and queues
+            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_SMIQ] = rtems_build_name( 'S', 'M', '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_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
                 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_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
                 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' );
-                // rate monotonic period name
-                HK_name = rtems_build_name( 'H', 'O', 'U', 'S' );
-                misc_name[QUEUE_RECV] = rtems_build_name( 'Q', 'U', 'E', 'U' );
+                // rate monotonic period names
-                misc_name[QUEUE_SEND] = rtems_build_name( 'P', 'K', 'T', 'S' );
+                name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
-                return RTEMS_SUCCESSFUL;
+                misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
+                misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
             }
             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;
                 // 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) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         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]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SMIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
                     );
                 }
                 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) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // BPF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_BPF0], TASK_PRIORITY_BPF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
                     );
                 }
                 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) // 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, &Task_id[TASKID_HOUS]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // MATR
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_MATR]
                     );
                 }
                 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, &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, &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, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &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]
+                    );
+                }
                 return status;
             }
-            int start_all_tasks( void )
+            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;
                 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)     // SMIQ
                 {
                     status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_BPPR\n")
                     }
                 }
-                if (status == RTEMS_SUCCESSFUL)     // RECV
-                    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")
                 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")
                     }
                 }
                 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")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // BPF0
                 {
                     status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_BPF0\n")
                     }
                 }
                 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)     // 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)     // 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)     // MATR
                 {
                     status = rtems_task_start( Task_id[TASKID_MATR], matr_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_MATR\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")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
-                rtems_status_code status;
+                rtems_status_code status_recv;
+                rtems_status_code status_send;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 // create the queue for handling valid TCs
-                status = rtems_message_queue_create( misc_name[QUEUE_RECV], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
+                status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
+                                                          ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
-                if (status != RTEMS_SUCCESSFUL) {
+                if ( status_recv != RTEMS_SUCCESSFUL ) {
-                    ret = status;
+                    PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
-                    BOOT_PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", ret)
                 }
                 // create the queue for handling TM packet sending
-                ret = rtems_message_queue_create( misc_name[QUEUE_SEND], ACTION_MSG_PKTS_COUNT,
+                status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
-                                                  ACTION_MSG_PKTS_MAX_SIZE,
+                                                          ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_MAX_SIZE,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
-                if (ret != RTEMS_SUCCESSFUL) {
+                if ( status_send != RTEMS_SUCCESSFUL ) {
-                    BOOT_PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", ret)
+                    PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
+                }
+                if ( status_recv != RTEMS_SUCCESSFUL )
+                {
+                    ret = status_recv;
+                }
+                else
+                {
+                    ret = status_send;
                 }
                 return ret;
             }

src/fsw_misc.c +29 -10

             /** General usage functions and RTEMS tasks.
              *
              * @file
              * @author P. LEROY
              *
              */
             #include "fsw_misc.h"
             char *DumbMessages[6] = {"in DUMB *** default",                                             // RTEMS_EVENT_0
                                 "in DUMB *** timecode_irq_handler",                                     // RTEMS_EVENT_1
                                 "in DUMB *** waveforms_isr",                                            // RTEMS_EVENT_2
                                 "in DUMB *** in SMIQ *** Error sending event to AVF0",                  // RTEMS_EVENT_3
                                 "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ",    // RTEMS_EVENT_4
                                 "in DUMB *** waveforms_simulator_isr"                                   // RTEMS_EVENT_5
             };
             int configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
             {
                 /** This function configures a GPTIMER timer instantiated in the VHDL design.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  * @param interrupt_level is the interrupt level that the timer drives.
                  * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
                  *
                  * @return
                  *
                  * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
                  *
                  */
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status!=RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
                 }
                 timer_set_clock_divider( gptimer_regs, timer, clock_divider);
                 return 1;
             }
             int timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 /** This function starts a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  * @return 1
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004;  // LD load value from the reload register
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002;  // RS restart
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008;  // IE interrupt enable
                 return 1;
             }
             int timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 /** This function stops a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  * @return 1
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef;  // IE interrupt enable
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 return 1;
             }
             int timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
             {
                 /** This function sets the clock divider of a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  *
                  * @return 1
                  *
                  */
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
                 return 1;
             }
             int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = apbuart_regs->ctrl & APBUART_CTRL_REG_MASK_DB;
                 PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 return 0;
             }
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 /** This function sets the scaler reload register of the apbuart module
                  *
                  * @param regs is the address of the apbuart registers in memory
                  * @param value is the value that will be stored in the scaler register
                  *
                  * The value shall be set by the software to get data on the serial interface.
                  *
                  */
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 BOOT_PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
             }
             //************
             // RTEMS TASKS
             rtems_task stat_task(rtems_task_argument argument)
             {
                 int i;
                 int j;
                 i = 0;
                 j = 0;
                 BOOT_PRINTF("in STAT *** \n")
                 while(1){
                     rtems_task_wake_after(1000);
                     PRINTF1("%d\n", j)
                     if (i == CPU_USAGE_REPORT_PERIOD) {
             //            #ifdef PRINT_TASK_STATISTICS
             //            rtems_cpu_usage_report();
             //            rtems_cpu_usage_reset();
             //            #endif
                         i = 0;
                     }
                     else i++;
                     j++;
                 }
             }
             rtems_task hous_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
-                spw_ioctl_pkt_send spw_ioctl_send;
                 rtems_id queue_id;
-                spw_ioctl_send.hlen = 0;
-                spw_ioctl_send.hdr = NULL;
-                spw_ioctl_send.dlen = PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
-                spw_ioctl_send.data = (char*) &housekeeping_packet;
-                spw_ioctl_send.options = 0;
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR %d\n", status)
                 }
                 BOOT_PRINTF("in HOUS ***\n")
-                if (rtems_rate_monotonic_ident( HK_name, &HK_id) != RTEMS_SUCCESSFUL) {
+                if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
-                    status = rtems_rate_monotonic_create( HK_name, &HK_id );
+                    status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
                     }
                 }
                 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 housekeeping_packet.reserved = DEFAULT_RESERVED;
                 housekeeping_packet.userApplication = CCSDS_USER_APP;
                 housekeeping_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_HK >> 8);
                 housekeeping_packet.packetID[1] = (unsigned char) (TM_PACKET_ID_HK);
                 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
                 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 housekeeping_packet.serviceType = TM_TYPE_HK;
                 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
                 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 status = rtems_rate_monotonic_cancel(HK_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
                 }
                 else {
                     DEBUG_PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
                 }
                 while(1){ // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_period *** code %d\n", status);
                     }
                     else {
                         housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                         housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                         housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                         housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                         housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                         housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                         housekeeping_packet.sid = SID_HK;
                         spacewire_update_statistics();
                         // SEND PACKET
-                        status =  rtems_message_queue_send( queue_id, &spw_ioctl_send, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
+                        status =  rtems_message_queue_send( queue_id, &housekeeping_packet,
+                                                            PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR %d\n", status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 printf( "rtems_task_delete returned with status of %d.\n", status );
                 return;
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
                  *
                  */
                 unsigned int i;
                 unsigned int intEventOut;
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 rtems_event_set event_out;
                 BOOT_PRINTF("in DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 | RTEMS_EVENT_4 | RTEMS_EVENT_5,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     intEventOut =  (unsigned int) event_out;
                     for ( i=0; i<32; i++)
                     {
                         if ( ((intEventOut >> i) & 0x0001) != 0)
                         {
                             coarse_time = time_management_regs->coarse_time;
                             fine_time = time_management_regs->fine_time;
                             printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
                         }
                     }
                 }
             }
+            //*****************************
+            // init housekeeping parameters
+            void init_housekeeping_parameters( void )
+            {
+                /** This function initialize the housekeeping_packet global variable with default values.
+                 *
+                 */
+                unsigned int i = 0;
+                char *parameters;
+                parameters = (char*) &housekeeping_packet.lfr_status_word;
+                for(i = 0; i< SIZE_HK_PARAMETERS; i++)
+                {
+                    parameters[i] = 0x00;
+                }
+                // init status word
+                housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
+                housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
+                // init software version
+                housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
+                housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
+                housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
+                housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
+                updateLFRCurrentMode();
+            }

