HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r63:82d0f7d680ce

wf_handler updated with sequence counters...

paul -

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

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header/wf_handler.h +6 -1

             #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 new_waveform_picker_regs_t *new_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 unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
+            extern unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
+            extern unsigned short sequenceCounters_TC_EXE[];
             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_run_burst_enable();
             void reset_wfp_status();
             void reset_new_waveform_picker_regs();
-            void reset_new_waveform_picker_regs_alt();
             //*****************
             // 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();
+            void increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid );
             #endif // WF_HANDLER_H_INCLUDED

src/fsw_globals.c +3 -1

             /** Global variables of the LFR flight software.
              *
              * @file
              * @author P. LEROY
              *
              * Among global variables, there are:
              * - RTEMS names and id.
              * - APB configuration registers.
              * - waveforms global buffers, used by the waveform picker hardware module to store data.
              * - spectral  matrices buffesr, used by the hardware module to store data.
              * - variable related to LFR modes parameters.
              * - the global HK packet buffer.
              * - the global dump parameter buffer.
              *
              */
             #include <rtems.h>
             #include <grspw.h>
             #include "ccsds_types.h"
             #include "grlib_regs.h"
             #include "fsw_params.h"
             // RTEMS GLOBAL VARIABLES
             rtems_name  misc_name[5];
             rtems_id    misc_id[5];
             rtems_name  Task_name[20];       /* array of task names */
             rtems_id    Task_id[20];         /* array of task ids */
             unsigned int maxCount;
             int fdSPW = 0;
             int fdUART = 0;
             unsigned char lfrCurrentMode;
             // APB CONFIGURATION REGISTERS
             time_management_regs_t *time_management_regs = (time_management_regs_t*) REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t         *gptimer_regs         = (gptimer_regs_t *)        REGS_ADDR_GPTIMER;
             #ifdef GSA
             #else
                 new_waveform_picker_regs_t *new_waveform_picker_regs = (new_waveform_picker_regs_t*) REGS_ADDR_WAVEFORM_PICKER;
             #endif
             spectral_matrix_regs_t *spectral_matrix_regs = (spectral_matrix_regs_t*) REGS_ADDR_SPECTRAL_MATRIX;
             // WAVEFORMS GLOBAL VARIABLES // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes
             volatile int wf_snap_f0[       NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             //
             volatile int wf_snap_f1[       NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             volatile int wf_snap_f1_bis[   NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             volatile int wf_snap_f1_norm[  NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             //
             volatile int wf_snap_f2[       NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             volatile int wf_snap_f2_bis[   NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             volatile int wf_snap_f2_norm[  NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             //
             volatile int wf_cont_f3[       NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             volatile int wf_cont_f3_bis[   NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET ];
             char         wf_cont_f3_light[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_CWF3_LIGHT_BLK        ];
             // SPECTRAL MATRICES GLOBAL VARIABLES
             volatile int spec_mat_f0_0[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_1[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_a[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_b[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_c[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_d[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_e[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_f[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_g[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_h[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_0_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_1_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             //
             volatile int spec_mat_f1[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f1_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             //
             volatile int spec_mat_f2[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f2_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             // MODE PARAMETERS
             Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             struct param_local_str param_local;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
-            unsigned short sequenceCounters[SEQ_CNT_NB_PID][SEQ_CNT_NB_CAT][SEQ_CNT_NB_DEST_ID];
+            unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
+            unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
+            unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID];
             spw_stats spacewire_stats;
             spw_stats spacewire_stats_backup;

src/fsw_init.c +6 -17

             /** 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);
                 // waveform picker registers initialization
                 reset_wfp_run_burst_enable();
                 reset_wfp_status();
                 init_parameter_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 updateLFRCurrentMode();
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 grspw_timecode_callback = &timecode_irq_handler;
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks. they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
             #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
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
             #endif
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
+                *
-                 */
+                */
                 unsigned int i;
-                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();
                 // init sequence counters
-                for (i = 0; i<SEQ_CNT_NB_PID; i++)
+                for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
                 {
-                    for(j = 0; j<SEQ_CNT_NB_CAT; j++)
+                sequenceCounters_TC_EXE[i] = 0x00;
-                        for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
-                            sequenceCounters[i][j][k] = 0x00;
                 }
+                sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
+                sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
             }
             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 names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
             }
             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_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)     // 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_recv;
                 rtems_status_code status_send;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_MAX_SIZE,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     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/wf_handler.c +67 -19