src/fsw_spacewire.c +175 -81

             /** Functions related to the SpaceWire interface.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle SpaceWire transmissions:
              * - configuration of the SpaceWire link
              * - SpaceWire related interruption requests processing
              * - transmission of TeleMetry packets by a dedicated RTEMS task
              * - reception of TeleCommands by a dedicated RTEMS task
              *
              */
             #include "fsw_spacewire.h"
             char *lstates[6] = {"Error-reset",
                                 "Error-wait",
                                 "Ready",
                                 "Started",
                                 "Connecting",
                                 "Run"
             };
             //***********
             // RTEMS TASK
             rtems_task spiq_task(rtems_task_argument unused)
             {
-                /** This RTEMS task is dedicated to the handling of interruption requests raised by the SpaceWire driver.
+                /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 rtems_status_code status;
-                unsigned char lfrMode;
+                int linkStatus;
+                BOOT_PRINTF("in SPIQ *** \n")
                 while(true){
-                    BOOT_PRINTF("in SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
                     rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
-                    lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode
+                    // CHECK THE LINK
+                    ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status (1)
-                    status = spacewire_wait_for_link();
+                    if ( linkStatus != 5) {
+                        rtems_task_suspend( Task_id[ TASKID_RECV ] );
-                    if (status != RTEMS_SUCCESSFUL)
+                        rtems_task_suspend( Task_id[ TASKID_SEND ] );
+                        PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
-                        //****************
+                        rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
-                        // STOP THE SYSTEM
-                        spacewire_compute_stats_offsets();
-                        stop_current_mode();
-                        if (rtems_task_suspend(Task_id[TASKID_RECV])!=RTEMS_SUCCESSFUL) {   // suspend RECV task
-                            PRINTF("in SPIQ *** Error suspending RECV Task\n")
-                        if (rtems_task_suspend(Task_id[TASKID_HOUS])!=RTEMS_SUCCESSFUL) {   // suspend HOUS task
-                            PRINTF("in SPIQ *** Error suspending HOUS Task\n")
-                        //***************************
+                    // RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
-                        // RESTART THE SPACEWIRE LINK
+                    ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);    // get the link status (2)
-                        spacewire_configure_link();
+                    if ( linkStatus != 5 )  // not in run state, reset the link
+                    {
+                        spacewire_compute_stats_offsets();
+                        status = spacewire_reset_link( );
+                    }
+                    else
+                    {                       // in run state, restart the link
+                        status = spacewire_start_link( fdSPW ); // restart the link
+                        if ( status != RTEMS_SUCCESSFUL)
+                        {
+                            PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
+                        }
+                    }
-                        //*******************
+                    if ( status == RTEMS_SUCCESSFUL )   // the link is in run state and has been started successfully
-                        // RESTART THE SYSTEM
-                        //ioctl(fdSPW, SPACEWIRE_IOCTRL_CLR_STATISTICS);   // clear statistics
+                        status = rtems_task_resume( Task_id[ TASKID_SEND ] );
-                        status = rtems_task_restart( Task_id[TASKID_HOUS], 1 );
+                        if ( status != RTEMS_SUCCESSFUL ) {
-                        if (status != RTEMS_SUCCESSFUL) {
+                            PRINTF("in SPIQ *** ERR resuming SEND Task\n")
-                            PRINTF1("in SPIQ *** Error restarting HOUS Task *** code %d\n", status)
+                        status = rtems_task_resume( Task_id[ TASKID_RECV ] );
+                        if ( status != RTEMS_SUCCESSFUL ) {
+                            PRINTF("in SPIQ *** ERR resuming RECV Task\n")
                         }
-                        status = rtems_task_restart(Task_id[TASKID_RECV], 1);
-                        if ( status != RTEMS_SUCCESSFUL) {
+                    else // if the link is not up after SY_LFR_DPU_CONNECT_ATTEMPT tries, go in STANDBY mode
-                            PRINTF("in SPIQ *** Error restarting RECV Task\n")
+                        status = enter_mode( LFR_MODE_STANDBY, NULL ); // enter the STANDBY mode
+                        if ( status != RTEMS_SUCCESSFUL ) {
+                            PRINTF1("in SPIQ *** ERR enter_mode *** code %d\n", status)
                         }
-                        enter_mode(lfrMode, NULL); // enter the mode that was running before the SpaceWire interruption
+                        // wake the WTDG task
+                        status =  rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
+                        rtems_task_suspend( RTEMS_SELF );
                     }
                 }
             }
             rtems_task recv_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
                  * 1. It reads the incoming data.
                  * 2. Launches the acceptance procedure.
                  * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
                  *
                  */
                 int len;
                 ccsdsTelecommandPacket_t currentTC;
                 unsigned char computed_CRC[ 2 ];
                 unsigned char currentTC_LEN_RCV[ 2 ];
                 unsigned int currentTC_LEN_RCV_AsUnsignedInt;
                 unsigned int parserCode;
                 rtems_status_code status;
                 rtems_id queue_recv_id;
                 rtems_id queue_send_id;
                 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
                 status =  rtems_message_queue_ident( misc_name[QUEUE_RECV], 0, &queue_recv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR getting QUEUE_RECV id, %d\n", status)
                 }
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR getting QUEUE_SEND id, %d\n", status)
                 }
                 BOOT_PRINTF("in RECV *** \n")
                 while(1)
                 {
-                    len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
+                    len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
                     if (len == -1){ // error during the read call
-                        PRINTF("In RECV *** last read call returned -1\n")
+                        PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
                     }
                     else {
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
-                            PRINTF("In RECV *** packet lenght too short\n")
+                            PRINTF("in RECV *** packet lenght too short\n")
                         }
                         else {
                             currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
                             currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
                             currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt     );
                             // CHECK THE TC
                             parserCode = tc_parser( &currentTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
                             if ( (parserCode == ILLEGAL_APID) || (parserCode == WRONG_LEN_PACKET) || (parserCode == INCOR_CHECKSUM)
                                 | (parserCode == ILL_TYPE) || (parserCode == ILL_SUBTYPE) || (parserCode == WRONG_APP_DATA) )
                             { // send TM_LFR_TC_EXE_CORRUPTED
                                 send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id, computed_CRC, currentTC_LEN_RCV );
                             }
                             else
                             { // send valid TC to the action launcher
                                 status =  rtems_message_queue_send( queue_recv_id, &currentTC,
                                                                     currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
                             }
                         }
                     }
                 }
             }
             rtems_task send_task( rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
                  * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
                  * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
                  * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
                  * data it contains.
                  *
                  */
                 rtems_status_code status;               // RTEMS status code
                 char incomingData[ACTION_MSG_PKTS_MAX_SIZE];  // incoming data buffer
                 spw_ioctl_pkt_send *spw_ioctl_send;
                 size_t size;                            // size of the incoming TC packet
                 u_int32_t count;
                 rtems_id queue_id;
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in SEND *** ERR getting queue id, %d\n", status)
                 }
                 BOOT_PRINTF("in SEND *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_id, incomingData, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in SEND *** (1) ERR = %d\n", status)
                     }
                     else
                     {
                         if ( incomingData[0] == CCSDS_DESTINATION_ID) // the incoming message is a ccsds packet
                         {
                             status = write( fdSPW, incomingData, size );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.a) ERR = %d, size = %d\n", status, size)
                             }
                         }
                         else // the incoming message is a spw_ioctl_pkt_send structure
                         {
                             spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
                             if (spw_ioctl_send->hlen == 0)
                             {
                                 status = write( fdSPW, spw_ioctl_send->data, spw_ioctl_send->dlen );
                                 if (status == -1){
                                     PRINTF2("in SEND *** (2.b) ERR = %d, dlen = %d\n", status, spw_ioctl_send->dlen)
                                 }
                             }
                             else
                             {
                                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
                                 if (status == -1){
                                     PRINTF2("in SEND *** (2.c) ERR = %d, dlen = %d\n", status, spw_ioctl_send->dlen)
                                     PRINTF1("                            hlen = %d\n", spw_ioctl_send->hlen)
                                 }
                             }
                         }
                     }
                     status = rtems_message_queue_get_number_pending( queue_id, &count );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in SEND *** (3) ERR = %d\n", status)
                     }
                     else
                     {
                         if (count > maxCount)
                         {
                             maxCount = count;
                         }
                     }
                 }
             }
+            rtems_task wtdg_task( rtems_task_argument argument )
+            {
+                rtems_event_set event_out;
+                rtems_status_code status;
+                int linkStatus;
+                BOOT_PRINTF("in WTDG ***\n")
+                while(1){
+                    // wait for an RTEMS_EVENT
+                    rtems_event_receive( RTEMS_EVENT_0,
+                                        RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
+                    PRINTF("in WTDG *** wait for the link\n")
+                    ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);        // get the link status
+                    while( linkStatus != 5)                                             // wait for the link
+                    {
+                        rtems_task_wake_after( 10 );
+                        ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);    // get the link status
+                    }
+                    // if START is not called, subsequent call to read and write will fail
+                    status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is in run state
+                    if ( status == RTEMS_SUCCESSFUL )
+                    {
+                        PRINTF("in WTDG *** link started\n")
+                    }
+                    else
+                    {
+                        PRINTF1("in WTDG *** ERR start, code %d\n", status)
+                    }
+                    rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
+                    rtems_task_resume( Task_id[TASKID_RECV] );
+                    rtems_task_resume( Task_id[TASKID_SEND] );
+                }
+            }
             //****************
             // OTHER FUNCTIONS
-            int spacewire_configure_link( void )
+            int spacewire_open_link( void )
+            {
+                /** This function opens the SpaceWire link.
+                 *
+                 * @return a valid file descriptor in case of success, -1 in case of a failure
+                 *
+                 */
+                rtems_status_code status;
+                close( fdSPW ); // close the device if it is already open
+                fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
+                if ( fdSPW < 0 ) {
+                    PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
+                }
+                else
+                {
+                    status = RTEMS_SUCCESSFUL;
+                }
+                return status;
+            }
+            int spacewire_start_link( int fd )
+            {
+                rtems_status_code status;
+                status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is in run state
+                                                                    // -1 default hardcoded driver timeout
+                return status;
+            }
+            int spacewire_configure_link( int fd )
             {
                 /** This function configures the SpaceWire link.
                  *
                  * @return GR-RTEMS-DRIVER directive status codes:
                  * - 22  EINVAL - Null pointer or an out of range value was given as the argument.
                  * - 16  EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
                  * - 88  ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
                  * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
                  * - 12  ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
                  * - 5   EIO - Error when writing to grswp hardware registers.
                  * - 2   ENOENT - No such file or directory
                  */
                 rtems_status_code status;
-                close(fdSPW); // close the device if it is already open
-                BOOT_PRINTF("OK  *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n")
-                fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
-                if ( fdSPW<0 ) {
-                    PRINTF1("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME" with ERR %d\n", errno)
-                while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, -1) != RTEMS_SUCCESSFUL){
-                    PRINTF(".")
-                    fflush( stdout );
-                    close( fdSPW ); // close the device
-                    fdSPW = open( GRSPW_DEVICE_NAME, O_RDWR ); // open the device. the open call reset the hardware
-                    if (fdSPW<0) {
-                        PRINTF1("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME" with ERR %d\n", errno)
-                    rtems_task_wake_after(100);
-                BOOT_PRINTF("OK  *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
                 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
                 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to  break the no port force configuration
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
+                status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                 //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
+                status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
                 //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
+                status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                 //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
+                status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0);             // transmission blocks
+                status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0);             // transmission blocks
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
                 //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0);      // transmission blocks on full
+                status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0);      // transmission blocks on full
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
                 //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
+                status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
-                BOOT_PRINTF("OK  *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
+                return status;
-                return RTEMS_SUCCESSFUL;
             }
-            int spacewire_wait_for_link( void )
+            int spacewire_reset_link( void )
             {
-                /** This function is executed when an interruption is raised by the SpaceWire driver.
+                /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
                  * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
                  *
                  */
-                unsigned int i;
+                rtems_status_code status_spw;
-                int linkStatus;
+                int i;
-                rtems_status_code status = RTEMS_UNSATISFIED;
+                for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
+                {
+                    PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
+                    status_spw = spacewire_open_link();     // (1) open the link
+                    if ( status_spw != RTEMS_SUCCESSFUL )
+                    {
+                        PRINTF1("in spacewire_reset_link *** ERR spacewire_open_link code %d\n", status_spw)
+                    }
-                for(i = 0; i< 10; i++){
+                    if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
-                    PRINTF(".")
-                    fflush( stdout );
+                        status_spw = spacewire_configure_link( fdSPW );
-                    ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
+                        if ( status_spw != RTEMS_SUCCESSFUL )
-                    PRINTF1("in spacewire_wait_for_link *** link status is: %s\n", lstates[linkStatus])
-                    if ( linkStatus == 5) {
+                            PRINTF1("in spacewire_reset_link *** ERR spacewire_configure_link code %d\n", status_spw)
-                        PRINTF("in spacewire_wait_for_link *** link is running\n")
-                        status = RTEMS_SUCCESSFUL;
+                    if (  status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
+                    {
+                         status_spw = spacewire_start_link( fdSPW );
+                        if (  status_spw != RTEMS_SUCCESSFUL )
+                        {
+                            PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n",  status_spw)
+                        }
+                    }
+                    if ( status_spw == RTEMS_SUCCESSFUL)
+                    {
                         break;
                     }
-                    rtems_task_wake_after(100);
                 }
-                return status;
+                return status_spw;
             }
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
             {
                 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the NP bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * NP is the bit 20 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1) {
                     *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
                 }
                 if (val== 0) {
                     *spwptr = *spwptr & 0xffdfffff;
                 }
             }
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
             {
                 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the RE bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * RE is the bit 16 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1)
                 {
                     *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
                 }
                 if (val== 0)
                 {
                     *spwptr = *spwptr & 0xfffdffff;
                 }
             }
             void spacewire_compute_stats_offsets( void )
             {
                 /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
                  *
                  * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
                  * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
                  * during the open systel call).
                  *
                  */
                 spw_stats spacewire_stats_grspw;
                 rtems_status_code status;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                 spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
                         + spacewire_stats.packets_received;
                 spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
                         + spacewire_stats.packets_sent;
                 spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
                         + spacewire_stats.parity_err;
                 spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
                         + spacewire_stats.disconnect_err;
                 spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
                         + spacewire_stats.escape_err;
                 spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
                         + spacewire_stats.credit_err;
                 spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
                         + spacewire_stats.write_sync_err;
                 spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
                         + spacewire_stats.rx_rmap_header_crc_err;
                 spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
                         + spacewire_stats.rx_rmap_data_crc_err;
                 spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
                         + spacewire_stats.early_ep;
                 spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
                         + spacewire_stats.invalid_address;
                 spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
                         + spacewire_stats.rx_eep_err;
                 spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
                         + spacewire_stats.rx_truncated;
             }
             void spacewire_update_statistics( void )
             {
                 rtems_status_code status;
                 spw_stats spacewire_stats_grspw;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                 spacewire_stats.packets_received = spacewire_stats_backup.packets_received
                         + spacewire_stats_grspw.packets_received;
                 spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
                         + spacewire_stats_grspw.packets_sent;
                 spacewire_stats.parity_err = spacewire_stats_backup.parity_err
                         + spacewire_stats_grspw.parity_err;
                 spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
                         + spacewire_stats_grspw.disconnect_err;
                 spacewire_stats.escape_err = spacewire_stats_backup.escape_err
                         + spacewire_stats_grspw.escape_err;
                 spacewire_stats.credit_err = spacewire_stats_backup.credit_err
                         + spacewire_stats_grspw.credit_err;
                 spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
                         + spacewire_stats_grspw.write_sync_err;
                 spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
                         + spacewire_stats_grspw.rx_rmap_header_crc_err;
                 spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
                         + spacewire_stats_grspw.rx_rmap_data_crc_err;
                 spacewire_stats.early_ep = spacewire_stats_backup.early_ep
                         + spacewire_stats_grspw.early_ep;
                 spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
                         + spacewire_stats_grspw.invalid_address;
                 spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
                         +  spacewire_stats_grspw.rx_eep_err;
                 spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
                         + spacewire_stats_grspw.rx_truncated;
                 //spacewire_stats.tx_link_err;
                 //****************************
                 // DPU_SPACEWIRE_IF_STATISTICS
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
                 //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
                 //housekeeping_packet.hk_lfr_dpu_spw_last_timc;
                 //******************************************
                 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
                 housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
                 housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
                 housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
                 housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
                 // housekeeping_packet.hk_lfr_dpu_spw_rx_ahb;
                 // housekeeping_packet.hk_lfr_dpu_spw_tx_ahb;
                 housekeeping_packet.hk_lfr_dpu_spw_header_crc = (unsigned char) spacewire_stats.rx_rmap_header_crc_err;
                 housekeeping_packet.hk_lfr_dpu_spw_data_crc = (unsigned char) spacewire_stats.rx_rmap_data_crc_err;
                 //*********************************************
                 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
                 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
                 housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
                 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
             }
             void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
             {
                 //if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) {
                 //    printf("In timecode_irq_handler *** Error sending event to DUMB\n");
                 //}
             }
+            rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
+            {
+                int linkStatus;
+                rtems_status_code status;
+                ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
+                if ( linkStatus == 5) {
+                    PRINTF("in spacewire_reset_link *** link is running\n")
+                    status = RTEMS_SUCCESSFUL;
+                }
+            }

src/tc_acceptance.c +40 0

             /** Functions related to TeleCommand acceptance.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands parsing.\n
              *
              */
             #include "tc_acceptance.h"
             unsigned int lookUpTableForCRC[256];
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk)
             {
                 /** This function generate the CRC for one byte and returns the value of the new syndrome.
                  *
                  * @param D is the current byte of data.
                  * @param Chk is the current syndrom value.
                  * @return the value of the new syndrome on two bytes.
                  *
                  */
                 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
             }
             void initLookUpTableForCRC( void )
             {
                 /** This function is used to initiates the look-up table for fast CRC computation.
                  *
                  * The global table lookUpTableForCRC[256] is initiated.
                  *
                  */
                 unsigned int i;
                 unsigned int tmp;
                 for (i=0; i<256; i++)
                 {
                     tmp = 0;
                     if((i & 1) != 0) {
                         tmp = tmp ^ 0x1021;
                     }
                     if((i & 2) != 0) {
                         tmp = tmp ^ 0x2042;
                     }
                     if((i & 4) != 0) {
                         tmp = tmp ^ 0x4084;
                     }
                     if((i & 8) != 0) {
                         tmp = tmp ^ 0x8108;
                     }
                     if((i & 16) != 0) {
                         tmp = tmp ^ 0x1231;
                     }
                     if((i & 32) != 0) {
                         tmp = tmp ^ 0x2462;
                     }
                     if((i & 64) != 0) {
                         tmp = tmp ^ 0x48c4;
                     }
                     if((i & 128) != 0) {
                         tmp = tmp ^ 0x9188;
                     }
                     lookUpTableForCRC[i] = tmp;
                 }
             }
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
             {
                 /** This function calculates a two bytes Cyclic Redundancy Code.
                  *
                  * @param data points to a buffer containing the data on which to compute the CRC.
                  * @param crcAsTwoBytes points points to a two bytes buffer in which the CRC is stored.
                  * @param sizeOfData is the number of bytes of *data* used to compute the CRC.
                  *
                  * The specification of the Cyclic Redundancy Code is described in the following document: ECSS-E-70-41-A.
                  *
                  */
                 unsigned int Chk;
                 int j;
                 Chk = 0xffff; // reset the syndrom to all ones
                 for (j=0; j<sizeOfData; j++) {
                     Chk = Crc_opt(data[j], Chk);
                 }
                 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
                 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
             }
             //*********************
             // ACCEPTANCE FUNCTIONS
             int tc_parser(ccsdsTelecommandPacket_t * TCPacket, unsigned int TC_LEN_RCV, unsigned char *computed_CRC)
             {
                 /** This function parses TeleCommands.
                  *
                  * @param TC points to the TeleCommand that will be parsed.
                  * @param TC_LEN_RCV is the received packet length.
+                 *
                  * @return Status code of the parsing.
                  *
                  * The parsing checks:
                  * - process id
                  * - category
                  * - length: a global check is performed and a per subtype check also
                  * - type
                  * - subtype
                  * - crc
                  *
                  */
                 int status;
                 unsigned char pid;
                 unsigned char category;
                 unsigned int length;
                 unsigned char packetType;
                 unsigned char packetSubtype;
+                unsigned char sid;
                 status = CCSDS_TM_VALID;
                 // APID check *** APID on 2 bytes
                 pid = ((TCPacket->packetID[0] & 0x07)<<4) + ( (TCPacket->packetID[1]>>4) & 0x0f );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
                 category = (TCPacket->packetID[1] & 0x0f);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
                 length = (TCPacket->packetLength[0] * 256) + TCPacket->packetLength[1];
                 packetType = TCPacket->serviceType;
                 packetSubtype = TCPacket->serviceSubType;
+                sid = TCPacket->sourceID;
                 if ( pid != CCSDS_PROCESS_ID )  // CHECK THE PROCESS ID
                 {
                     status = ILLEGAL_APID;
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE CATEGORY
                 {
                     if ( category != CCSDS_PACKET_CATEGORY )
                     {
                         status = ILLEGAL_APID;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE PACKET LENGTH FIELD AND THE ACTUAL LENGTH COMPLIANCE
                 {
                     if (length != TC_LEN_RCV ) {
                         status = WRONG_LEN_PACKET;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THAT THE PACKET DOES NOT EXCEED THE MAX SIZE
                 {
                     if ( length >= CCSDS_TC_PKT_MAX_SIZE ) {
                         status = WRONG_LEN_PACKET;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE TYPE
                 {
                     status = tc_check_type( packetType );
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE SUBTYPE
                 {
                     status = tc_check_subtype( packetSubtype );
                 }
+                if (status == CCSDS_TM_VALID)   // CHECK THE SID
+                {
+                    status = tc_check_sid( sid );
+                }
                 if (status == CCSDS_TM_VALID)   // CHECK THE SUBTYPE AND LENGTH COMPLIANCE
                 {
                     status = tc_check_length( packetSubtype, length );
                 }
                 if (status == CCSDS_TM_VALID )  // CHECK CRC
                 {
                     status = tc_check_crc( TCPacket, length, computed_CRC );
                 }
                 return status;
             }
             int tc_check_type( unsigned char packetType )
             {
                 /** This function checks that the type of a TeleCommand is valid.
                  *
                  * @param packetType is the type to check.
+                 *
                  * @return Status code CCSDS_TM_VALID or ILL_TYPE.
                  *
                  */
                 int status;
                 if ( (packetType == TC_TYPE_GEN) || (packetType == TC_TYPE_TIME))
                 {
                     status = CCSDS_TM_VALID;
                 }
                 else
                 {
                     status = ILL_TYPE;
                 }
                 return status;
             }
             int tc_check_subtype( unsigned char packetSubType )
             {
                 /** This function checks that the subtype of a TeleCommand is valid.
                  *
                  * @param packetSubType is the subtype to check.
+                 *
                  * @return Status code CCSDS_TM_VALID or ILL_SUBTYPE.
                  *
                  */
                 int status;
                 if ( (packetSubType == TC_SUBTYPE_RESET)
                      || (packetSubType == TC_SUBTYPE_LOAD_COMM)
                      || (packetSubType == TC_SUBTYPE_LOAD_NORM) || (packetSubType == TC_SUBTYPE_LOAD_BURST)
                      || (packetSubType == TC_SUBTYPE_LOAD_SBM1) || (packetSubType == TC_SUBTYPE_LOAD_SBM2)
                      || (packetSubType == TC_SUBTYPE_DUMP)
                      || (packetSubType == TC_SUBTYPE_ENTER)
                      || (packetSubType == TC_SUBTYPE_UPDT_INFO) || (packetSubType == TC_SUBTYPE_UPDT_TIME)
                      || (packetSubType == TC_SUBTYPE_EN_CAL)    || (packetSubType == TC_SUBTYPE_DIS_CAL) )
                 {
                     status = CCSDS_TM_VALID;
                 }
                 else
                 {
                     status = ILL_TYPE;
                 }
                 return status;
             }
+            int tc_check_sid( unsigned char sid )
+            {
+                /** This function checks that the sid of a TeleCommand is valid.
+                 *
+                 * @param sid is the sid to check.
+                 *
+                 * @return Status code CCSDS_TM_VALID or CORRUPTED.
+                 *
+                 */
+                int status;
+                if ( (sid == SID_TC_GROUND)
+                     || (sid == SID_TC_MISSION_TIMELINE) || (sid == SID_TC_TC_SEQUENCES)   || (sid == SID_TC_RECOVERY_ACTION_CMD)
+                     || (sid == SID_TC_BACKUP_MISSION_TIMELINE)
+                     || (sid == SID_TC_DIRECT_CMD)       || (sid == SID_TC_SPARE_GRD_SRC1) || (sid == SID_TC_SPARE_GRD_SRC2)
+                     || (sid == SID_TC_OBCP)             || (sid == SID_TC_SYSTEM_CONTROL) || (sid == SID_TC_AOCS)
+                     || (sid == SID_TC_RPW_INTERNAL))
+                {
+                    status = CCSDS_TM_VALID;
+                }
+                else
+                {
+                    status = CORRUPTED;
+                }
+                return status;
+            }
             int tc_check_length( unsigned char packetSubType, unsigned int length )
             {
                 /** This function checks that the subtype and the length are compliant.
                  *
                  * @param packetSubType is the subtype to check.
                  * @param length is the length to check.
+                 *
                  * @return Status code CCSDS_TM_VALID or ILL_TYPE.
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 switch(packetSubType)
                 {
                 case TC_SUBTYPE_RESET:
                     if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_COMM:
                     if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_NORM:
                     if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_BURST:
                     if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_SBM1:
                     if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_SBM2:
                     if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_DUMP:
                     if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_ENTER:
                     if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_UPDT_INFO:
                     if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_EN_CAL:
                     if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_DIS_CAL:
                     if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_UPDT_TIME:
                     if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PACKET;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 default: // if the subtype is not a legal value, return ILL_SUBTYPE
                     status = ILL_SUBTYPE;
                     break    ;
                 }
                 return status;
             }
             int tc_check_crc( ccsdsTelecommandPacket_t * TCPacket, unsigned int length, unsigned char *computed_CRC )
             {
                 /** This function checks the CRC validity of the corresponding TeleCommand packet.
                  *
                  * @param TCPacket points to the TeleCommand packet to check.
                  * @param length is the length of the TC packet.
+                 *
                  * @return Status code CCSDS_TM_VALID or INCOR_CHECKSUM.
                  *
                  */
                 int status;
                 unsigned char * CCSDSContent;
                 CCSDSContent = (unsigned char*) TCPacket->packetID;
                 GetCRCAsTwoBytes(CCSDSContent, computed_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
                 if (computed_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) {
                     status = INCOR_CHECKSUM;
                 }
                 else if (computed_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
                     status = INCOR_CHECKSUM;
                 }
                 else {
                     status = CCSDS_TM_VALID;
                 }
                 return status;
             }