             /** 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.
                  *
                  */
                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                 new_waveform_picker_regs->status = new_waveform_picker_regs->status & 0xfffff00f;   // clear new_err and full_err
             #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 ((new_waveform_picker_regs->status & 0x08) == 0x08){     // [1000] f3 is full
                         // (1) change the receiving buffer for the waveform picker
                         if (new_waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
                             new_waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_bis);
                         }
                         else {
                             new_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 );
                         }
                         new_waveform_picker_regs->status = new_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 ( (new_waveform_picker_regs->run_burst_enable & 0x7) == 0x0 ){ // if no channel is enable
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                     }
                     else {
                         if ( (new_waveform_picker_regs->status & 0x7) == 0x7 ){ // f2 f1 and f0 are full
                             new_waveform_picker_regs->run_burst_enable = new_waveform_picker_regs->run_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 );
                             }
             //                new_waveform_picker_regs->status = new_waveform_picker_regs->status & 0x00;
                             new_waveform_picker_regs->status = new_waveform_picker_regs->status & 0xfffff888;
                             new_waveform_picker_regs->run_burst_enable = new_waveform_picker_regs->run_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 ((new_waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if (new_waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                             new_waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
                         }
                         else {
                             new_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 );
                         }
                         new_waveform_picker_regs->status = new_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 ((new_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) )
                         {
                             new_waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_norm);
                         }
                         else if ( new_waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1_norm )
                         {
                             doubleSendCWF1 = 1;
                             new_waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
                         }
                         else if ( new_waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1 ) {
                             new_waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_bis);
                         }
                         else {
                             new_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 );
                         }
                         new_waveform_picker_regs->status = new_waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bit = 0
                     }
                     if ( ( (new_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 );
                         }
                         new_waveform_picker_regs->status = new_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 ((new_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) )
                         {
                             new_waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_norm);
                         }
                         else if ( new_waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2_norm ) {
                             new_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 ( new_waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2 ) {
                             new_waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
                         }
                         else {
                             new_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 );
                         }
                         new_waveform_picker_regs->status = new_waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
                     }
                     if ( ( (new_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 );
                         }
                         new_waveform_picker_regs->status = new_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;
                 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();
                 queue_id = get_pkts_queue_id();
                 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
                         new_waveform_picker_regs->status = new_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
                         new_waveform_picker_regs->status = new_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
                         new_waveform_picker_regs->status = new_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 (new_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 (new_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 (new_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 (new_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 SEQUENCE COUNTER
+                    increment_seq_counter_source_id( headerSWF[ i ].packetSequenceControl, sid );
                     // 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);
                     // 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 SEQUENCE COUNTER
+                    increment_seq_counter_source_id( headerCWF[ i ].packetSequenceControl, sid );
                     // 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);
                     // 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 SEQUENCE COUNTER
+                    increment_seq_counter_source_id( headerCWF[ i ].packetSequenceControl, SID_NORM_CWF_F3 );
                     // 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);
                     // 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
                 new_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;
                 }
                 new_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):
                     new_waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enable
             //        new_waveform_picker_regs->run_burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
                     new_waveform_picker_regs->run_burst_enable = 0x07; // [0000 0111] enable f2 f1 f0
                     break;
                 case(LFR_MODE_BURST):