src/tc_handler.c +15 -15

             /** Functions and tasks related to TeleCommand handling.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands:\n
              * action launching\n
              * TC parsing\n
              * ...
              *
              */
             #include "tc_handler.h"
             //***********
             // RTEMS TASK
             rtems_task actn_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
                  * on the incoming TeleCommand.
                  *
                  */
                 int result;
                 rtems_status_code status;       // RTEMS status code
                 ccsdsTelecommandPacket_t TC;    // TC sent to the ACTN task
                 size_t size;                    // size of the incoming TC packet
                 unsigned char subtype;          // subtype of the current TC packet
                 rtems_id queue_rcv_id;
                 rtems_id queue_snd_id;
                 status =  rtems_message_queue_ident( misc_name[QUEUE_RECV], 0, &queue_rcv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR getting queue_rcv_id %d\n", status)
                 }
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_snd_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR getting queue_snd_id %d\n", status)
                 }
                 result = LFR_SUCCESSFUL;
                 subtype = 0;          // subtype of the current TC packet
                 BOOT_PRINTF("in ACTN *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     else
                     {
                         subtype = TC.serviceSubType;
                         switch(subtype)
                         {
                             case TC_SUBTYPE_RESET:
                                 result = action_reset( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_COMM:
                                 result = action_load_common_par( &TC );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_NORM:
                                 result = action_load_normal_par( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_BURST:
                                 result = action_load_burst_par( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM1:
                                 result = action_load_sbm1_par( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM2:
                                 result = action_load_sbm2_par( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_DUMP:
                                 result = action_dump_par( queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_ENTER:
                                 result = action_enter_mode( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_INFO:
                                 result = action_update_info( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_EN_CAL:
                                 result = action_enable_calibration( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_DIS_CAL:
                                 result = action_disable_calibration( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_TIME:
                                 result = action_update_time( &TC );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             default:
                                 break;
                         }
                     }
                 }
             }
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
                 return LFR_DEFAULT;
             }
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 rtems_status_code status;
                 unsigned char requestedMode;
                 requestedMode = TC->dataAndCRC[1];
                 if ( (requestedMode != LFR_MODE_STANDBY)
                      && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
                      && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
                 {
                     status = RTEMS_UNSATISFIED;
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode );
                 }
                 else
                 {
                     printf("try to enter mode %d\n", requestedMode);
             #ifdef PRINT_TASK_STATISTICS
                     if (requestedMode != LFR_MODE_STANDBY)
                     {
                         rtems_cpu_usage_reset();
                         maxCount = 0;
                     }
             #endif
                     status = transition_validation(requestedMode);
                     if ( status == LFR_SUCCESSFUL ) {
                         if ( lfrCurrentMode != LFR_MODE_STANDBY)
                         {
                             status = stop_current_mode();
                         }
                         if (status != RTEMS_SUCCESSFUL)
                         {
                             PRINTF("ERR *** in action_enter *** stop_current_mode\n")
                         }
                         status = enter_mode(requestedMode, TC);
                     }
                     else
                     {
                         PRINTF("ERR *** in action_enter *** transition rejected\n")
                         send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     }
                 }
                 return status;
             }
             int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
+                 * @return LFR directive status code:
+                 * - LFR_DEFAULT
+                 * - LFR_SUCCESSFUL
+                 *
                  */
                 unsigned int val;
                 int result;
-                unsigned char lfrMode;
                 result = LFR_DEFAULT;
-                lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
-                if ( (lfrMode == LFR_MODE_STANDBY) ) {
+                val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
-                    send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
+                        + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
-                    result = LFR_DEFAULT;
+                val++;
+                housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
-                else {
+                housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
-                    val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
-                            + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
-                    val++;
-                    housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
-                    housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
-                    result = LFR_SUCCESSFUL;
                 return result;
             }
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 return result;
             }
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 return result;
             }
             int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
+                 * @return LFR_SUCCESSFUL
+                 *
                  */
                 unsigned int val;
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                             + (TC->dataAndCRC[1] << 16)
                                                             + (TC->dataAndCRC[2] << 8)
                                                             + TC->dataAndCRC[3];
                 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
                 time_management_regs->ctrl = time_management_regs->ctrl | 1;
                 return LFR_SUCCESSFUL;
             }
             //*******************
             // ENTERING THE MODES
             int transition_validation(unsigned char requestedMode)
             {
                 int status;
                 switch (requestedMode)
                 {
                 case LFR_MODE_STANDBY:
                     if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                         status = LFR_DEFAULT;
                     }
                     else
                     {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_BURST:
                     if ( lfrCurrentMode == LFR_MODE_BURST ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM1:
                     if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM2:
                     if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 default:
                     status = LFR_DEFAULT;
                     break;
                 }
                 return status;
             }
             int stop_current_mode()
             {
                 /** This function stops the current mode by masking interrupt lines and suspending science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 // mask all IRQ lines related to signal processing
                 LEON_Mask_interrupt( IRQ_SM );                  // mask spectral matrices interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_SM );                 // clear spectral matrices interrupt (coming from the timer VHDL IP)
             #ifdef GSA
                 LEON_Mask_interrupt( IRQ_WF );                  // mask waveform interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_WF );                  // clear waveform interrupt (coming from the timer VHDL IP)
                 timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
             #else
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // mask spectral matrix interrupt
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 LEON_Mask_interrupt( IRQ_SM );                  // for SM simulation
                 LEON_Clear_interrupt( IRQ_SM );                 // for SM simulation
             #endif
                 //**********************
                 // suspend several tasks
                 if (lfrCurrentMode != LFR_MODE_STANDBY) {
                     status = suspend_science_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 //*************************
                 // initialize the registers
             #ifdef GSA
             #else
                 reset_wfp_burst_enable();   // reset burst and enable bits
                 reset_wfp_status();         // reset all the status bits
             #endif
                 return status;
             }
             int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC )
             {
                 rtems_status_code status;
                 status = RTEMS_UNSATISFIED;
                 housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
                 lfrCurrentMode = mode;
                 switch(mode){
                 case LFR_MODE_STANDBY:
                     status = enter_standby_mode( TC );
                     break;
                 case LFR_MODE_NORMAL:
                     status = enter_normal_mode( TC );
                     break;
                 case LFR_MODE_BURST:
                     status = enter_burst_mode( TC );
                     break;
                 case LFR_MODE_SBM1:
                     status = enter_sbm1_mode( TC );
                     break;
                 case LFR_MODE_SBM2:
                     status = enter_sbm2_mode( TC );
                     break;
                 default:
                     status = RTEMS_UNSATISFIED;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in enter_mode *** ERR\n")
                     status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_standby_mode()
             {
                 reset_waveform_picker_regs();
                 PRINTF1("maxCount = %d\n", maxCount)
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_report();
             #endif
             #ifdef PRINT_STACK_REPORT
                 rtems_stack_checker_report_usage();
             #endif
                 return LFR_SUCCESSFUL;
             }
             int enter_normal_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
             #ifdef GSA
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_WF );
                 LEON_Unmask_interrupt( IRQ_WF );
                 //
                 set_local_nb_interrupt_f0_MAX();
                 LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 //****************
                 // waveform picker
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_NORMAL);
                 //****************
                 // spectral matrix
             //    set_local_nb_interrupt_f0_MAX();
             //    LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
             //    LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
             //    spectral_matrix_regs->config = 0x01;
             //    spectral_matrix_regs->status = 0x00;
             #endif
                 return status;
             }
             int enter_burst_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_BURST);
             #endif
                 return status;
             }
             int enter_sbm1_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
                 set_local_sbm1_nb_cwf_max();
                 reset_local_sbm1_nb_cwf_sent();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_SBM1);
                 // SM simulation
             //    timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
             //    LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
             //    LEON_Unmask_interrupt( IRQ_SM );
              #endif
                 return status;
             }
             int enter_sbm2_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
                 set_local_sbm2_nb_cwf_max();
                 reset_local_sbm2_nb_cwf_sent();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_SBM2);
             #endif
                 return status;
             }
             int restart_science_tasks()
             {
                 rtems_status_code status[6];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
                 if (status[0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0])
                 }
                 status[1] = rtems_task_restart( Task_id[TASKID_BPF0],1 );
                 if (status[1] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 1 ERR %d\n", status[1])
                 }
                 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 if (status[2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
                 }
                 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 if (status[3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
                 }
                 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 if (status[4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
                 }
                 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if (status[5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
                 }
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
                      (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int suspend_science_tasks()
             {
                 /** This function suspends the science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = rtems_task_suspend( Task_id[TASKID_AVF0] );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend BPF0
                 {
                     status = rtems_task_suspend( Task_id[TASKID_BPF0] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** BPF0 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
                 {
                     status = rtems_task_suspend( Task_id[TASKID_WFRM] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF3] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF2] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF1] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
                     }
                 }
                 return status;
             }
             //****************
             // CLOSING ACTIONS
             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
             {
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC)
             {
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id)
             {
                 unsigned int val = 0;
                 if (result == LFR_SUCCESSFUL)
                 {
-                    if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) ) )
+                    if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
+                         &&
+                         !( (TC->serviceType==TC_TYPE_GEN) && (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
+                         )
                     {
                         send_tm_lfr_tc_exe_success( TC, queue_id );
                     }
                     update_last_TC_exe( TC );
                     val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
                 else
                 {
                     update_last_TC_rej( TC );
                     val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr1 *** Error sending event to DUMB\n");
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr2 *** Error sending event to DUMB\n");
                 }
             }
             //****************
             // OTHER FUNCTIONS
             void updateLFRCurrentMode()
             {
                 /** This function updates the value of the global variable lfrCurrentMode.
                  *
                  * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
                  *
                  */
                 // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
                 lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
             }

src/tc_load_dump_parameters.c +74 -6

             /** Functions to load and dump parameters in the LFR registers.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TC related to parameter loading and dumping.\n
              * TC_LFR_LOAD_COMMON_PAR\n
              * TC_LFR_LOAD_NORMAL_PAR\n
              * TC_LFR_LOAD_BURST_PAR\n
              * TC_LFR_LOAD_SBM1_PAR\n
              * TC_LFR_LOAD_SBM2_PAR\n
              *
              */
             #include "tc_load_dump_parameters.h"
             int action_load_common_par(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function updates the LFR registers with the incoming common parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  *
                  */
                 parameter_dump_packet.unused0 = TC->dataAndCRC[0];
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = TC->dataAndCRC[1];
                 set_wfp_data_shaping(parameter_dump_packet.bw_sp0_sp1_r0_r1);
                 return LFR_SUCCESSFUL;
             }
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function updates the LFR registers with the incoming normal parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 int flag;
                 flag = LFR_SUCCESSFUL;
                 result = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 //***************
                 // sy_lfr_n_swf_l
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_l( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_swf_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_p( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
-                // sy_lfr_n_asm_p
+                // SY_LFR_N_ASM_P
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_asm_p( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
-                // sy_lfr_n_bp_p0
+                // SY_LFR_N_BP_P0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_bp_p0( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_bp_p1( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 return result;
             }
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function updates the LFR registers with the incoming burst parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_BURST ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function updates the LFR registers with the incoming sbm1 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_SBM1 ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_SBM2 ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_dump_par( rtems_id queue_id )
             {
                 /** This function dumps the LFR parameters by sending the appropriate TM packet to the dedicated RTEMS message queue.
                  *
                  * @param queue_id is the id of the queue which handles TM related to this execution step.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 int status;
+                // UPDATE TIME
+                parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
+                parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
+                parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
+                parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
+                parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
+                parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &parameter_dump_packet,
                                                     PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                 }
                 return status;
             }
             //***********************
             // NORMAL MODE PARAMETERS
             int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sets the number of points of a snapshot (sy_lfr_n_swf_l).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int tmp;
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_L ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_L+1 ];
                 tmp = ( unsigned int ) floor(
                             ( ( msb*256 ) + lsb ) / 16
                         ) * 16;
                 if ( (tmp < 16) || (tmp > 2048) )   // the snapshot period is a multiple of 16
                 {                                   // 2048 is the maximum limit due to thesize of the buffers
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_SY_LFR_N_SWF_L+10, lsb );
                     result = WRONG_APP_DATA;
                 }
                 else if (tmp != 2048)
                 {
                     send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
                     result = FUNCT_NOT_IMPL;
                 }
                 else
                 {
                     parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (tmp >> 8);
                     parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (tmp     );
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int set_sy_lfr_n_swf_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sets the time between two snapshots, in s (sy_lfr_n_swf_p).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int tmp;
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_P ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_P+1 ];
                 tmp = ( unsigned int ) floor(
                             ( ( msb*256 ) + lsb ) / 8
                         ) * 8;
                 if ( (tmp < 16) || (tmp > 65528) )
                 {
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_SY_LFR_N_SWF_P+10, lsb );
                     result = WRONG_APP_DATA;
                 }
                 else
                 {
                     parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (tmp >> 8);
                     parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (tmp     );
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
-                /** This function sets the time between two full spectral matrices transmission, in s (sy_lfr_n_asm_p).
+                /** This function sets the time between two full spectral matrices transmission, in s (SY_LFR_N_ASM_P).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_ASM_P ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_ASM_P+1 ];
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = msb;
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = lsb;
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
-                /** This function sets the time between two basic parameter sets, in s (sy_lfr_n_bp_p0).
+                /** This function sets the time between two basic parameter sets, in s (SY_LFR_N_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_n_bp_p1(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function sets the time between two basic parameter sets (autocorrelation + crosscorrelation), in s (sy_lfr_n_bp_p1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_BP_P1 ];
                 return status;
             }
             //**********************
             // BURST MODE PARAMETERS
             //*********************
             // SBM1 MODE PARAMETERS
             //*********************
             // SBM2 MODE PARAMETERS
+            //**********
+            // init dump
+            void init_parameter_dump( void )
+            {
+                /** This function initialize the parameter_dump_packet global variable with default values.
+                 *
+                 */
+                parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
+                parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
+                parameter_dump_packet.reserved = CCSDS_RESERVED;
+                parameter_dump_packet.userApplication = CCSDS_USER_APP;
+                parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
+                parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
+                parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
+                parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
+                parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
+                parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
+                // DATA FIELD HEADER
+                parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
+                parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
+                parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
+                parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
+                parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
+                parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
+                parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
+                parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
+                parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
+                parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
+                parameter_dump_packet.sid = SID_PARAMETER_DUMP;
+                //******************
+                // COMMON PARAMETERS
+                parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
+                parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
+                //******************
+                // NORMAL PARAMETERS
+                parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (SY_LFR_N_SWF_L >> 8);
+                parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (SY_LFR_N_SWF_L     );
+                parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (SY_LFR_N_SWF_P >> 8);
+                parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (SY_LFR_N_SWF_P     );
+                parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (SY_LFR_N_ASM_P >> 8);
+                parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (SY_LFR_N_ASM_P     );
+                parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) SY_LFR_N_BP_P0;
+                parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) SY_LFR_N_BP_P1;
+                //*****************
+                // BURST PARAMETERS
+                parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
+                parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
+                //****************
+                // SBM1 PARAMETERS
+                parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
+                parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
+                //****************
+                // SBM2 PARAMETERS
+                parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
+                parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
+            }