                     new_waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     new_waveform_picker_regs->run_burst_enable =  new_waveform_picker_regs->run_burst_enable | 0x04; // [0100] enable f2
                     break;
                 case(LFR_MODE_SBM1):
                     new_waveform_picker_regs->run_burst_enable = 0x20;  // [0010 0000] f1 burst enabled
                     new_waveform_picker_regs->run_burst_enable =  new_waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_SBM2):
                     new_waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     new_waveform_picker_regs->run_burst_enable =  new_waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 default:
                     new_waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enabled, no waveform enabled
                     break;
                 }
             #endif
             }
             void reset_wfp_run_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
                 new_waveform_picker_regs->run_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
                 new_waveform_picker_regs->status = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             #endif
             }
             void reset_new_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 run_burst_enable
+               * - 0x08 addr_data_f0
+               * - 0x0C addr_data_f1
+               * - 0x10 addr_data_f2
+               * - 0x14 addr_data_f3
+               * - 0x18 status
+               * - 0x1C delta_snapshot
+               * - 0x20 delta_f0
+               * - 0x24 delta_f0_2
+               * - 0x28 delta_f1
+               * - 0x2c delta_f2
+               * - 0x30 nb_data_by_buffer
+               * - 0x34 nb_snapshot_param
+               * - 0x38 start_date
+               *
+               */
                 new_waveform_picker_regs->data_shaping = 0x01;      // 0x00 *** R1 R0 SP1 SP0 BW
                 new_waveform_picker_regs->run_burst_enable = 0x00;  // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                 new_waveform_picker_regs->addr_data_f0 = (int) (wf_snap_f0);    // 0x08
                 new_waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);    // 0x0c
                 new_waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);    // 0x10
                 new_waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);    // 0x14
                 new_waveform_picker_regs->status = 0x00;                // 0x18
             //    new_waveform_picker_regs->delta_snapshot = 0x12800;     // 0x1c 296 * 256 = 75776
                 new_waveform_picker_regs->delta_snapshot = 0x1000;      // 0x1c 16 * 256 = 4096
                 new_waveform_picker_regs->delta_f0 = 0x3f5;             // 0x20 *** 1013
                 new_waveform_picker_regs->delta_f0_2 = 0x7;             // 0x24 *** 7
                 new_waveform_picker_regs->delta_f1 = 0x3c0;             // 0x28 *** 960
             //    new_waveform_picker_regs->delta_f2 = 0x12200;         // 0x2c *** 74240
                 new_waveform_picker_regs->delta_f2 = 0xc00;             // 0x2c *** 12 * 256 = 2048
                 new_waveform_picker_regs->nb_data_by_buffer = 0x1802;   // 0x30 *** 2048 * 3 + 2
                 new_waveform_picker_regs->snapshot_param = 0x7ff;       // 0x34 *** 2048 -1
                 new_waveform_picker_regs->start_date = 0x00;            // 0x38
             }
-            void reset_new_waveform_picker_regs_alt()
-                new_waveform_picker_regs->data_shaping = 0x01;      // 0x00 *** R1 R0 SP1 SP0 BW
-                new_waveform_picker_regs->run_burst_enable = 0x00;  // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
-                new_waveform_picker_regs->addr_data_f0 = (int) (wf_snap_f0);    // 0x08
-                new_waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);    // 0x0c
-                new_waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);    // 0x10
-                new_waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);    // 0x14
-                new_waveform_picker_regs->status = 0x00;            // 0x18
-                new_waveform_picker_regs->delta_snapshot = 0x1000;  // 0x1c 16 * 256 = 4096
-                new_waveform_picker_regs->delta_f0 = 0x19;          // 0x20 *** 1013
-                new_waveform_picker_regs->delta_f0_2 = 0x7;         // 0x24 *** 7
-                new_waveform_picker_regs->delta_f1 = 0x19;          // 0x28 *** 960
-                new_waveform_picker_regs->delta_f2 = 0x400;         // 0x2c *** 4 * 256 = 1024
-                new_waveform_picker_regs->nb_data_by_buffer = 0x32; // 0x30 *** 16 * 3 + 2
-                new_waveform_picker_regs->snapshot_param = 0xf;     // 0x34 *** 16 -1
-                new_waveform_picker_regs->start_date = 0x00;        // 0x38
             //*****************
             // 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;
                 rtems_name queue_send_name;
                 queue_send_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_send_name, 0, &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in get_pkts_queue_id *** ERR %d\n", status)
                 }
                 return queue_id;
             }
+            void increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid )
+            {
+                unsigned short *sequence_cnt;
+                unsigned short segmentation_grouping_flag;
+                unsigned short new_packet_sequence_control;
+                if ( (sid ==SID_NORM_SWF_F0) || (sid ==SID_NORM_SWF_F1) || (sid ==SID_NORM_SWF_F2)
+                  || (sid ==SID_NORM_CWF_F3) || (sid ==SID_BURST_CWF_F2) )
+                {
+                    sequence_cnt = &sequenceCounters_SCIENCE_NORMAL_BURST;
+                }
+                else if ( (sid ==SID_SBM1_CWF_F1) || (sid ==SID_SBM2_CWF_F2) )
+                {
+                    sequence_cnt = &sequenceCounters_SCIENCE_SBM1_SBM2;
+                }
+                else
+                {
+                    sequence_cnt = &sequenceCounters_TC_EXE[ UNKNOWN ];
+                    PRINTF1("in increment_seq_counter_source_id *** ERR apid_destid %d not known\n", sid)
+                }
+                segmentation_grouping_flag = (packet_sequence_control[ 0 ] & 0xc0) << 8;
+                *sequence_cnt = (*sequence_cnt) & 0x3fff;
+                new_packet_sequence_control = segmentation_grouping_flag | *sequence_cnt ;
+                packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
+                packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control );
+                // increment the sequence counter for the next packet
+                if ( *sequence_cnt < SEQ_CNT_MAX)
+                {
+                    *sequence_cnt = *sequence_cnt + 1;
+                }
+                else
+                {
+                    *sequence_cnt = 0;
+                }
+            }

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