src/tm_lfr_tc_exe.c +20 -20

             /** Functions to send TM packets related to TC parsing and execution.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to send appropriate TM packets after parsing and execution:
              * - TM_LFR_TC_EXE_SUCCESS
              * - TM_LFR_TC_EXE_INCONSISTENT
              * - TM_LFR_TC_EXE_NOT_EXECUTABLE
              * - TM_LFR_TC_EXE_NOT_IMPLEMENTED
              * - TM_LFR_TC_EXE_ERROR
              * - TM_LFR_TC_EXE_CORRUPTED
              *
              */
             #include "tm_lfr_tc_exe.h"
             int send_tm_lfr_tc_exe_success( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_SUCCESS packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
-                 * - RTEMS_TOO_MANY - queue’s limit has been reached
+                 * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_SUCCESS_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
-                TM.packetSequenceControl[0] = (TM_PACKET_SEQ_CTRL_STANDALONE >> 8);
+                TM.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                TM.packetSequenceControl[1] = (TM_PACKET_SEQ_CTRL_STANDALONE     );
+                TM.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_SUCCESS >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_SUCCESS     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_OK;
                 TM.destinationID = TM_DESTINATION_ID_GROUND;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 messageSize = PACKET_LENGTH_TC_EXE_SUCCESS + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_urgent( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
                 }
                 return status;
             }
             int send_tm_lfr_tc_exe_inconsistent( ccsdsTelecommandPacket_t *TC, rtems_id queue_id,
                                                 unsigned char byte_position, unsigned char rcv_value )
             {
                 /** This function sends a TM_LFR_TC_EXE_INCONSISTENT packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  * @param byte_position is the byte position of the MSB of the parameter that has been seen as inconsistent
                  * @param rcv_value  is the value of the LSB of the parameter that has been deteced as inconsistent
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
-                 * - RTEMS_TOO_MANY - queue’s limit has been reached
+                 * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_INCONSISTENT_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
-                TM.packetSequenceControl[0] = (TM_PACKET_SEQ_CTRL_STANDALONE >> 8);
+                TM.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                TM.packetSequenceControl[1] = (TM_PACKET_SEQ_CTRL_STANDALONE     );
+                TM.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_INCONSISTENT >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_INCONSISTENT     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TM_DESTINATION_ID_GROUND;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (WRONG_APP_DATA >> 8);
                 TM.tc_failure_code[1] = (char) (WRONG_APP_DATA     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.byte_position = byte_position;
                 TM.rcv_value = rcv_value;
                 messageSize = PACKET_LENGTH_TC_EXE_INCONSISTENT + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_urgent( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_inconsistent *** ERR\n")
                 }
                 return status;
             }
             int send_tm_lfr_tc_exe_not_executable( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_NOT_EXECUTABLE packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
-                 * - RTEMS_TOO_MANY - queue’s limit has been reached
+                 * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
-                TM.packetSequenceControl[0] = (TM_PACKET_SEQ_CTRL_STANDALONE >> 8);
+                TM.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                TM.packetSequenceControl[1] = (TM_PACKET_SEQ_CTRL_STANDALONE     );
+                TM.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TM_DESTINATION_ID_GROUND;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (TC_NOT_EXE >> 8);
                 TM.tc_failure_code[1] = (char) (TC_NOT_EXE     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.lfr_status_word[0] = housekeeping_packet.lfr_status_word[0];
                 TM.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1];
                 messageSize = PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_urgent( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_not_executable *** ERR\n")
                 }
                 return status;
             }
             int send_tm_lfr_tc_exe_not_implemented( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_NOT_IMPLEMENTED packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
-                 * - RTEMS_TOO_MANY - queue’s limit has been reached
+                 * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
-                TM.packetSequenceControl[0] = (TM_PACKET_SEQ_CTRL_STANDALONE >> 8);
+                TM.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                TM.packetSequenceControl[1] = (TM_PACKET_SEQ_CTRL_STANDALONE     );
+                TM.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TM_DESTINATION_ID_GROUND;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (FUNCT_NOT_IMPL >> 8);
                 TM.tc_failure_code[1] = (char) (FUNCT_NOT_IMPL     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 messageSize = PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_urgent( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_not_implemented *** ERR\n")
                 }
                 return status;
             }
             int send_tm_lfr_tc_exe_error( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_ERROR packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
-                 * - RTEMS_TOO_MANY - queue’s limit has been reached
+                 * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_ERROR_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
-                TM.packetSequenceControl[0] = (TM_PACKET_SEQ_CTRL_STANDALONE >> 8);
+                TM.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                TM.packetSequenceControl[1] = (TM_PACKET_SEQ_CTRL_STANDALONE     );
+                TM.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_ERROR >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_ERROR     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TM_DESTINATION_ID_GROUND;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (FAIL_DETECTED >> 8);
                 TM.tc_failure_code[1] = (char) (FAIL_DETECTED     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 messageSize = PACKET_LENGTH_TC_EXE_ERROR + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_urgent( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
                 }
                 return status;
             }
             int send_tm_lfr_tc_exe_corrupted(ccsdsTelecommandPacket_t *TC, rtems_id queue_id,
                                              unsigned char *computed_CRC, unsigned char *currentTC_LEN_RCV )
             {
                 /** This function sends a TM_LFR_TC_EXE_CORRUPTED packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  * @param computed_CRC points to a buffer of two bytes containing the CRC computed during the parsing of the TeleCommand
                  * @param currentTC_LEN_RCV points to a buffer of two bytes containing a packet size field computed on the received data
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
-                 * - RTEMS_TOO_MANY - queue’s limit has been reached
+                 * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_CORRUPTED_t TM;
                 unsigned char messageSize;
                 unsigned int packetLength;
                 unsigned char *packetDataField;
-                packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];    // compute the packet length
+                packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];   // compute the packet length parameter
-                packetDataField = (unsigned char *) &TC->headerFlag_pusVersion_Ack;     // get the beginning of the data field
+                packetDataField = (unsigned char *) &TC->headerFlag_pusVersion_Ack; // get the beginning of the data field
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
-                TM.packetSequenceControl[0] = (TM_PACKET_SEQ_CTRL_STANDALONE >> 8);
+                TM.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                TM.packetSequenceControl[1] = (TM_PACKET_SEQ_CTRL_STANDALONE     );
+                TM.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TM_DESTINATION_ID_GROUND;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (unsigned char) (CORRUPTED >> 8);
                 TM.tc_failure_code[1] = (unsigned char) (CORRUPTED     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.pkt_len_rcv_value[0] = TC->packetLength[0];
                 TM.pkt_len_rcv_value[1] = TC->packetLength[1];
                 TM.pkt_datafieldsize_cnt[0] = currentTC_LEN_RCV[0];
                 TM.pkt_datafieldsize_cnt[1] = currentTC_LEN_RCV[1];
                 TM.rcv_crc[0] = packetDataField[ packetLength - 1 ];
                 TM.rcv_crc[1] = packetDataField[ packetLength ];
                 TM.computed_crc[0] = computed_CRC[0];
                 TM.computed_crc[1] = computed_CRC[1];
                 messageSize = PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_urgent( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
                 }
                 return status;
             }

src/wf_handler.c +19 -24

             /** 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"
             // SWF
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F0[7];
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F1[7];
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F2[7];
             // CWF
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F1[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_BURST[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_SBM2[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3_light[7];
             unsigned char doubleSendCWF1 = 0;
             unsigned char doubleSendCWF2 = 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.
                  *
                  */
             #ifdef GSA
             #else
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     if ((waveform_picker_regs->status & 0x08) == 0x08){     // [1000] f3 is full
                         // (1) change the receiving buffer for the waveform picker
                         if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
                             waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff777; // reset f3 bits to 0, [1111 0111 0111 0111]
                     }
                 }
             #endif
                 switch(lfrCurrentMode)
                 {
                     //********
                     // STANDBY
                     case(LFR_MODE_STANDBY):
                     break;
                     //******
                     // NORMAL
                     case(LFR_MODE_NORMAL):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ( (waveform_picker_regs->burst_enable & 0x7) == 0x0 ){ // if no channel is enable
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                     }
                     else {
                         if ( (waveform_picker_regs->status & 0x7) == 0x7 ){ // f2 f1 and f0 are full
                             waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable & 0x08;
                             if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                             }
                             waveform_picker_regs->status = waveform_picker_regs->status & 0x00;
                             waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable | 0x07; // [0111] enable f2 f1 f0
                         }
                    }
             #endif
                     break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bits = 0
                     }
             #endif
                     break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x02) == 0x02){ // [0010] check the f1 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if ( param_local.local_sbm1_nb_cwf_sent == (param_local.local_sbm1_nb_cwf_max-1) )
                         {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_norm);
                         }
                         else if ( waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1_norm )
                         {
                             doubleSendCWF1 = 1;
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
                         }
                         else if ( waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1 ) {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bit = 0
                     }
                     if ( ( (waveform_picker_regs->status & 0x05) == 0x05 ) ) { // [0101] check the f2 and f0 full bit
                         if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // [1111 1010 1010 1010] f2 and f0 bits = 0
                         reset_local_sbm1_nb_cwf_sent();
                     }
             #endif
                     break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if ( param_local.local_sbm2_nb_cwf_sent == (param_local.local_sbm2_nb_cwf_max-1) )
                         {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_norm);
                         }
                         else if ( waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2_norm ) {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
                             doubleSendCWF2 = 1;
                             if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2_WFRM ) != RTEMS_SUCCESSFUL) {
                                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                             }
                             reset_local_sbm2_nb_cwf_sent();
                         }
                         else if ( waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2 ) {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
                     }
                     if ( ( (waveform_picker_regs->status & 0x03) == 0x03 ) ) { // [0011] f3 f2 f1 f0, f1 and f0 are full
                         if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // [1111 1100 1100 1100] f1, f0 bits = 0
                     }
             #endif
                     break;
                     //********
                     // DEFAULT
                     default:
                     break;
                 }
             }
             rtems_isr waveforms_simulator_isr( rtems_vector_number vector )
             {
                 /** This is the interrupt sub routine called by the waveform picker simulator.
                  *
                  * This ISR is for debug purpose only.
                  *
                  */
                 unsigned char lfrMode;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 switch(lfrMode) {
                 case (LFR_MODE_STANDBY):
                     break;
                 case (LFR_MODE_NORMAL):
                     if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_5 );
                     }
                     break;
                 case (LFR_MODE_BURST):
                     break;
                 case (LFR_MODE_SBM1):
                     break;
                 case (LFR_MODE_SBM2):
                     break;
                 }
             }
             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;
                 init_header_snapshot_wf_table( SID_NORM_SWF_F0, headerSWF_F0 );
                 init_header_snapshot_wf_table( SID_NORM_SWF_F1, headerSWF_F1 );
                 init_header_snapshot_wf_table( SID_NORM_SWF_F2, headerSWF_F2 );
                 init_waveforms();
-                status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
+                queue_id = get_pkts_queue_id();
-                if (status != RTEMS_SUCCESSFUL)
-                    PRINTF1("in WFRM *** ERR getting queue id, %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 (event_out == RTEMS_EVENT_MODE_NORMAL)
                     {
                         send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                         send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xf888; // [1111 1000 1000 1000] f2, f1, f0 bits =0
             #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF(wf_snap_f1_norm, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                         send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // [1111 1010 1010 1010] f2, f0 bits = 0
             #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // [1111 1100 1100 1100] f1, f0 bits = 0
             #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM2_WFRM)
                     {
                         send_waveform_SWF(wf_snap_f2_norm, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
                     }
                     else
                     {
                         PRINTF("in WFRM *** unexpected event")
                     }
             #ifdef GSA
                     // irq processed, reset the related register of the timer unit
                     gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl = gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl | 0x00000010;
                     // clear the interruption
                     LEON_Unmask_interrupt( IRQ_WF );
             #endif
                 }
             }
             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;
                 init_header_continuous_wf_table( SID_NORM_CWF_F3, headerCWF_F3 );
                 init_header_continuous_wf3_light_table( headerCWF_F3_light );
                 queue_id = get_pkts_queue_id();
                 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);
                     PRINTF("send CWF F3 \n")
             #ifdef GSA
             #else
                     if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
                         send_waveform_CWF3_light( wf_cont_f3_bis, headerCWF_F3_light, queue_id );
                     }
                     else {
                         send_waveform_CWF3_light( wf_cont_f3, headerCWF_F3_light, queue_id );
                     }
             #endif
                 }
             }
             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;
                 init_header_continuous_wf_table( SID_BURST_CWF_F2, headerCWF_F2_BURST );
                 init_header_continuous_wf_table( SID_SBM2_CWF_F2, headerCWF_F2_SBM2 );
                 queue_id = get_pkts_queue_id();
                 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);
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {
                         // F2
             #ifdef GSA
             #else
                         if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                             send_waveform_CWF( wf_snap_f2_bis, SID_BURST_CWF_F2, headerCWF_F2_BURST, queue_id );
                         }
                         else {
                             send_waveform_CWF( wf_snap_f2, SID_BURST_CWF_F2, headerCWF_F2_BURST, queue_id );
                         }
                     #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
             #ifdef GSA
             #else
                         if (doubleSendCWF2 == 1)
                         {
                             doubleSendCWF2 = 0;
                             send_waveform_CWF( wf_snap_f2_norm, SID_SBM2_CWF_F2, headerCWF_F2_SBM2, queue_id );
                         }
                         else if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                             send_waveform_CWF( wf_snap_f2_bis, SID_SBM2_CWF_F2, headerCWF_F2_SBM2, queue_id );
                         }
                         else {
                             send_waveform_CWF( wf_snap_f2, SID_SBM2_CWF_F2, headerCWF_F2_SBM2, queue_id );
                         }
                         param_local.local_sbm2_nb_cwf_sent ++;
             #endif
                     }
                     else
                     {
                         PRINTF1("in CWF2 *** ERR mode = %d\n", lfrCurrentMode)
                     }
                 }
             }
             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;
                 init_header_continuous_wf_table( SID_SBM1_CWF_F1, headerCWF_F1 );
                 queue_id = get_pkts_queue_id();
                 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);
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
             #ifdef GSA
             #else
                         if (doubleSendCWF1 == 1)
                         {
                             doubleSendCWF1 = 0;
                             send_waveform_CWF( wf_snap_f1_norm, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                         }
                         else if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) {
                            send_waveform_CWF( wf_snap_f1_bis, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                         }
                         else {
                             send_waveform_CWF( wf_snap_f1, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                         }
                         param_local.local_sbm1_nb_cwf_sent ++;
             #endif
                     }
                     else
                     {
                         PRINTF1("in CWF1 *** ERR mode = %d\n", lfrCurrentMode)
                     }
                 }
             }
             //******************
             // general functions
             void init_waveforms( void )
             {
                 int i = 0;
                 for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     //***
                     // F0
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x88887777;     //
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;    //
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0x44443333;    //
                     //***
                     // F1
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x22221111;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x44443333;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F2
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x44443333;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F3
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 0 ] = val1;
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 1 ] = val2;
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 2 ] = 0xaaaa0000;
                 }
             }
             int init_header_snapshot_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF)
             {
                 unsigned char i;
                 for (i=0; i<7; i++)
                 {
                     headerSWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerSWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerSWF[ i ].reserved = DEFAULT_RESERVED;
                     headerSWF[ i ].userApplication = CCSDS_USER_APP;
                     headerSWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                     headerSWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     if (i == 0)
                     {
                         headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
                         headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
                         headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340     );
                         headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     else if (i == 6)
                     {
                         headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
                         headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_8 >> 8);
                         headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_8     );
                         headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
                         headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8     );
                     }
                     else
                     {
                         headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
                         headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
                         headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340     );
                         headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     headerSWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     headerSWF[ i ].pktCnt = DEFAULT_PKTCNT;  // PKT_CNT
                     headerSWF[ i ].pktNr = i+1;    // PKT_NR
                     // DATA FIELD HEADER
                     headerSWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerSWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerSWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerSWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerSWF[ i ].sid = sid;
                     headerSWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             int init_header_continuous_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
             {
                 unsigned int i;
                 for (i=0; i<7; i++)
                 {
                     headerCWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerCWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerCWF[ i ].reserved = DEFAULT_RESERVED;
                     headerCWF[ i ].userApplication = CCSDS_USER_APP;
                     if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) )
                     {
                         headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_SBM1_SBM2 >> 8);
                         headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_SBM1_SBM2);
                     }
                     else
                     {
                         headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                         headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     }
                     if (i == 0)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     else if (i == 6)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_8 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_8     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8     );
                     }
                     else
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     headerCWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     // PKT_CNT
                     // PKT_NR
                     // DATA FIELD HEADER
                     headerCWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerCWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerCWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerCWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerCWF[ i ].sid = sid;
                     headerCWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             int init_header_continuous_wf3_light_table( Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
             {
                 unsigned int i;
                 for (i=0; i<7; i++)
                 {
                     headerCWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerCWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerCWF[ i ].reserved = DEFAULT_RESERVED;
                     headerCWF[ i ].userApplication = CCSDS_USER_APP;
                     headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                     headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     if (i == 0)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     else if (i == 6)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_8 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_8     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8     );
                     }
                     else
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     headerCWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     // DATA FIELD HEADER
                     headerCWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerCWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerCWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerCWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerCWF[ i ].sid = SID_NORM_CWF_F3;
                     headerCWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             void reset_waveforms( void )
             {
                 int i = 0;
                 for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x10002000;
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;
                     //***
                     // F1
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x1000f000;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0xf0001000;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;
                     //***
                     // F2
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x40008000;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x10002000;
                     //***
                     // F3
                     /*wf_cont_f3[ i* NB_WORDS_SWF_BLK + 0 ] = build_value(   i, i );   // v  and 1
                     wf_cont_f3[ i* NB_WORDS_SWF_BLK + 1 ] = build_value(   i, i );   // e2 and b1
                     wf_cont_f3[ i* NB_WORDS_SWF_BLK + 2 ] = build_value(   i, i );   // b2 and b3*/
                 }
             }
             int send_waveform_SWF( volatile int *waveform, unsigned int sid,
                                    Header_TM_LFR_SCIENCE_SWF_t *headerSWF, rtems_id queue_id )
             {
                 /** This function sends SWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerSWF 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.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_SWF;
                 spw_ioctl_send_SWF.hlen = TM_HEADER_LEN + 4 + 12; // + 4 is for the protocole extra header, + 12 is for the auxiliary header
                 spw_ioctl_send_SWF.options = 0;
                 ret = LFR_DEFAULT;
                 for (i=0; i<7; i++) // send waveform
                 {
                     spw_ioctl_send_SWF.data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_SWF.hdr = (char*) &headerSWF[ i ];
                     // BUILD THE DATA
                     if (i==6) {
                         spw_ioctl_send_SWF.dlen = 8 * NB_BYTES_SWF_BLK;
                     }
                     else {
                         spw_ioctl_send_SWF.dlen = 340 * NB_BYTES_SWF_BLK;
                     }
                     // SET PACKET TIME
+                    headerSWF[ i ].acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
+                    headerSWF[ i ].acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
+                    headerSWF[ i ].acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
+                    headerSWF[ i ].acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
+                    headerSWF[ i ].acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
+                    headerSWF[ i ].acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
                     headerSWF[ i ].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     headerSWF[ i ].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     headerSWF[ i ].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     headerSWF[ i ].time[3] = (unsigned char) (time_management_regs->coarse_time);
                     headerSWF[ i ].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     headerSWF[ i ].time[5] = (unsigned char) (time_management_regs->fine_time);
-                    headerSWF[ i ].acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
-                    headerSWF[ i ].acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
-                    headerSWF[ i ].acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
-                    headerSWF[ i ].acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
-                    headerSWF[ i ].acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
-                    headerSWF[ i ].acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
                     // SEND PACKET
                     status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_SWF, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", sid, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                     rtems_task_wake_after(TIME_BETWEEN_TWO_SWF_PACKETS);  // 300 ms between each packet => 7 * 3 = 21 packets => 6.3 seconds
                 }
                 return ret;
             }
             int send_waveform_CWF(volatile int *waveform, unsigned int sid,
                                   Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id)
             {
                 /** This function sends CWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @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.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 for (i=0; i<7; i++) // send waveform
                 {
                     int coarseTime = 0x00;
                     int fineTime = 0x00;
                     spw_ioctl_send_CWF.data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                     // BUILD THE DATA
                     if (i==6) {
                         spw_ioctl_send_CWF.dlen = 8 * NB_BYTES_SWF_BLK;
                     }
                     else {
                         spw_ioctl_send_CWF.dlen = 340 * NB_BYTES_SWF_BLK;
                     }
                     // SET PACKET TIME
                     coarseTime = time_management_regs->coarse_time;
                     fineTime = time_management_regs->fine_time;
+                    headerCWF[ i ].acquisitionTime[0] = (unsigned char) (coarseTime>>24);
+                    headerCWF[ i ].acquisitionTime[1] = (unsigned char) (coarseTime>>16);
+                    headerCWF[ i ].acquisitionTime[2] = (unsigned char) (coarseTime>>8);
+                    headerCWF[ i ].acquisitionTime[3] = (unsigned char) (coarseTime);
+                    headerCWF[ i ].acquisitionTime[4] = (unsigned char) (fineTime>>8);
+                    headerCWF[ i ].acquisitionTime[5] = (unsigned char) (fineTime);
                     headerCWF[ i ].time[0] = (unsigned char) (coarseTime>>24);
                     headerCWF[ i ].time[1] = (unsigned char) (coarseTime>>16);
                     headerCWF[ i ].time[2] = (unsigned char) (coarseTime>>8);
                     headerCWF[ i ].time[3] = (unsigned char) (coarseTime);
                     headerCWF[ i ].time[4] = (unsigned char) (fineTime>>8);
                     headerCWF[ i ].time[5] = (unsigned char) (fineTime);
-                    headerCWF[ i ].acquisitionTime[0] = (unsigned char) (coarseTime>>24);
-                    headerCWF[ i ].acquisitionTime[1] = (unsigned char) (coarseTime>>16);
-                    headerCWF[ i ].acquisitionTime[2] = (unsigned char) (coarseTime>>8);
-                    headerCWF[ i ].acquisitionTime[3] = (unsigned char) (coarseTime);
-                    headerCWF[ i ].acquisitionTime[4] = (unsigned char) (fineTime>>8);
-                    headerCWF[ i ].acquisitionTime[5] = (unsigned char) (fineTime);
                     // SEND PACKET
                     if (sid == SID_NORM_CWF_F3)
                     {
                         status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                         if (status != RTEMS_SUCCESSFUL) {
                             printf("%d-%d, ERR %d\n", sid, i, (int) status);
                             ret = LFR_DEFAULT;
                         }
                         rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
                     }
                     else
                     {
                         status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                         if (status != RTEMS_SUCCESSFUL) {
                             printf("%d-%d, ERR %d\n", sid, i, (int) status);
                             ret = LFR_DEFAULT;
                         }
                     }
                 }
                 return ret;
             }
             int send_waveform_CWF3_light(volatile int *waveform, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, 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;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 char *sample;
                 spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 //**********************
                 // BUILD CWF3_light DATA
                 for ( i=0; i< 2048; i++)
                 {
                     sample = (char*) &waveform[ 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 CWF3_light DATA
                 for (i=0; i<7; i++) // send waveform
                 {
                     int coarseTime = 0x00;
                     int fineTime = 0x00;
                     spw_ioctl_send_CWF.data = (char*) &wf_cont_f3_light[ (i * 340 * NB_BYTES_CWF3_LIGHT_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                     // BUILD THE DATA
                     if ( i == WFRM_INDEX_OF_LAST_PACKET ) {
                         spw_ioctl_send_CWF.dlen = 8 * NB_BYTES_CWF3_LIGHT_BLK;
                     }
                     else {
                         spw_ioctl_send_CWF.dlen = 340 * NB_BYTES_CWF3_LIGHT_BLK;
                     }
                     // SET PACKET TIME
                     coarseTime = time_management_regs->coarse_time;
                     fineTime = time_management_regs->fine_time;
+                    headerCWF[ i ].acquisitionTime[0] = (unsigned char) (coarseTime>>24);
+                    headerCWF[ i ].acquisitionTime[1] = (unsigned char) (coarseTime>>16);
+                    headerCWF[ i ].acquisitionTime[2] = (unsigned char) (coarseTime>>8);
+                    headerCWF[ i ].acquisitionTime[3] = (unsigned char) (coarseTime);
+                    headerCWF[ i ].acquisitionTime[4] = (unsigned char) (fineTime>>8);
+                    headerCWF[ i ].acquisitionTime[5] = (unsigned char) (fineTime);
                     headerCWF[ i ].time[0] = (unsigned char) (coarseTime>>24);
                     headerCWF[ i ].time[1] = (unsigned char) (coarseTime>>16);
                     headerCWF[ i ].time[2] = (unsigned char) (coarseTime>>8);
                     headerCWF[ i ].time[3] = (unsigned char) (coarseTime);
                     headerCWF[ i ].time[4] = (unsigned char) (fineTime>>8);
                     headerCWF[ i ].time[5] = (unsigned char) (fineTime);
-                    headerCWF[ i ].acquisitionTime[0] = (unsigned char) (coarseTime>>24);
-                    headerCWF[ i ].acquisitionTime[1] = (unsigned char) (coarseTime>>16);
-                    headerCWF[ i ].acquisitionTime[2] = (unsigned char) (coarseTime>>8);
-                    headerCWF[ i ].acquisitionTime[3] = (unsigned char) (coarseTime);
-                    headerCWF[ i ].acquisitionTime[4] = (unsigned char) (fineTime>>8);
-                    headerCWF[ i ].acquisitionTime[5] = (unsigned char) (fineTime);
                     // SEND PACKET
                     status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", SID_NORM_CWF_F3, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                     rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
                 }
                 return ret;
             }
             //**************
             // wfp registers
             void set_wfp_data_shaping()
             {
                 /** 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.bw_sp0_sp1_r0_r1;
             #ifdef GSA
             #else
                 waveform_picker_regs->data_shaping =
                           ( (data_shaping & 0x10) >> 4 )     // BW
                         + ( (data_shaping & 0x08) >> 2 )     // SP0
                         + ( (data_shaping & 0x04)      )     // SP1
                         + ( (data_shaping & 0x02) << 2 )     // R0
                         + ( (data_shaping & 0x01) << 4 );    // R1
             #endif
             }
             char set_wfp_delta_snapshot()
             {
                 /** 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]
                  *
                  */
                 char ret;
                 unsigned int delta_snapshot;
                 unsigned int aux;
                 aux = 0;
                 ret = LFR_DEFAULT;
                 delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1];
             #ifdef GSA
             #else
                 if ( delta_snapshot < MIN_DELTA_SNAPSHOT )
                 {
                     aux = MIN_DELTA_SNAPSHOT;
                     ret = LFR_DEFAULT;
                 }
                 else
                 {
                     aux = delta_snapshot ;
                     ret = LFR_SUCCESSFUL;
                 }
                 waveform_picker_regs->delta_snapshot = aux - 1;             // max 2 bytes
             #endif
                 return ret;
             }
             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.
                  *
                  */
             #ifdef GSA
             #else
                 // [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->burst_enable = 0x00;  // [0000 0000] no burst enable
                     waveform_picker_regs->burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_BURST):
                     waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x04; // [0100] enable f2
                     break;
                 case(LFR_MODE_SBM1):
                     waveform_picker_regs->burst_enable = 0x20;  // [0010 0000] f1 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_SBM2):
                     waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 default:
                     waveform_picker_regs->burst_enable = 0x00;  // [0000 0000] no burst enabled, no waveform enabled
                     break;
                 }
             #endif
             }
             void reset_wfp_burst_enable()
             {
                 /** 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.
                  *
                  */
             #ifdef GSA
             #else
                 waveform_picker_regs->burst_enable = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             #endif
             }
             void reset_wfp_status()
             {
                 /** This function resets the waveform picker status register.
                  *
                  * All status bits are set to 0 [new_err full_err full].
                  *
                  */
             #ifdef GSA
             #else
                 waveform_picker_regs->status = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             #endif
             }
             void reset_waveform_picker_regs()
             {
                 /** 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 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_f2_f1
                  * - 0x24 delta_f2_f0
                  * - 0x28 nb_burst
                  * - 0x2C nb_snapshot
                  *
                  */
             #ifdef GSA
             #else
                 set_wfp_data_shaping();
                 reset_wfp_burst_enable();
                 waveform_picker_regs->addr_data_f0 = (int) (wf_snap_f0);    //
                 waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);    //
                 waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);    //
                 waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);    //
                 set_wfp_delta_snapshot();                           // time in seconds between two snapshots
                 waveform_picker_regs->delta_f2_f1 = 0xffff;         // 0x16800 => 92160 (max 4 bytes)
                 waveform_picker_regs->delta_f2_f0 = 0x17c00;        // 97 280 (max 5 bytes)
                 waveform_picker_regs->nb_burst_available = 0x180;   // max 3 bytes, size of the buffer in burst (1 burst = 16 x 4 octets)
                 waveform_picker_regs->nb_snapshot_param = 0x7ff;    // max 3 octets, 2048 - 1
                 waveform_picker_regs->status = 0x00;                //
             #endif
             }
             //*****************
             // local parameters
             void set_local_sbm1_nb_cwf_max()
             {
                 /** This function sets the value of the sbm1_nb_cwf_max local parameter.
                  *
                  * The sbm1_nb_cwf_max parameter counts the number of CWF_F1 records that have been sent.\n
                  * This parameter is used to send CWF_F1 data as normal data when the SBM1 is active.\n\n
                  * (2 snapshots of 2048 points per seconds) * (period of the NORM snashots) - 8 s (duration of the f2 snapshot)
                  *
                  */
                 param_local.local_sbm1_nb_cwf_max = 2 *
                         (parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1]) - 8; // 16 CWF1 parts during 1 SWF2
             }
             void set_local_sbm2_nb_cwf_max()
             {
                 /** This function sets the value of the sbm1_nb_cwf_max local parameter.
                  *
                  * The sbm1_nb_cwf_max parameter counts the number of CWF_F1 records that have been sent.\n
                  * This parameter is used to send CWF_F2 data as normal data when the SBM2 is active.\n\n
                  * (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz)
                  *
                  */
                 param_local.local_sbm2_nb_cwf_max = (parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1]) / 8;
             }
             void set_local_nb_interrupt_f0_MAX()
             {
                 /** This function sets the value of the nb_interrupt_f0_MAX local parameter.
                  *
                  * This parameter is used for the SM validation only.\n
                  * The software waits param_local.local_nb_interrupt_f0_MAX interruptions from the spectral matrices
                  * module before launching a basic processing.
                  *
                  */
                 param_local.local_nb_interrupt_f0_MAX = ( (parameter_dump_packet.sy_lfr_n_asm_p[0]) * 256
                         + parameter_dump_packet.sy_lfr_n_asm_p[1] ) * 100;
             }
             void reset_local_sbm1_nb_cwf_sent()
             {
                 /** This function resets the value of the sbm1_nb_cwf_sent local parameter.
                  *
                  * The sbm1_nb_cwf_sent parameter counts the number of CWF_F1 records that have been sent.\n
                  * This parameter is used to send CWF_F1 data as normal data when the SBM1 is active.
                  *
                  */
                 param_local.local_sbm1_nb_cwf_sent = 0;
             }
             void reset_local_sbm2_nb_cwf_sent()
             {
                 /** This function resets the value of the sbm2_nb_cwf_sent local parameter.
                  *
                  * The sbm2_nb_cwf_sent parameter counts the number of CWF_F2 records that have been sent.\n
                  * This parameter is used to send CWF_F2 data as normal data when the SBM2 mode is active.
                  *
                  */
                 param_local.local_sbm2_nb_cwf_sent = 0;
             }
             rtems_id get_pkts_queue_id( void )
             {
                 rtems_id queue_id;
                 rtems_status_code status;
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in get_pkts_queue_id *** ERR %d\n", status)
                 }
                 return queue_id;
             }

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